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refactor: added Docker image for visualization plugins (#5460)
* refactor: added Docker image for visualization plugins Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * added visualization section Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * update README.md Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * update README.md Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * added stages for visualization image Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix dependency generation Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * added target option Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * remove suffix and explicit visualization build Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * added tags for all targets Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * added COPY statement for universe-visualization-devel Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> --------- Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
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‎docker/Dockerfile

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Original file line numberDiff line numberDiff line change
@@ -35,6 +35,18 @@ RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
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> /rosdep-universe-common-depend-packages.txt \
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&& cat /rosdep-universe-common-depend-packages.txt
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FROM rosdep-depend AS rosdep-universe-visualization-depend
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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
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ARG ROS_DISTRO
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COPY src/universe/autoware.universe/visualization /autoware/src/universe/autoware.universe/visualization
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RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
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> /rosdep-universe-visualization-depend-packages.txt \
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&& cat /rosdep-universe-visualization-depend-packages.txt
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RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
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> /rosdep-universe-visualization-exec-depend-packages.txt \
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&& cat /rosdep-universe-visualization-exec-depend-packages.txt
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FROM rosdep-depend AS rosdep-universe-sensing-perception-depend
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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
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ARG ROS_DISTRO
@@ -314,6 +326,30 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
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ENTRYPOINT ["/ros_entrypoint.sh"]
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CMD ["/bin/bash"]
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FROM universe-common-devel AS universe-visualization-devel
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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
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ARG ROS_DISTRO
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ENV CCACHE_DIR="/root/.ccache"
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# Install rosdep dependencies
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COPY --from=rosdep-universe-visualization-depend /rosdep-universe-visualization-depend-packages.txt /tmp/rosdep-universe-visualization-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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apt-get update \
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&& cat /tmp/rosdep-universe-visualization-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
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&& /autoware/cleanup_apt.sh
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# hadolint ignore=SC1091
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RUN --mount=type=cache,target=${CCACHE_DIR} \
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--mount=type=bind,from=rosdep-universe-visualization-depend,source=/autoware/src/universe/autoware.universe/visualization,target=/autoware/src/universe/autoware.universe/visualization \
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source /opt/ros/"$ROS_DISTRO"/setup.bash \
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&& source /opt/autoware/setup.bash \
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&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware
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ENTRYPOINT ["/ros_entrypoint.sh"]
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CMD ["/bin/bash"]
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FROM universe-common-devel AS universe-devel
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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
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ARG ROS_DISTRO
@@ -332,6 +368,7 @@ COPY --from=universe-sensing-perception-devel /opt/autoware /opt/autoware
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COPY --from=universe-localization-mapping-devel /opt/autoware /opt/autoware
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COPY --from=universe-planning-control-devel /opt/autoware /opt/autoware
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COPY --from=universe-vehicle-system-devel /opt/autoware /opt/autoware
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COPY --from=universe-visualization-devel /opt/autoware /opt/autoware
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# hadolint ignore=SC1091
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RUN --mount=type=cache,target=${CCACHE_DIR} \
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--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/launcher,target=/autoware/src/launcher \
@@ -494,6 +531,32 @@ 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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# hadolint ignore=DL3006
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FROM $AUTOWARE_BASE_IMAGE AS universe-visualization
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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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# Set up runtime environment
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COPY --from=rosdep-universe-visualization-depend /rosdep-universe-visualization-exec-depend-packages.txt /tmp/rosdep-universe-visualization-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 --no-nvidia --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-visualization-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
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&& /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO
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COPY --from=universe-visualization-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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# hadolint ignore=DL3006
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FROM $AUTOWARE_BASE_IMAGE AS universe
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SHELL ["/bin/bash", "-o", "pipefail", "-c"]

‎docker/README.md

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@@ -135,6 +135,10 @@ This stage is an Autoware Universe Sensing/Perception runtime container. It only
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This stage installs the CUDA runtime environment and copies the binaries built in the `universe-sensing-perception-devel-cuda` stage.
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### `universe-visualization`
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This stage is a Autoware Universe Visualization runtime container. It only includes the dependencies given by `/rosdep-universe-visualization-exec-depend-packages.txt` and the binaries built in the `universe-visualization-devel` stage.
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### `universe-localization-mapping-devel`
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This stage installs the dependency packages based on `/rosdep-universe-localization-mapping-depend-packages.txt` and builds the packages under the following directories of `autoware.repos`:
@@ -187,6 +191,7 @@ Then it builds the remaining packages of `autoware.repos`:
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- `universe/autoware.universe/launch`
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- `universe/autoware.universe/simulator`
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- `universe/autoware.universe/tools`
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- `universe/autoware.universe/visualization`
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- `vehicle`
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This stage provides an all-in-one development container to Autoware developers. By running the host's source code with volume mounting, it allows for easy building and debugging of Autoware.

‎docker/build.sh

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@@ -11,6 +11,7 @@ print_help() {
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echo " --no-cuda Disable CUDA support"
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echo " --platform Specify the platform (default: current platform)"
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echo " --devel-only Build devel image only"
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echo " --target Specify the target image (default: universe or universe-devel if --devel-only is set)"
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echo ""
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echo "Note: The --platform option should be one of 'linux/amd64' or 'linux/arm64'."
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}
@@ -36,6 +37,10 @@ parse_arguments() {
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--devel-only)
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option_devel_only=true
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;;
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--target)
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option_target="$2"
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shift
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;;
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*)
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echo "Unknown option: $1"
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print_help
@@ -58,10 +63,15 @@ set_cuda_options() {
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# Set build options
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set_build_options() {
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if [ "$option_devel_only" = "true" ]; then
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target="universe-devel"
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if [ -n "$option_target" ]; then
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target="$option_target"
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image_name_suffix=""
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else
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target="universe"
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if [ "$option_devel_only" = "true" ]; then
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target="universe-devel"
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else
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target="universe"
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fi
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fi
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}
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@@ -144,9 +154,21 @@ build_images() {
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--set "*.args.AUTOWARE_BASE_CUDA_IMAGE=$autoware_base_cuda_image" \
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--set "*.args.SETUP_ARGS=$setup_args" \
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--set "*.args.LIB_DIR=$lib_dir" \
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--set "universe-sensing-perception-devel.tags=ghcr.io/autowarefoundation/autoware:universe-sensing-perception-devel" \
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--set "universe-sensing-perception.tags=ghcr.io/autowarefoundation/autoware:universe-sensing-perception" \
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--set "universe-localization-mapping-devel.tags=ghcr.io/autowarefoundation/autoware:universe-localization-mapping-devel" \
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--set "universe-localization-mapping.tags=ghcr.io/autowarefoundation/autoware:universe-localization-mapping" \
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--set "universe-planning-control-devel.tags=ghcr.io/autowarefoundation/autoware:universe-planning-control-devel" \
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--set "universe-planning-control.tags=ghcr.io/autowarefoundation/autoware:universe-planning-control" \
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--set "universe-vehicle-system-devel.tags=ghcr.io/autowarefoundation/autoware:universe-vehicle-system-devel" \
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--set "universe-vehicle-system.tags=ghcr.io/autowarefoundation/autoware:universe-vehicle-system" \
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--set "universe-visualization-devel.tags=ghcr.io/autowarefoundation/autoware:universe-visualization-devel" \
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--set "universe-visualization.tags=ghcr.io/autowarefoundation/autoware:universe-visualization" \
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--set "universe-devel.tags=ghcr.io/autowarefoundation/autoware:universe-devel" \
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--set "universe-devel-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-devel-cuda" \
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--set "universe.tags=ghcr.io/autowarefoundation/autoware:universe" \
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--set "universe-sensing-perception-devel-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-sensing-perception-devel-cuda" \
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--set "universe-sensing-perception-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-sensing-perception-cuda" \
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--set "universe-devel-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-devel-cuda" \
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--set "universe-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-cuda" \
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"$target$image_name_suffix"
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set +x

‎docker/docker-bake.hcl

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@@ -9,6 +9,8 @@ group "default" {
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"universe-planning-control",
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"universe-vehicle-system-devel",
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"universe-vehicle-system",
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"universe-visualization-devel",
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"universe-visualization",
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"universe-devel",
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"universe"
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]
@@ -24,6 +26,8 @@ target "docker-metadata-action-universe-planning-control-devel" {}
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target "docker-metadata-action-universe-planning-control" {}
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target "docker-metadata-action-universe-vehicle-system-devel" {}
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target "docker-metadata-action-universe-vehicle-system" {}
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target "docker-metadata-action-universe-visualization-devel" {}
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target "docker-metadata-action-universe-visualization" {}
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target "docker-metadata-action-universe-devel" {}
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target "docker-metadata-action-universe" {}
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@@ -81,6 +85,18 @@ target "universe-vehicle-system" {
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target = "universe-vehicle-system"
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}
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target "universe-visualization-devel" {
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inherits = ["docker-metadata-action-universe-visualization-devel"]
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dockerfile = "docker/Dockerfile"
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target = "universe-visualization-devel"
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}
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target "universe-visualization" {
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inherits = ["docker-metadata-action-universe-visualization"]
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dockerfile = "docker/Dockerfile"
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target = "universe-visualization"
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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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