Skip to content

Commit

Permalink
feat: upstream to main (#135)
Browse files Browse the repository at this point in the history
  • Loading branch information
youtalk authored Nov 21, 2024
1 parent 962f34f commit c649c0b
Show file tree
Hide file tree
Showing 5 changed files with 18 additions and 20 deletions.
4 changes: 4 additions & 0 deletions autoware-nightly.repos
Original file line number Diff line number Diff line change
@@ -1,4 +1,8 @@
repositories:
core/autoware_adapi_msgs:
type: git
url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
version: main
core/autoware.core:
type: git
url: https://github.com/autowarefoundation/autoware.core.git
Expand Down
5 changes: 3 additions & 2 deletions autoware.repos
Original file line number Diff line number Diff line change
Expand Up @@ -4,10 +4,11 @@ repositories:
type: git
url: https://github.com/autowarefoundation/autoware_msgs.git
version: 1.2.0
# TODO (isamu-takagi): Use a released version when autoware.universe uses a released version.
core/autoware_adapi_msgs:
type: git
url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
version: 1.3.0
version: beta/1.7.0
core/autoware_internal_msgs:
type: git
url: https://github.com/autowarefoundation/autoware_internal_msgs.git
Expand Down Expand Up @@ -38,7 +39,7 @@ repositories:
type: git
url: https://github.com/autowarefoundation/autoware.universe.git
version: main
universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Migrate to AD API
universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Migrate to AD API and remove this repository entry.
type: git
url: https://github.com/tier4/tier4_ad_api_adaptor.git
version: tier4/universe
Expand Down
16 changes: 3 additions & 13 deletions docker/Dockerfile
Original file line number Diff line number Diff line change
Expand Up @@ -272,21 +272,11 @@ COPY --from=universe-sensing-perception-devel /opt/autoware /opt/autoware

# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
# TODO(youtalk): Move CUDA related packages into a dedicated directory
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_bytetrack,target=/autoware/src/universe/autoware.universe/perception/autoware_bytetrack \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_lidar_apollo_instance_segmentation,target=/autoware/src/universe/autoware.universe/perception/autoware_lidar_apollo_instance_segmentation \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_lidar_centerpoint,target=/autoware/src/universe/autoware.universe/perception/autoware_lidar_centerpoint \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_lidar_transfusion,target=/autoware/src/universe/autoware.universe/perception/autoware_lidar_transfusion \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_shape_estimation,target=/autoware/src/universe/autoware.universe/perception/autoware_shape_estimation \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_classifier,target=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_classifier \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_common,target=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_common \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_yolox,target=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_yolox \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_traffic_light_classifier,target=/autoware/src/universe/autoware.universe/perception/autoware_traffic_light_classifier \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_traffic_light_fine_detector,target=/autoware/src/universe/autoware.universe/perception/autoware_traffic_light_fine_detector \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/sensing/autoware_cuda_utils,target=/autoware/src/universe/autoware.universe/sensing/autoware_cuda_utils \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception,target=/autoware/src/universe/autoware.universe/perception \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/sensing,target=/autoware/src/universe/autoware.universe/sensing \
source /opt/ros/"$ROS_DISTRO"/setup.bash \
&& source /opt/autoware/setup.bash \
&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware
&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware "--packages-above-and-dependencies autoware_tensorrt_common"

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["/bin/bash"]
Expand Down
5 changes: 4 additions & 1 deletion docker/scripts/build_and_clean.sh
Original file line number Diff line number Diff line change
Expand Up @@ -3,14 +3,17 @@
function build_and_clean() {
local ccache_dir=$1
local install_base=$2
local colcon_build_args=$3

# shellcheck disable=SC2086
du -sh "$ccache_dir" && ccache -s &&
colcon build --cmake-args \
" -Wno-dev" \
" --no-warn-unused-cli" \
--merge-install \
--install-base "$install_base" \
--mixin release compile-commands ccache &&
--mixin release compile-commands ccache \
$colcon_build_args &&
du -sh "$ccache_dir" && ccache -s &&
rm -rf /autoware/build /autoware/log
}
Expand Down
8 changes: 4 additions & 4 deletions docker/scripts/cleanup_apt.sh
Original file line number Diff line number Diff line change
@@ -1,11 +1,11 @@
#!/bin/bash

function cleanup() {
local remove_var_lib_apt_lists=false
function cleanup_apt() {
local remove_var_lib_apt_lists=$1
apt-get autoremove -y && rm -rf "$HOME"/.cache
if "$remove_var_lib_apt_lists"; then
if [[ $remove_var_lib_apt_lists == true ]]; then
rm -rf /var/lib/apt/lists/*
fi
}

cleanup "$@"
cleanup_apt "$@"

0 comments on commit c649c0b

Please sign in to comment.