feat(docker): refine devel image [DO NO MERGE]

docker/Dockerfile

@@ -29,9 +29,6 @@ RUN --mount=type=ssh \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache \
   && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" > /etc/bash.bashrc
 
-# Create entrypoint
-CMD ["/bin/bash"]
-
 FROM $BASE_IMAGE as rosdep-depend
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
@@ -80,26 +77,29 @@ RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
 
 FROM base as autoware-core
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
-ARG ROS_DISTRO
 ARG SETUP_ARGS
-ENV CCACHE_DIR="/root/.ccache"
 
-# cspell: ignore libcu libnv
 # Set up development environment
 RUN --mount=type=ssh \
   --mount=type=cache,target=/var/cache/apt,sharing=locked \
   ./setup-dev-env.sh -y --module all ${SETUP_ARGS} --no-cuda-drivers openadkit \
   && pip uninstall -y ansible ansible-core \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache
 
-# Install rosdep dependencies
+# Install rosdep dependencies for core packages
 COPY --from=rosdep-depend /rosdep-core-depend-packages.txt /tmp/rosdep-core-depend-packages.txt
 # hadolint ignore=SC2002
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
   apt-get update \
   && cat /tmp/rosdep-core-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache
 
+FROM autoware-core as autoware-core-prebuilt
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ENV CCACHE_DIR="/root/.ccache"
+
+# Build Autoware core
 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 \
@@ -110,21 +110,20 @@ RUN --mount=type=bind,from=rosdep-depend,source=/autoware/src/core,target=/autow
     --mixin release compile-commands ccache \
   && du -sh ${CCACHE_DIR} && ccache -s
 
-FROM autoware-core as autoware-universe
+FROM autoware-core-prebuilt as autoware-universe
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
-ARG SETUP_ARGS
 ENV CCACHE_DIR="/root/.ccache"
 
-# Install rosdep dependencies
+# Install rosdep dependencies for universe packages
 COPY --from=rosdep-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
 
-# Build Autoware
+# Build Autoware universe
 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 \
@@ -135,19 +134,32 @@ RUN --mount=type=bind,from=rosdep-depend,source=/autoware/src,target=/autoware/s
     --mixin release compile-commands ccache \
   && du -sh ${CCACHE_DIR} && ccache -s
 
-CMD ["/bin/bash"]
-
-FROM autoware-universe as devel
+FROM autoware-core as devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
-# Install development tools and artifacts
+# Install rosdep dependencies for universe packages
+COPY --from=rosdep-depend /rosdep-universe-depend-packages.txt /tmp/rosdep-universe-depend-packages.txt
+# hadolint ignore=SC2002
 RUN --mount=type=ssh \
-  --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  ./setup-dev-env.sh -y --module dev-tools openadkit \
-  && pip uninstall -y ansible ansible-core \
-  && apt-get autoremove -y && rm -rf "$HOME"/.cache
+  apt-get update \
+  && cat /tmp/rosdep-universe-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+
+# Set up runtime environment and artifacts
+COPY --from=rosdep-depend /rosdep-exec-depend-packages.txt /tmp/rosdep-exec-depend-packages.txt
+# hadolint ignore=SC2002
+RUN --mount=type=ssh \
+  apt-get update \
+  && cat /tmp/rosdep-exec-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/* "$HOME"/.cache
+
+# Install development tools
+RUN --mount=type=ssh \
+--mount=type=cache,target=/var/cache/apt,sharing=locked \
+./setup-dev-env.sh -y --module dev-tools openadkit \
+&& pip uninstall -y ansible ansible-core \
+&& apt-get autoremove -y && rm -rf "$HOME"/.cache
 
-COPY src /autoware/src
 # Create entrypoint
 COPY docker/etc/ros_entrypoint.sh /ros_entrypoint.sh
 RUN chmod +x /ros_entrypoint.sh

setup-dev-env.sh

@@ -127,13 +127,7 @@ else
 fi
 
 # Check downloading artifacts
-if [ "$option_yes" = "true" ] || [ "$option_download_artifacts" = "true" ]; then
-    echo -e "\e[36mArtifacts will be downloaded to $option_data_dir\e[m"
-    ansible_args+=("--extra-vars" "prompt_download_artifacts=y")
-fi
-
-# Check downloading artifacts
-if [ "$target_playbook" = "autoware.dev_env.openadk" ]; then
+if [ "$target_playbook" = "autoware.dev_env.openadkit" ]; then
     if [ "$option_download_artifacts" = "true" ]; then
         echo -e "\e[36mArtifacts will be downloaded to $option_data_dir\e[m"
         ansible_args+=("--extra-vars" "prompt_download_artifacts=y")