From ccf2ecf06d920a65ebc54539ed19cd8bf716f2a5 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Thu, 19 Dec 2024 21:33:07 +0900 Subject: [PATCH] add localization & map launch Signed-off-by: Yutaka Kondo --- docker/Dockerfile | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/docker/Dockerfile b/docker/Dockerfile index 8857e43bc9..030a9a9049 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -52,6 +52,8 @@ FROM rosdep-depend AS rosdep-universe-localization-mapping-depend SHELL ["/bin/bash", "-o", "pipefail", "-c"] ARG ROS_DISTRO +COPY src/universe/autoware.universe/launch/tier4_localization_launch /autoware/src/universe/autoware.universe/launch/tier4_localization_launch +COPY src/universe/autoware.universe/launch/tier4_map_launch /autoware/src/universe/autoware.universe/launch/tier4_map_launch COPY src/universe/autoware.universe/localization /autoware/src/universe/autoware.universe/localization COPY src/universe/autoware.universe/map /autoware/src/universe/autoware.universe/map RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \ @@ -251,6 +253,8 @@ RUN --mount=type=ssh \ # hadolint ignore=SC1091 RUN --mount=type=cache,target=${CCACHE_DIR} \ + --mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_localization_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_localization_launch \ + --mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_map_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_map_launch \ --mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/localization,target=/autoware/src/universe/autoware.universe/localization \ --mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/map,target=/autoware/src/universe/autoware.universe/map \ source /opt/ros/"$ROS_DISTRO"/setup.bash \