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feat(docker): add universe-sensing-perception runtime stage (#5172)
* rename stages Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * update docker-bake Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * update actions Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * fix target Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * fix inherits Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * feat(docker): separation from `autoware-universe` stage to `autoware-universe-sensing-perception` stage (#5164) * split depend stage Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * add s/p stage Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * fix Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * rename Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * fix Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * revert rename Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * Revert "revert rename" This reverts commit 789ee21. * simplify rosdep-depend Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> --------- Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * fix rebase Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * rename stages Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * fix bake Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * fix dockerfile Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * fix merge Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * add universe-sensing-perception stage Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * update config Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> --------- Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
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‎.github/actions/docker-build-and-push/action.yaml

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@@ -111,6 +111,28 @@ runs:
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latest=false
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suffix=-core-devel${{ inputs.tag-suffix }}
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- name: Docker meta for autoware:universe-sensing-perception-devel
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id: meta-universe-sensing-perception-devel
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uses: docker/metadata-action@v5
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with:
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images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
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tags: ${{ steps.set-docker-tags.outputs.tags }}
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bake-target: docker-metadata-action-universe-sensing-perception-devel
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flavor: |
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latest=false
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suffix=-universe-sensing-perception-devel${{ inputs.tag-suffix }}
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- name: Docker meta for autoware:universe-sensing-perception
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id: meta-universe-sensing-perception
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uses: docker/metadata-action@v5
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with:
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images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
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tags: ${{ steps.set-docker-tags.outputs.tags }}
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bake-target: docker-metadata-action-universe-sensing-perception
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flavor: |
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latest=false
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suffix=-universe-sensing-perception${{ inputs.tag-suffix }}
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- name: Docker meta for autoware:universe-devel
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id: meta-universe-devel
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uses: docker/metadata-action@v5
@@ -148,6 +170,8 @@ runs:
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docker/docker-bake.hcl
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${{ steps.meta-base.outputs.bake-file }}
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${{ steps.meta-core-devel.outputs.bake-file }}
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${{ steps.meta-universe-sensing-perception-devel.outputs.bake-file }}
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${{ steps.meta-universe-sensing-perception.outputs.bake-file }}
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${{ steps.meta-universe-devel.outputs.bake-file }}
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${{ steps.meta-universe.outputs.bake-file }}
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provenance: false

‎docker/Dockerfile

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@@ -85,6 +85,13 @@ RUN rosdep keys --ignore-src --from-paths src \
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| sort \
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> /rosdep-universe-sensing-perception-depend-packages.txt \
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&& cat /rosdep-universe-sensing-perception-depend-packages.txt
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RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
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| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
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| grep -v '^#' \
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| sed 's/ \+/\n/g'\
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| sort \
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> /rosdep-universe-sensing-perception-exec-depend-packages.txt \
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&& cat /rosdep-universe-sensing-perception-exec-depend-packages.txt
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COPY src/launcher /autoware/src/launcher
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COPY src/param /autoware/src/param
@@ -258,6 +265,40 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
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ENTRYPOINT ["/ros_entrypoint.sh"]
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CMD ["/bin/bash"]
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FROM base AS universe-sensing-perception
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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
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ARG ROS_DISTRO
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ARG LIB_DIR
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ARG SETUP_ARGS
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# Set up runtime environment and artifacts
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COPY --from=rosdep-depend /rosdep-universe-sensing-perception-exec-depend-packages.txt /tmp/rosdep-universe-sensing-perception-exec-depend-packages.txt
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# hadolint ignore=SC2002
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RUN --mount=type=ssh \
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--mount=type=cache,target=/var/cache/apt,sharing=locked \
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./setup-dev-env.sh -y --module all ${SETUP_ARGS} --download-artifacts --no-cuda-drivers --runtime openadkit \
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&& pip uninstall -y ansible ansible-core \
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&& apt-get update \
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&& cat /tmp/rosdep-universe-sensing-perception-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
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&& apt-get autoremove -y && rm -rf "$HOME"/.cache \
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&& find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
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&& find / -name "*.o" -type f -delete \
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&& find / -name "*.h" -type f -delete \
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&& find / -name "*.hpp" -type f -delete \
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&& rm -rf /autoware/ansible \
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/root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
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/etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
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/usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
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COPY --from=universe-sensing-perception-devel /opt/autoware /opt/autoware
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# Copy bash aliases
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COPY docker/etc/.bash_aliases /root/.bash_aliases
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RUN echo "source /opt/autoware/setup.bash" > /etc/bash.bashrc
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ENTRYPOINT ["/ros_entrypoint.sh"]
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CMD ["/bin/bash"]
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FROM base AS universe
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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
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ARG ROS_DISTRO

‎docker/docker-bake.hcl

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@@ -1,10 +1,19 @@
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group "default" {
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targets = ["base", "core-devel", "universe-devel", "universe"]
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targets = [
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"base",
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"core-devel",
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"universe-sensing-perception-devel",
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"universe-sensing-perception",
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"universe-devel",
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"universe"
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]
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}
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// For docker/metadata-action
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target "docker-metadata-action-base" {}
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target "docker-metadata-action-core-devel" {}
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target "docker-metadata-action-universe-sensing-perception-devel" {}
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target "docker-metadata-action-universe-sensing-perception" {}
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target "docker-metadata-action-universe-devel" {}
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target "docker-metadata-action-universe" {}
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@@ -20,6 +29,18 @@ target "core-devel" {
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target = "core-devel"
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}
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target "universe-sensing-perception-devel" {
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inherits = ["docker-metadata-action-universe-sensing-perception-devel"]
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dockerfile = "docker/Dockerfile"
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target = "universe-sensing-perception-devel"
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}
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target "universe-sensing-perception" {
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inherits = ["docker-metadata-action-universe-sensing-perception"]
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dockerfile = "docker/Dockerfile"
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target = "universe-sensing-perception"
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}
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target "universe-devel" {
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inherits = ["docker-metadata-action-universe-devel"]
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dockerfile = "docker/Dockerfile"

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