From ffa6daf45e9cecbcb09b7a5a7132a1f2d26bd04b Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Thu, 19 Dec 2024 21:33:07 +0900 Subject: [PATCH 1/6] 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/"$ROS_DISTRO"/setup.bash \ From 962a43a79da9159412ea352d626a3d6c2b2178d8 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Thu, 19 Dec 2024 21:54:59 +0900 Subject: [PATCH 2/6] add planning & control launch Signed-off-by: Yutaka Kondo --- docker/Dockerfile | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/docker/Dockerfile b/docker/Dockerfile index 8857e43bc9..ba314a018b 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -65,6 +65,8 @@ FROM rosdep-depend AS rosdep-universe-planning-control-depend SHELL ["/bin/bash", "-o", "pipefail", "-c"] ARG ROS_DISTRO +COPY src/universe/autoware.universe/launch/tier4_control_launch /autoware/src/universe/autoware.universe/launch/tier4_control_launch +COPY src/universe/autoware.universe/launch/tier4_planning_launch /autoware/src/universe/autoware.universe/launch/tier4_planning_launch COPY src/universe/autoware.universe/control /autoware/src/universe/autoware.universe/control COPY src/universe/autoware.universe/planning /autoware/src/universe/autoware.universe/planning # TODO(youtalk): Remove COPYs when https://github.com/autowarefoundation/autoware.universe/issues/8805 is resolved @@ -273,6 +275,8 @@ RUN --mount=type=ssh \ # hadolint ignore=SC1091 RUN --mount=type=cache,target=${CCACHE_DIR} \ + --mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_control_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_control_launch \ + --mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_planning_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_planning_launch \ --mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/control,target=/autoware/src/universe/autoware.universe/control \ --mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/planning,target=/autoware/src/universe/autoware.universe/planning \ # TODO(youtalk): Remove --mount options when https://github.com/autowarefoundation/autoware.universe/issues/8805 is resolved From 186b67158134167373abb67539780838fba9bf21 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Thu, 19 Dec 2024 22:03:03 +0900 Subject: [PATCH 3/6] add vehicle & system launch Signed-off-by: Yutaka Kondo --- docker/Dockerfile | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/docker/Dockerfile b/docker/Dockerfile index 8857e43bc9..5157f599ea 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -83,6 +83,8 @@ FROM rosdep-depend AS rosdep-universe-vehicle-system-depend SHELL ["/bin/bash", "-o", "pipefail", "-c"] ARG ROS_DISTRO +COPY src/universe/autoware.universe/launch/tier4_vehicle_launch /autoware/src/universe/autoware.universe/launch/tier4_vehicle_launch +COPY src/universe/autoware.universe/launch/tier4_system_launch /autoware/src/universe/autoware.universe/launch/tier4_system_launch COPY src/universe/autoware.universe/vehicle /autoware/src/universe/autoware.universe/vehicle COPY src/universe/autoware.universe/system /autoware/src/universe/autoware.universe/system COPY src/universe/autoware.universe/map/autoware_map_height_fitter /autoware/src/universe/autoware.universe/map/autoware_map_height_fitter @@ -303,6 +305,8 @@ RUN --mount=type=ssh \ # hadolint ignore=SC1091 RUN --mount=type=cache,target=${CCACHE_DIR} \ + --mount=type=bind,from=rosdep-universe-vehicle-system-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_vehicle_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_vehicle_launch \ + --mount=type=bind,from=rosdep-universe-vehicle-system-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_system_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_system_launch \ --mount=type=bind,from=rosdep-universe-vehicle-system-depend,source=/autoware/src/universe/autoware.universe/vehicle,target=/autoware/src/universe/autoware.universe/vehicle \ --mount=type=bind,from=rosdep-universe-vehicle-system-depend,source=/autoware/src/universe/autoware.universe/system,target=/autoware/src/universe/autoware.universe/system \ --mount=type=bind,from=rosdep-universe-vehicle-system-depend,source=/autoware/src/universe/autoware.universe/map/autoware_map_height_fitter,target=/autoware/src/universe/autoware.universe/map/autoware_map_height_fitter \ From bb5c771225c087d7a072db6e1526ef19f167b317 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Thu, 5 Dec 2024 22:02:43 +0900 Subject: [PATCH 4/6] chore(.github): skip `free-disk-space` action if there are no changed files (#5536) skip free-disk-space action Signed-off-by: Yutaka Kondo --- .github/workflows/docker-build-and-push-arm64.yaml | 12 ------------ .github/workflows/docker-build-and-push.yaml | 12 ------------ 2 files changed, 24 deletions(-) diff --git a/.github/workflows/docker-build-and-push-arm64.yaml b/.github/workflows/docker-build-and-push-arm64.yaml index 9f1158b38e..10b8d76477 100644 --- a/.github/workflows/docker-build-and-push-arm64.yaml +++ b/.github/workflows/docker-build-and-push-arm64.yaml @@ -50,12 +50,6 @@ jobs: ansible/** docker/** - - name: Free disk space - if: ${{ steps.changed-files.outputs.any_changed == 'true' || - github.event_name == 'workflow_dispatch' || - (github.event_name == 'push' && github.ref_type == 'tag') }} - uses: ./.github/actions/free-disk-space - - name: Build 'Autoware' without CUDA if: ${{ steps.author-check.outputs.author-found == 'true' || steps.changed-files.outputs.any_changed == 'true' || @@ -107,12 +101,6 @@ jobs: ansible/** docker/** - - name: Free disk space - if: ${{ steps.changed-files.outputs.any_changed == 'true' || - github.event_name == 'workflow_dispatch' || - (github.event_name == 'push' && github.ref_type == 'tag') }} - uses: ./.github/actions/free-disk-space - - name: Build 'Autoware' with CUDA if: ${{ steps.changed-files.outputs.any_changed == 'true' || github.event_name == 'workflow_dispatch' || diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml index 6ba414ceeb..f6204268c8 100644 --- a/.github/workflows/docker-build-and-push.yaml +++ b/.github/workflows/docker-build-and-push.yaml @@ -50,12 +50,6 @@ jobs: ansible/** docker/** - - name: Free disk space - if: ${{ steps.changed-files.outputs.any_changed == 'true' || - github.event_name == 'workflow_dispatch' || - (github.event_name == 'push' && github.ref_type == 'tag') }} - uses: ./.github/actions/free-disk-space - - name: Build 'Autoware' without CUDA if: ${{ steps.author-check.outputs.author-found == 'true' || steps.changed-files.outputs.any_changed == 'true' || @@ -107,12 +101,6 @@ jobs: ansible/** docker/** - - name: Free disk space - if: ${{ steps.changed-files.outputs.any_changed == 'true' || - github.event_name == 'workflow_dispatch' || - (github.event_name == 'push' && github.ref_type == 'tag') }} - uses: ./.github/actions/free-disk-space - - name: Build 'Autoware' with CUDA if: ${{ steps.changed-files.outputs.any_changed == 'true' || github.event_name == 'workflow_dispatch' || From 6abd035f9a77a5a2065a0f7f2bd09daca8066f14 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Thu, 19 Dec 2024 15:24:47 +0900 Subject: [PATCH 5/6] add sensing & perception launch Signed-off-by: Yutaka Kondo --- docker/Dockerfile | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/docker/Dockerfile b/docker/Dockerfile index 8857e43bc9..537084f682 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -39,6 +39,8 @@ FROM rosdep-depend AS rosdep-universe-sensing-perception-depend SHELL ["/bin/bash", "-o", "pipefail", "-c"] ARG ROS_DISTRO +COPY src/universe/autoware.universe/launch/tier4_perception_launch /autoware/src/universe/autoware.universe/launch/tier4_perception_launch +COPY src/universe/autoware.universe/launch/tier4_sensing_launch /autoware/src/universe/autoware.universe/launch/tier4_sensing_launch 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 /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \ @@ -199,6 +201,8 @@ RUN --mount=type=ssh \ # hadolint ignore=SC1091 RUN --mount=type=cache,target=${CCACHE_DIR} \ + --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_perception_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_perception_launch \ + --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_sensing_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_sensing_launch \ --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 \ From 1b481fb5e996aee0a4496d512178f3503404f0ff Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Mon, 27 Jan 2025 11:21:36 +0900 Subject: [PATCH 6/6] append pipefail Signed-off-by: Yutaka Kondo --- docker/scripts/build_and_clean.sh | 2 +- docker/scripts/cleanup_apt.sh | 2 +- docker/scripts/cleanup_system.sh | 2 +- docker/scripts/resolve_rosdep_keys.sh | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/docker/scripts/build_and_clean.sh b/docker/scripts/build_and_clean.sh index f5f383f156..d8afececf3 100755 --- a/docker/scripts/build_and_clean.sh +++ b/docker/scripts/build_and_clean.sh @@ -1,5 +1,5 @@ #!/bin/bash -set -e +set -eo pipefail function build_and_clean() { local ccache_dir=$1 diff --git a/docker/scripts/cleanup_apt.sh b/docker/scripts/cleanup_apt.sh index f3a47e5829..4b559ca9cb 100755 --- a/docker/scripts/cleanup_apt.sh +++ b/docker/scripts/cleanup_apt.sh @@ -1,5 +1,5 @@ #!/bin/bash -set -e +set -eo pipefail function cleanup_apt() { local apt_clean=$1 diff --git a/docker/scripts/cleanup_system.sh b/docker/scripts/cleanup_system.sh index 72127927ec..614fe0493c 100755 --- a/docker/scripts/cleanup_system.sh +++ b/docker/scripts/cleanup_system.sh @@ -1,5 +1,5 @@ #!/bin/bash -set -e +set -eo pipefail function cleanup_system() { local lib_dir=$1 diff --git a/docker/scripts/resolve_rosdep_keys.sh b/docker/scripts/resolve_rosdep_keys.sh index 1b3f5839bd..5d978e2bff 100755 --- a/docker/scripts/resolve_rosdep_keys.sh +++ b/docker/scripts/resolve_rosdep_keys.sh @@ -1,5 +1,5 @@ #!/bin/bash -set -e +set -eo pipefail function resolve_rosdep_keys() { local src_path=$1