feat: component-wise launches

.github/workflows/docker-build-and-push-arm64.yaml

@@ -14,7 +14,7 @@
 
   docker-build-and-push:
     needs: load-env
     runs-on: buildjet-16vcpu-ubuntu-2204-arm
     steps:
       - name: Check if PR author is the specific user
         id: author-check
@@ -50,12 +50,6 @@
             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' ||
@@ -84,7 +78,7 @@
 
   docker-build-and-push-cuda:
     needs: [load-env, docker-build-and-push]
     runs-on: buildjet-16vcpu-ubuntu-2204-arm
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
@@ -107,12 +101,6 @@
             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' ||

.github/workflows/docker-build-and-push.yaml

@@ -14,7 +14,7 @@
 
   docker-build-and-push:
     needs: load-env
     runs-on: buildjet-16vcpu-ubuntu-2204
     steps:
       - name: Check if PR author is the specific user
         id: author-check
@@ -50,12 +50,6 @@
             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' ||
@@ -84,7 +78,7 @@
 
   docker-build-and-push-cuda:
     needs: [load-env, docker-build-and-push]
     runs-on: buildjet-16vcpu-ubuntu-2204
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
@@ -107,12 +101,6 @@
             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' ||

docker/Dockerfile

@@ -51,6 +51,8 @@ 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} \
@@ -64,6 +66,8 @@ 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} \
@@ -77,6 +81,8 @@ 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
@@ -95,6 +101,8 @@ 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
@@ -211,6 +219,8 @@ 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 \
@@ -263,6 +273,8 @@ 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 \
@@ -285,6 +297,8 @@ 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
@@ -315,6 +329,8 @@ 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 \

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

docker/scripts/cleanup_apt.sh

@@ -1,5 +1,5 @@
 #!/bin/bash
-set -e
+set -eo pipefail
 
 function cleanup_apt() {
     local apt_clean=$1

docker/scripts/cleanup_system.sh

@@ -1,5 +1,5 @@
 #!/bin/bash
-set -e
+set -eo pipefail
 
 function cleanup_system() {
     local lib_dir=$1

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