From fd8503f77eb536eb606e34f6a94f32b1ce83bacb Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Tue, 23 Jul 2024 15:38:11 +0900 Subject: [PATCH 1/9] feat(ci): disable `cache-to` option to run `health-check` from forked branch (#5021) disable cache-to Signed-off-by: Yutaka Kondo --- .github/actions/docker-build/action.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/actions/docker-build/action.yaml b/.github/actions/docker-build/action.yaml index a49834d14b3..42e7307cb6f 100644 --- a/.github/actions/docker-build/action.yaml +++ b/.github/actions/docker-build/action.yaml @@ -105,4 +105,3 @@ runs: push: false build-args: ${{ inputs.build-args }} cache-from: type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ inputs.name }}-${{ inputs.platform }}-${{ inputs.cache-tag-suffix }} - cache-to: type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ inputs.name }}-${{ inputs.platform }}-${{ inputs.cache-tag-suffix }},mode=max From 79429d44401a3749cc043b523f87afa54c1579f9 Mon Sep 17 00:00:00 2001 From: beginningfan <103237402+beginningfan@users.noreply.github.com> Date: Tue, 23 Jul 2024 15:24:17 +0800 Subject: [PATCH 2/9] feat: add single lidar sensor kit (#4988) feat(autoware.repos): add single lidar sensor kit Signed-off-by: beginningfan Co-authored-by: Yutaka Kondo --- autoware.repos | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware.repos b/autoware.repos index 07a30169265..00d9f56e912 100644 --- a/autoware.repos +++ b/autoware.repos @@ -121,6 +121,10 @@ repositories: type: git url: https://github.com/autowarefoundation/awsim_labs_sensor_kit_launch.git version: main + sensor_kit/single_lidar_sensor_kit_launch: + type: git + url: https://github.com/autowarefoundation/single_lidar_sensor_kit_launch.git + version: main # vehicle vehicle/sample_vehicle_launch: type: git From 57516233b0c3ab98c91b4c2a5f92cb53d0f09643 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Tue, 23 Jul 2024 17:20:28 +0900 Subject: [PATCH 3/9] fix(docker-build): fix ccache typo (#5024) Signed-off-by: mitsudome-r --- .github/actions/docker-build/action.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/actions/docker-build/action.yaml b/.github/actions/docker-build/action.yaml index 42e7307cb6f..de582611886 100644 --- a/.github/actions/docker-build/action.yaml +++ b/.github/actions/docker-build/action.yaml @@ -37,7 +37,7 @@ runs: - name: Cache ccache uses: actions/cache@v4 if: ${{ inputs.name == 'no-cuda' && github.ref == 'refs/heads/main' }} - id: cache-ccahce + id: cache-ccache with: path: | root-ccache From 89797446024a9fc15954e43dec3da50cf0295219 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Tue, 23 Jul 2024 22:13:04 +0900 Subject: [PATCH 4/9] feat(docker): no longer download artifacts on `devel` image (#5023) not download artifacts on devel Signed-off-by: Yutaka Kondo --- docker/Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/Dockerfile b/docker/Dockerfile index 24e2b91c2a8..757022a02a1 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -148,7 +148,7 @@ SHELL ["/bin/bash", "-o", "pipefail", "-c"] # Install development tools and artifacts RUN --mount=type=ssh \ --mount=type=cache,target=/var/cache/apt,sharing=locked \ - ./setup-dev-env.sh -y --module dev-tools --download-artifacts openadkit \ + ./setup-dev-env.sh -y --module dev-tools openadkit \ && pip uninstall -y ansible ansible-core \ && apt-get autoremove -y && rm -rf "$HOME"/.cache From 3e7f3d4af81632107ab7d4c2ba2c32ba786b66ad Mon Sep 17 00:00:00 2001 From: Max Schmeller <6088931+mojomex@users.noreply.github.com> Date: Wed, 24 Jul 2024 20:33:27 +0900 Subject: [PATCH 5/9] chore(autoware.repos): add ros2_socketcan and change transport_drivers fork (#5008) Signed-off-by: Max SCHMELLER --- autoware.repos | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/autoware.repos b/autoware.repos index 00d9f56e912..32d11ffd5d6 100644 --- a/autoware.repos +++ b/autoware.repos @@ -104,10 +104,16 @@ repositories: type: git url: https://github.com/tier4/nebula.git version: main - sensor_component/external/transport_drivers: + # Fork of transport_drivers that enables reduction of copy operations + sensor_component/transport_drivers: type: git - url: https://github.com/MapIV/transport_drivers.git - version: boost + url: https://github.com/autowarefoundation/transport_drivers + version: mutable-buffer-in-udp-callback + # Continental compatible version of ROS 2 socket CAN + sensor_component/ros2_socketcan: + type: git + url: https://github.com/autowarefoundation/ros2_socketcan + version: feat/continental_fd # sensor_kit sensor_kit/sample_sensor_kit_launch: type: git From f1b85618378cd5a3e69a25c3d700119fd56fdee2 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Wed, 24 Jul 2024 22:27:43 +0900 Subject: [PATCH 6/9] feat(ci): remove `vcs-import` workflow (#5026) Signed-off-by: Yutaka Kondo --- .github/workflows/vcs-import.yaml | 47 ------------------------------- 1 file changed, 47 deletions(-) delete mode 100644 .github/workflows/vcs-import.yaml diff --git a/.github/workflows/vcs-import.yaml b/.github/workflows/vcs-import.yaml deleted file mode 100644 index 235c2b19df3..00000000000 --- a/.github/workflows/vcs-import.yaml +++ /dev/null @@ -1,47 +0,0 @@ -name: vcs-import - -on: - pull_request: - workflow_dispatch: - -jobs: - load-env: - uses: ./.github/workflows/load-env.yaml - - vcs-import: - needs: load-env - runs-on: ubuntu-latest - container: ros:${{ needs.load-env.outputs.rosdistro }} - steps: - - name: Check out repository - uses: actions/checkout@v4 - - - name: Install pip for rosdep - run: | - sudo apt-get -y update - sudo apt-get -y install python3-pip - - - name: Register AutonomouStuff repository - uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@v1 - with: - rosdistro: ${{ needs.load-env.outputs.rosdistro }} - - - name: Set git config - uses: autowarefoundation/autoware-github-actions/set-git-config@v1 - with: - token: ${{ secrets.GITHUB_TOKEN }} - - - name: Run vcs import - run: | - mkdir src - vcs import src < autoware.repos - - - name: Run vcs export - run: | - vcs export --exact src || true - - - name: Run rosdep install - run: | - sudo apt-get -y update - rosdep update - DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths src --ignore-src --rosdistro ${{ needs.load-env.outputs.rosdistro }} From ede026d9dd799b5372fd20cb4d916950e1a49cb9 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Fri, 26 Jul 2024 15:39:13 +0900 Subject: [PATCH 7/9] feat(docker): copy `src` by `--mount=type=bind` instead of `COPY` (#5027) use --mount=type=bind instead of COPY Signed-off-by: Yutaka Kondo --- docker/Dockerfile | 14 +++++--------- 1 file changed, 5 insertions(+), 9 deletions(-) diff --git a/docker/Dockerfile b/docker/Dockerfile index 757022a02a1..55a0759c380 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -100,8 +100,8 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ && cat /tmp/rosdep-core-depend-packages.txt | xargs apt-get install -y --no-install-recommends \ && apt-get autoremove -y && rm -rf "$HOME"/.cache -COPY src/core /autoware/src/core -RUN --mount=type=cache,target=${CCACHE_DIR} \ +RUN --mount=type=bind,from=rosdep-depend,source=/autoware/src/core,target=/autoware/src/core \ + --mount=type=cache,target=${CCACHE_DIR} \ source /opt/ros/"$ROS_DISTRO"/setup.bash \ && du -sh ${CCACHE_DIR} && ccache -s \ && colcon build --cmake-args \ @@ -125,13 +125,8 @@ RUN --mount=type=ssh \ && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache # Build Autoware -COPY src/launcher /autoware/src/launcher -COPY src/param /autoware/src/param -COPY src/sensor_component /autoware/src/sensor_component -COPY src/sensor_kit /autoware/src/sensor_kit -COPY src/universe /autoware/src/universe -COPY src/vehicle /autoware/src/vehicle -RUN --mount=type=cache,target=${CCACHE_DIR} \ +RUN --mount=type=bind,from=rosdep-depend,source=/autoware/src,target=/autoware/src \ + --mount=type=cache,target=${CCACHE_DIR} \ source /opt/ros/"$ROS_DISTRO"/setup.bash \ && du -sh ${CCACHE_DIR} && ccache -s \ && colcon build --cmake-args \ @@ -152,6 +147,7 @@ RUN --mount=type=ssh \ && pip uninstall -y ansible ansible-core \ && apt-get autoremove -y && rm -rf "$HOME"/.cache +COPY src /autoware/src # Create entrypoint COPY docker/etc/ros_entrypoint.sh /ros_entrypoint.sh RUN chmod +x /ros_entrypoint.sh From c3e8374079cf56b873f832721ce8b8a80e636e1d Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 29 Jul 2024 12:42:55 +0900 Subject: [PATCH 8/9] feat(lidar_apollo_segmentation_tvm)!: remove packages (#5022) Signed-off-by: Koji Minoda --- ansible/roles/artifacts/tasks/main.yaml | 26 ------------------------- 1 file changed, 26 deletions(-) diff --git a/ansible/roles/artifacts/tasks/main.yaml b/ansible/roles/artifacts/tasks/main.yaml index 8c82aba1293..3356431e370 100644 --- a/ansible/roles/artifacts/tasks/main.yaml +++ b/ansible/roles/artifacts/tasks/main.yaml @@ -428,29 +428,3 @@ ansible.builtin.unarchive: src: "{{ data_dir }}/tvm_utility/yolo_v2_tiny-x86_64-llvm-3.0.0-20221221.tar.gz" dest: "{{ data_dir }}/tvm_utility/models/yolo_v2_tiny" - -# lidar_apollo_segmentation_tvm -- name: Create lidar_apollo_segmentation_tvm/models directory inside {{ data_dir }} - ansible.builtin.file: - path: "{{ data_dir }}/lidar_apollo_segmentation_tvm/models" - mode: "755" - state: directory - -- name: Download baidu_cnn-x86_64-llvm-3.0.0-20221221.tar.gz - become: true - ansible.builtin.get_url: - url: https://autoware-modelzoo.s3.us-east-2.amazonaws.com/models/3.0.0-20221221/baidu_cnn-x86_64-llvm-3.0.0-20221221.tar.gz - dest: "{{ data_dir }}/lidar_apollo_segmentation_tvm/baidu_cnn-x86_64-llvm-3.0.0-20221221.tar.gz" - mode: "644" - checksum: sha256:4293e6196ec937d2cd5ec658e5ce70933647d2d38633a1805febb36cafd684e3 - -- name: Create baidu_cnn folder in lidar_apollo_segmentation_tvm/models of {{ data_dir }} - ansible.builtin.file: - path: "{{ data_dir }}/lidar_apollo_segmentation_tvm/models/baidu_cnn" - mode: "755" - state: directory - -- name: Extract baidu_cnn-x86_64-llvm-3.0.0-20221221.tar.gz - ansible.builtin.unarchive: - src: "{{ data_dir }}/lidar_apollo_segmentation_tvm/baidu_cnn-x86_64-llvm-3.0.0-20221221.tar.gz" - dest: "{{ data_dir }}/lidar_apollo_segmentation_tvm/models/baidu_cnn" From 4cfa28a7ce23bcee358f85252c634c0319be8ab0 Mon Sep 17 00:00:00 2001 From: oguzkaganozt Date: Mon, 29 Jul 2024 19:13:01 +0300 Subject: [PATCH 9/9] fix(docker): remove prebuilt tag in build.sh (#5044) remove prebuilt tag Signed-off-by: Oguz Ozturk --- docker/build.sh | 1 - 1 file changed, 1 deletion(-) diff --git a/docker/build.sh b/docker/build.sh index cdaa092c410..4824a88e11b 100755 --- a/docker/build.sh +++ b/docker/build.sh @@ -134,7 +134,6 @@ build_images() { --set "*.args.LIB_DIR=$lib_dir" \ --set "base.tags=ghcr.io/autowarefoundation/autoware:latest-base" \ --set "devel.tags=ghcr.io/autowarefoundation/autoware:latest-devel$image_name_suffix" \ - --set "prebuilt.tags=ghcr.io/autowarefoundation/autoware:latest-prebuilt$image_name_suffix" \ --set "runtime.tags=ghcr.io/autowarefoundation/autoware:latest-runtime$image_name_suffix" \ "${targets[@]}" set +x