feat(docker): separation from universe-devel stage to universe-localization-mapping-devel stage (#5186)

* update rosdep

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* update build

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* fix

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* fix action

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* update svg

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* update readme

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* Revert "fix action"

This reverts commit 5ecc4cc.

---------

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

Author: youtalk

docker/Dockerfile

@@ -76,6 +76,10 @@ RUN rosdep keys --ignore-src --from-paths src \
     > /rosdep-universe-common-depend-packages.txt \
     && cat /rosdep-universe-common-depend-packages.txt
 
+FROM rosdep-depend AS rosdep-universe-sensing-perception-depend
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+
 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 rosdep keys --ignore-src --from-paths src \
@@ -93,6 +97,24 @@ RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
     > /rosdep-universe-sensing-perception-exec-depend-packages.txt \
     && cat /rosdep-universe-sensing-perception-exec-depend-packages.txt
 
+FROM rosdep-depend AS rosdep-universe-localization-mapping-depend
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+
+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 rosdep keys --ignore-src --from-paths src \
+    | xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
+    | grep -v '^#' \
+    | sed 's/ \+/\n/g'\
+    | sort \
+    > /rosdep-universe-localization-mapping-depend-packages.txt \
+    && cat /rosdep-universe-localization-mapping-depend-packages.txt
+
+FROM rosdep-depend AS rosdep-universe-depend
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+
 COPY src/launcher /autoware/src/launcher
 COPY src/param /autoware/src/param
 COPY src/sensor_component /autoware/src/sensor_component
@@ -165,10 +187,10 @@ RUN --mount=type=ssh \
   && cat /tmp/rosdep-universe-common-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
   && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
 
-# TODO(youtalk): Remove COPYs when https://github.com/autowarefoundation/autoware.universe/issues/8695 is resolved
 # hadolint ignore=SC1091
 RUN --mount=type=cache,target=${CCACHE_DIR} \
   --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/common,target=/autoware/src/universe/autoware.universe/common \
+  # TODO(youtalk): Remove --mount options when https://github.com/autowarefoundation/autoware.universe/issues/8695 is resolved
   --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/simulator/dummy_perception_publisher,target=/autoware/src/universe/autoware.universe/simulator/dummy_perception_publisher \
   --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/vehicle/autoware_vehicle_info_utils,target=/autoware/src/universe/autoware.universe/vehicle/autoware_vehicle_info_utils \
   --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/external,target=/autoware/src/universe/external \
@@ -193,7 +215,7 @@ ARG ROS_DISTRO
 ENV CCACHE_DIR="/root/.ccache"
 
 # Install rosdep dependencies
-COPY --from=rosdep-depend /rosdep-universe-sensing-perception-depend-packages.txt /tmp/rosdep-universe-sensing-perception-depend-packages.txt
+COPY --from=rosdep-universe-sensing-perception-depend /rosdep-universe-sensing-perception-depend-packages.txt /tmp/rosdep-universe-sensing-perception-depend-packages.txt
 # hadolint ignore=SC2002
 RUN --mount=type=ssh \
   apt-get update \
@@ -202,8 +224,40 @@ RUN --mount=type=ssh \
 
 # hadolint ignore=SC1091
 RUN --mount=type=cache,target=${CCACHE_DIR} \
-  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/perception,target=/autoware/src/universe/autoware.universe/perception \
-  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/sensing,target=/autoware/src/universe/autoware.universe/sensing \
+  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception,target=/autoware/src/universe/autoware.universe/perception \
+  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/sensing,target=/autoware/src/universe/autoware.universe/sensing \
+  source /opt/ros/"$ROS_DISTRO"/setup.bash \
+  && source /opt/autoware/setup.bash \
+  && du -sh ${CCACHE_DIR} && ccache -s \
+  && colcon build --cmake-args \
+    " -Wno-dev" \
+    " --no-warn-unused-cli" \
+    --merge-install \
+    --install-base /opt/autoware \
+    --mixin release compile-commands ccache \
+  && du -sh ${CCACHE_DIR} && ccache -s \
+  && rm -rf /autoware/build
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["/bin/bash"]
+
+FROM universe-common-devel AS universe-localization-mapping-devel
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ENV CCACHE_DIR="/root/.ccache"
+
+# Install rosdep dependencies
+COPY --from=rosdep-universe-localization-mapping-depend /rosdep-universe-localization-mapping-depend-packages.txt /tmp/rosdep-universe-localization-mapping-depend-packages.txt
+# hadolint ignore=SC2002
+RUN --mount=type=ssh \
+  apt-get update \
+  && cat /tmp/rosdep-universe-localization-mapping-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=${CCACHE_DIR} \
+  --mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/localization,target=/autoware/src/universe/autoware.universe/localization \
+  --mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/map,target=/autoware/src/universe/autoware.universe/map \
   source /opt/ros/"$ROS_DISTRO"/setup.bash \
   && source /opt/autoware/setup.bash \
   && du -sh ${CCACHE_DIR} && ccache -s \
@@ -225,31 +279,30 @@ ARG ROS_DISTRO
 ENV CCACHE_DIR="/root/.ccache"
 
 # Install rosdep dependencies
-COPY --from=rosdep-depend /rosdep-universe-depend-packages.txt /tmp/rosdep-universe-depend-packages.txt
+COPY --from=rosdep-universe-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
 
 COPY --from=universe-sensing-perception-devel /opt/autoware /opt/autoware
+COPY --from=universe-localization-mapping-devel /opt/autoware /opt/autoware
 # hadolint ignore=SC1091
 RUN --mount=type=cache,target=${CCACHE_DIR} \
-  --mount=type=bind,from=rosdep-depend,source=/autoware/src/launcher,target=/autoware/src/launcher \
-  --mount=type=bind,from=rosdep-depend,source=/autoware/src/param,target=/autoware/src/param \
-  --mount=type=bind,from=rosdep-depend,source=/autoware/src/sensor_component,target=/autoware/src/sensor_component \
-  --mount=type=bind,from=rosdep-depend,source=/autoware/src/sensor_kit,target=/autoware/src/sensor_kit \
-  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/control,target=/autoware/src/universe/autoware.universe/control \
-  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/evaluator,target=/autoware/src/universe/autoware.universe/evaluator \
-  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/launch,target=/autoware/src/universe/autoware.universe/launch \
-  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/localization,target=/autoware/src/universe/autoware.universe/localization \
-  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/map,target=/autoware/src/universe/autoware.universe/map \
-  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/planning,target=/autoware/src/universe/autoware.universe/planning \
-  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/simulator,target=/autoware/src/universe/autoware.universe/simulator \
-  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/system,target=/autoware/src/universe/autoware.universe/system \
-  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/tools,target=/autoware/src/universe/autoware.universe/tools \
-  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/vehicle,target=/autoware/src/universe/autoware.universe/vehicle \
-  --mount=type=bind,from=rosdep-depend,source=/autoware/src/vehicle,target=/autoware/src/vehicle \
+  --mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/launcher,target=/autoware/src/launcher \
+  --mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/param,target=/autoware/src/param \
+  --mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/sensor_component,target=/autoware/src/sensor_component \
+  --mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/sensor_kit,target=/autoware/src/sensor_kit \
+  --mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/control,target=/autoware/src/universe/autoware.universe/control \
+  --mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/evaluator,target=/autoware/src/universe/autoware.universe/evaluator \
+  --mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/launch,target=/autoware/src/universe/autoware.universe/launch \
+  --mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/planning,target=/autoware/src/universe/autoware.universe/planning \
+  --mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/simulator,target=/autoware/src/universe/autoware.universe/simulator \
+  --mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/system,target=/autoware/src/universe/autoware.universe/system \
+  --mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/tools,target=/autoware/src/universe/autoware.universe/tools \
+  --mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/vehicle,target=/autoware/src/universe/autoware.universe/vehicle \
+  --mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/vehicle,target=/autoware/src/vehicle \
   source /opt/ros/"$ROS_DISTRO"/setup.bash \
   && source /opt/autoware/setup.bash \
   && du -sh ${CCACHE_DIR} && ccache -s \
@@ -272,7 +325,7 @@ ARG LIB_DIR
 ARG SETUP_ARGS
 
 # Set up runtime environment and artifacts
-COPY --from=rosdep-depend /rosdep-universe-sensing-perception-exec-depend-packages.txt /tmp/rosdep-universe-sensing-perception-exec-depend-packages.txt
+COPY --from=rosdep-universe-sensing-perception-depend /rosdep-universe-sensing-perception-exec-depend-packages.txt /tmp/rosdep-universe-sensing-perception-exec-depend-packages.txt
 # hadolint ignore=SC2002
 RUN --mount=type=ssh \
   --mount=type=cache,target=/var/cache/apt,sharing=locked \
@@ -306,7 +359,7 @@ ARG LIB_DIR
 ARG SETUP_ARGS
 
 # Set up runtime environment and artifacts
-COPY --from=rosdep-depend /rosdep-exec-depend-packages.txt /tmp/rosdep-exec-depend-packages.txt
+COPY --from=rosdep-universe-depend /rosdep-exec-depend-packages.txt /tmp/rosdep-exec-depend-packages.txt
 # hadolint ignore=SC2002
 RUN --mount=type=ssh \
   --mount=type=cache,target=/var/cache/apt,sharing=locked \