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feat: upstream to origin #109

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merged 5 commits into from
Sep 6, 2024
Merged

feat: upstream to origin #109

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4ab9f44
docs(docker): update `docker/README.md` (#5185)
youtalk Sep 6, 2024
6c50486
chore: bump up autoware_lanelet2_extension (#5183)
soblin Sep 6, 2024
71b7a4b
fix(.dockerignore): not ignore specific `csv` and `png` files (#5187)
youtalk Sep 6, 2024
b17202b
feat(docker): separation from `universe-devel` stage to `universe-loc…
youtalk Sep 6, 2024
632d01b
Merge remote-tracking branch 'upstream/main' into upstream-to-origin
youtalk Sep 6, 2024
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2 changes: 2 additions & 0 deletions .dockerignore
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,8 @@ src/**/*.md
src/**/*.pcd
src/**/*.png
src/**/*.svg
!src/universe/autoware.universe/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets
!src/universe/autoware.universe/vehicle/autoware_raw_vehicle_cmd_converter/data/default

# Ignore generated files by colcon
build
Expand Down
2 changes: 1 addition & 1 deletion autoware.repos
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Expand Up @@ -28,7 +28,7 @@ repositories:
core/autoware_lanelet2_extension:
type: git
url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git
version: 0.6.0
version: 0.6.1
core/autoware.core:
type: git
url: https://github.com/autowarefoundation/autoware.core.git
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97 changes: 75 additions & 22 deletions docker/Dockerfile
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Expand Up @@ -76,6 +76,10 @@ RUN rosdep keys --ignore-src --from-paths src \
> /rosdep-universe-common-depend-packages.txt \
&& cat /rosdep-universe-common-depend-packages.txt

FROM rosdep-depend AS rosdep-universe-sensing-perception-depend
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

COPY src/universe/autoware.universe/perception /autoware/src/universe/autoware.universe/perception
COPY src/universe/autoware.universe/sensing /autoware/src/universe/autoware.universe/sensing
RUN rosdep keys --ignore-src --from-paths src \
Expand All @@ -93,6 +97,24 @@ RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
> /rosdep-universe-sensing-perception-exec-depend-packages.txt \
&& cat /rosdep-universe-sensing-perception-exec-depend-packages.txt

FROM rosdep-depend AS rosdep-universe-localization-mapping-depend
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

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 rosdep keys --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
> /rosdep-universe-localization-mapping-depend-packages.txt \
&& cat /rosdep-universe-localization-mapping-depend-packages.txt

FROM rosdep-depend AS rosdep-universe-depend
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

COPY src/launcher /autoware/src/launcher
COPY src/param /autoware/src/param
COPY src/sensor_component /autoware/src/sensor_component
Expand Down Expand Up @@ -165,10 +187,10 @@ RUN --mount=type=ssh \
&& cat /tmp/rosdep-universe-common-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
&& apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache

# TODO(youtalk): Remove COPYs when https://github.com/autowarefoundation/autoware.universe/issues/8695 is resolved
# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/common,target=/autoware/src/universe/autoware.universe/common \
# TODO(youtalk): Remove --mount options when https://github.com/autowarefoundation/autoware.universe/issues/8695 is resolved
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/simulator/dummy_perception_publisher,target=/autoware/src/universe/autoware.universe/simulator/dummy_perception_publisher \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/vehicle/autoware_vehicle_info_utils,target=/autoware/src/universe/autoware.universe/vehicle/autoware_vehicle_info_utils \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/external,target=/autoware/src/universe/external \
Expand All @@ -193,7 +215,7 @@ ARG ROS_DISTRO
ENV CCACHE_DIR="/root/.ccache"

# Install rosdep dependencies
COPY --from=rosdep-depend /rosdep-universe-sensing-perception-depend-packages.txt /tmp/rosdep-universe-sensing-perception-depend-packages.txt
COPY --from=rosdep-universe-sensing-perception-depend /rosdep-universe-sensing-perception-depend-packages.txt /tmp/rosdep-universe-sensing-perception-depend-packages.txt
# hadolint ignore=SC2002
RUN --mount=type=ssh \
apt-get update \
Expand All @@ -202,8 +224,40 @@ RUN --mount=type=ssh \

# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/perception,target=/autoware/src/universe/autoware.universe/perception \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/sensing,target=/autoware/src/universe/autoware.universe/sensing \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception,target=/autoware/src/universe/autoware.universe/perception \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/sensing,target=/autoware/src/universe/autoware.universe/sensing \
source /opt/ros/"$ROS_DISTRO"/setup.bash \
&& source /opt/autoware/setup.bash \
&& du -sh ${CCACHE_DIR} && ccache -s \
&& colcon build --cmake-args \
" -Wno-dev" \
" --no-warn-unused-cli" \
--merge-install \
--install-base /opt/autoware \
--mixin release compile-commands ccache \
&& du -sh ${CCACHE_DIR} && ccache -s \
&& rm -rf /autoware/build

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["/bin/bash"]

FROM universe-common-devel AS universe-localization-mapping-devel
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ENV CCACHE_DIR="/root/.ccache"

# Install rosdep dependencies
COPY --from=rosdep-universe-localization-mapping-depend /rosdep-universe-localization-mapping-depend-packages.txt /tmp/rosdep-universe-localization-mapping-depend-packages.txt
# hadolint ignore=SC2002
RUN --mount=type=ssh \
apt-get update \
&& cat /tmp/rosdep-universe-localization-mapping-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
&& apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache

# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/localization,target=/autoware/src/universe/autoware.universe/localization \
--mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/map,target=/autoware/src/universe/autoware.universe/map \
source /opt/ros/"$ROS_DISTRO"/setup.bash \
&& source /opt/autoware/setup.bash \
&& du -sh ${CCACHE_DIR} && ccache -s \
Expand All @@ -225,31 +279,30 @@ ARG ROS_DISTRO
ENV CCACHE_DIR="/root/.ccache"

# Install rosdep dependencies
COPY --from=rosdep-depend /rosdep-universe-depend-packages.txt /tmp/rosdep-universe-depend-packages.txt
COPY --from=rosdep-universe-depend /rosdep-universe-depend-packages.txt /tmp/rosdep-universe-depend-packages.txt
# hadolint ignore=SC2002
RUN --mount=type=ssh \
apt-get update \
&& cat /tmp/rosdep-universe-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
&& apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache

COPY --from=universe-sensing-perception-devel /opt/autoware /opt/autoware
COPY --from=universe-localization-mapping-devel /opt/autoware /opt/autoware
# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/launcher,target=/autoware/src/launcher \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/param,target=/autoware/src/param \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/sensor_component,target=/autoware/src/sensor_component \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/sensor_kit,target=/autoware/src/sensor_kit \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/control,target=/autoware/src/universe/autoware.universe/control \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/evaluator,target=/autoware/src/universe/autoware.universe/evaluator \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/launch,target=/autoware/src/universe/autoware.universe/launch \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/localization,target=/autoware/src/universe/autoware.universe/localization \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/map,target=/autoware/src/universe/autoware.universe/map \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/planning,target=/autoware/src/universe/autoware.universe/planning \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/simulator,target=/autoware/src/universe/autoware.universe/simulator \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/system,target=/autoware/src/universe/autoware.universe/system \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/tools,target=/autoware/src/universe/autoware.universe/tools \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/vehicle,target=/autoware/src/universe/autoware.universe/vehicle \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/vehicle,target=/autoware/src/vehicle \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/launcher,target=/autoware/src/launcher \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/param,target=/autoware/src/param \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/sensor_component,target=/autoware/src/sensor_component \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/sensor_kit,target=/autoware/src/sensor_kit \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/control,target=/autoware/src/universe/autoware.universe/control \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/evaluator,target=/autoware/src/universe/autoware.universe/evaluator \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/launch,target=/autoware/src/universe/autoware.universe/launch \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/planning,target=/autoware/src/universe/autoware.universe/planning \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/simulator,target=/autoware/src/universe/autoware.universe/simulator \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/system,target=/autoware/src/universe/autoware.universe/system \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/tools,target=/autoware/src/universe/autoware.universe/tools \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/vehicle,target=/autoware/src/universe/autoware.universe/vehicle \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/vehicle,target=/autoware/src/vehicle \
source /opt/ros/"$ROS_DISTRO"/setup.bash \
&& source /opt/autoware/setup.bash \
&& du -sh ${CCACHE_DIR} && ccache -s \
Expand All @@ -272,7 +325,7 @@ ARG LIB_DIR
ARG SETUP_ARGS

# Set up runtime environment and artifacts
COPY --from=rosdep-depend /rosdep-universe-sensing-perception-exec-depend-packages.txt /tmp/rosdep-universe-sensing-perception-exec-depend-packages.txt
COPY --from=rosdep-universe-sensing-perception-depend /rosdep-universe-sensing-perception-exec-depend-packages.txt /tmp/rosdep-universe-sensing-perception-exec-depend-packages.txt
# hadolint ignore=SC2002
RUN --mount=type=ssh \
--mount=type=cache,target=/var/cache/apt,sharing=locked \
Expand Down Expand Up @@ -306,7 +359,7 @@ ARG LIB_DIR
ARG SETUP_ARGS

# Set up runtime environment and artifacts
COPY --from=rosdep-depend /rosdep-exec-depend-packages.txt /tmp/rosdep-exec-depend-packages.txt
COPY --from=rosdep-universe-depend /rosdep-exec-depend-packages.txt /tmp/rosdep-exec-depend-packages.txt
# hadolint ignore=SC2002
RUN --mount=type=ssh \
--mount=type=cache,target=/var/cache/apt,sharing=locked \
Expand Down
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