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refactor(docker): replace the multiple rm -rf commands with cleanup_system.sh. #5426

Merged
merged 13 commits into from
Nov 12, 2024
+27 −63
Merged

refactor(docker): replace the multiple rm -rf commands with cleanup_system.sh. #5426

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e5518da
run resolve_rosdep_keys.sh
youtalk Nov 12, 2024
ce7ff36
style(pre-commit): autofix
pre-commit-ci[bot] Nov 12, 2024
5c44436
update .dockerignore
youtalk Nov 12, 2024
8c4b1d5
chmod +x
youtalk Nov 12, 2024
ea76f69
fix location
youtalk Nov 12, 2024
6264cde
remove rosdep update
youtalk Nov 12, 2024
01356bc
run build_and_clean.sh
youtalk Nov 12, 2024
290c1e2
style(pre-commit): autofix
pre-commit-ci[bot] Nov 12, 2024
7f4c619
run cleanup_system.sh
youtalk Nov 12, 2024
1fdd1ee
chmod +x
youtalk Nov 12, 2024
55883c3
style(pre-commit): autofix
pre-commit-ci[bot] Nov 12, 2024
337207f
Merge branch 'main' into cleanup-system
youtalk Nov 12, 2024
fcfdb37
Update cleanup_system.sh
youtalk Nov 12, 2024
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1 change: 1 addition & 0 deletions .dockerignore
View file
Original file line number Diff line number Diff line change
@@ -9,6 +9,7 @@
# Ignore Docker files
docker
!docker/etc
!docker/scripts

# Ignore a part of files under src
src/**/.*
229 changes: 34 additions & 195 deletions docker/Dockerfile
View file
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
ARG BASE_IMAGE

# hadolint ignore=DL3006
FROM $BASE_IMAGE AS base

Check warning on line 4 in docker/Dockerfile

GitHub Actions / docker-build

Default value for global ARG results in an empty or invalid base image name 

InvalidDefaultArgInFrom: Default value for ARG $BASE_IMAGE results in empty or invalid base image name
More info: https://docs.docker.com/go/dockerfile/rule/invalid-default-arg-in-from/
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

@@ -19,6 +19,8 @@
# Copy files
COPY setup-dev-env.sh ansible-galaxy-requirements.yaml amd64.env arm64.env /autoware/
COPY ansible/ /autoware/ansible/
COPY docker/scripts/cleanup_system.sh /autoware/cleanup_system.sh
RUN chmod +x /autoware/cleanup_system.sh
WORKDIR /autoware

# Set up base environment
@@ -46,12 +48,14 @@
&& apt-get autoremove -y && rm -rf "$HOME"/.cache

# hadolint ignore=DL3006
FROM $BASE_IMAGE AS rosdep-depend

Check warning on line 51 in docker/Dockerfile

GitHub Actions / docker-build

Default value for global ARG results in an empty or invalid base image name 

InvalidDefaultArgInFrom: Default value for ARG $BASE_IMAGE results in empty or invalid base image name
More info: https://docs.docker.com/go/dockerfile/rule/invalid-default-arg-in-from/
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

COPY setup-dev-env.sh ansible-galaxy-requirements.yaml amd64.env arm64.env /autoware/
COPY ansible/ /autoware/ansible/
COPY docker/scripts/resolve_rosdep_keys.sh /autoware/resolve_rosdep_keys.sh
RUN chmod +x /autoware/resolve_rosdep_keys.sh
WORKDIR /autoware

RUN rm -f /etc/apt/apt.conf.d/docker-clean \
@@ -64,21 +68,13 @@

# Generate install package lists
COPY src/core /autoware/src/core
RUN rosdep update && rosdep keys --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
RUN rosdep update && /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-core-depend-packages.txt \
&& cat /rosdep-core-depend-packages.txt

COPY src/universe/external /autoware/src/universe/external
COPY src/universe/autoware.universe/common /autoware/src/universe/autoware.universe/common
RUN rosdep keys --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-universe-common-depend-packages.txt \
&& cat /rosdep-universe-common-depend-packages.txt

@@ -88,18 +84,10 @@

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 \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-universe-sensing-perception-depend-packages.txt \
&& cat /rosdep-universe-sensing-perception-depend-packages.txt
RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-universe-sensing-perception-exec-depend-packages.txt \
&& cat /rosdep-universe-sensing-perception-exec-depend-packages.txt

@@ -109,18 +97,10 @@

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 \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-universe-localization-mapping-depend-packages.txt \
&& cat /rosdep-universe-localization-mapping-depend-packages.txt
RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-universe-localization-mapping-exec-depend-packages.txt \
&& cat /rosdep-universe-localization-mapping-exec-depend-packages.txt

@@ -135,18 +115,10 @@
COPY src/universe/autoware.universe/map/autoware_map_projection_loader /autoware/src/universe/autoware.universe/map/autoware_map_projection_loader
COPY src/universe/autoware.universe/sensing/autoware_pcl_extensions /autoware/src/universe/autoware.universe/sensing/autoware_pcl_extensions
COPY src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor /autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor
RUN rosdep keys --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-universe-planning-control-depend-packages.txt \
&& cat /rosdep-universe-planning-control-depend-packages.txt
RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-universe-planning-control-exec-depend-packages.txt \
&& cat /rosdep-universe-planning-control-exec-depend-packages.txt

@@ -158,18 +130,10 @@
COPY src/universe/autoware.universe/system /autoware/src/universe/autoware.universe/system
COPY src/universe/autoware.universe/map/autoware_map_height_fitter /autoware/src/universe/autoware.universe/map/autoware_map_height_fitter
COPY src/universe/autoware.universe/localization/autoware_pose2twist /autoware/src/universe/autoware.universe/localization/autoware_pose2twist
RUN rosdep keys --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-universe-vehicle-system-depend-packages.txt \
&& cat /rosdep-universe-vehicle-system-depend-packages.txt
RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-universe-vehicle-system-exec-depend-packages.txt \
&& cat /rosdep-universe-vehicle-system-exec-depend-packages.txt

@@ -183,19 +147,11 @@
COPY src/sensor_kit /autoware/src/sensor_kit
COPY src/universe /autoware/src/universe
COPY src/vehicle /autoware/src/vehicle
RUN rosdep keys --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-universe-depend-packages.txt \
&& cat /rosdep-universe-depend-packages.txt

RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-exec-depend-packages.txt \
&& cat /rosdep-exec-depend-packages.txt

@@ -204,6 +160,9 @@
ARG ROS_DISTRO
ENV CCACHE_DIR="/root/.ccache"

COPY docker/scripts/build_and_clean.sh /autoware/build_and_clean.sh
RUN chmod +x /autoware/build_and_clean.sh

# Set up development environment and tools
RUN --mount=type=ssh \
--mount=type=cache,target=/var/cache/apt,sharing=locked \
@@ -223,15 +182,7 @@
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/core,target=/autoware/src/core \
source /opt/ros/"$ROS_DISTRO"/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 /autoware/log
&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["/bin/bash"]
@@ -255,15 +206,7 @@
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/external,target=/autoware/src/universe/external \
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 /autoware/log
&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["/bin/bash"]
@@ -300,15 +243,7 @@
--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 /autoware/log
&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["/bin/bash"]
@@ -342,15 +277,7 @@
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/sensing/autoware_cuda_utils,target=/autoware/src/universe/autoware.universe/sensing/autoware_cuda_utils \
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
&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware

COPY --from=universe-sensing-perception-devel /opt/autoware /opt/autoware

@@ -376,15 +303,7 @@
--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 \
&& 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 /autoware/log
&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware

FROM universe-common-devel AS universe-planning-control-devel
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
@@ -410,15 +329,7 @@
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor,target=/autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor \
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 /autoware/log
&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["/bin/bash"]
@@ -444,15 +355,7 @@
--mount=type=bind,from=rosdep-universe-vehicle-system-depend,source=/autoware/src/universe/autoware.universe/localization/autoware_pose2twist,target=/autoware/src/universe/autoware.universe/localization/autoware_pose2twist \
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 /autoware/log
&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["/bin/bash"]
@@ -487,15 +390,7 @@
--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 \
&& 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 /autoware/log
&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["/bin/bash"]
@@ -531,15 +426,7 @@
&& pip uninstall -y ansible ansible-core \
&& apt-get update \
&& cat /tmp/rosdep-universe-sensing-perception-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
&& apt-get autoremove -y && rm -rf "$HOME"/.cache \
&& find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
&& find / -name "*.o" -type f -delete \
&& find / -name "*.h" -type f -delete \
&& find / -name "*.hpp" -type f -delete \
&& rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
/root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
/etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
/usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
&& /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO

COPY --from=universe-sensing-perception-devel /opt/autoware /opt/autoware

@@ -564,15 +451,7 @@
&& pip uninstall -y ansible ansible-core \
&& apt-get update \
&& cat /tmp/rosdep-universe-sensing-perception-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
&& apt-get autoremove -y && rm -rf "$HOME"/.cache \
&& find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
&& find / -name "*.o" -type f -delete \
&& find / -name "*.h" -type f -delete \
&& find / -name "*.hpp" -type f -delete \
&& rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
/root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
/etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
/usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
&& /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO

COPY --from=universe-sensing-perception-devel-cuda /opt/autoware /opt/autoware

@@ -593,15 +472,7 @@
&& pip uninstall -y ansible ansible-core \
&& apt-get update \
&& cat /tmp/rosdep-universe-localization-mapping-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
&& apt-get autoremove -y && rm -rf "$HOME"/.cache \
&& find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
&& find / -name "*.o" -type f -delete \
&& find / -name "*.h" -type f -delete \
&& find / -name "*.hpp" -type f -delete \
&& rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
/root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
/etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
/usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
&& /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO

COPY --from=universe-localization-mapping-devel /opt/autoware /opt/autoware

@@ -626,15 +497,7 @@
&& pip uninstall -y ansible ansible-core \
&& apt-get update \
&& cat /tmp/rosdep-universe-planning-control-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
&& apt-get autoremove -y && rm -rf "$HOME"/.cache \
&& find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
&& find / -name "*.o" -type f -delete \
&& find / -name "*.h" -type f -delete \
&& find / -name "*.hpp" -type f -delete \
&& rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
/root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
/etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
/usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
&& /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO

COPY --from=universe-planning-control-devel /opt/autoware /opt/autoware

@@ -659,15 +522,7 @@
&& pip uninstall -y ansible ansible-core \
&& apt-get update \
&& cat /tmp/rosdep-universe-vehicle-system-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
&& apt-get autoremove -y && rm -rf "$HOME"/.cache \
&& find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
&& find / -name "*.o" -type f -delete \
&& find / -name "*.h" -type f -delete \
&& find / -name "*.hpp" -type f -delete \
&& rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
/root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
/etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
/usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
&& /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO

COPY --from=universe-vehicle-system-devel /opt/autoware /opt/autoware

@@ -692,15 +547,7 @@
&& pip uninstall -y ansible ansible-core \
&& apt-get update \
&& cat /tmp/rosdep-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
&& apt-get autoremove -y && rm -rf "$HOME"/.cache \
&& find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
&& find / -name "*.o" -type f -delete \
&& find / -name "*.h" -type f -delete \
&& find / -name "*.hpp" -type f -delete \
&& rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
/root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
/etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
/usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
&& /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO

COPY --from=universe-devel /opt/autoware /opt/autoware

@@ -725,15 +572,7 @@
&& pip uninstall -y ansible ansible-core \
&& apt-get update \
&& cat /tmp/rosdep-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
&& apt-get autoremove -y && rm -rf "$HOME"/.cache \
&& find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
&& find / -name "*.o" -type f -delete \
&& find / -name "*.h" -type f -delete \
&& find / -name "*.hpp" -type f -delete \
&& rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
/root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
/etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
/usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
&& /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO

COPY --from=universe-devel-cuda /opt/autoware /opt/autoware

18 changes: 18 additions & 0 deletions docker/scripts/build_and_clean.sh
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Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
#!/bin/bash

function build_and_clean() {
local ccache_dir=$1
local install_base=$2

du -sh "$ccache_dir" && ccache -s &&
colcon build --cmake-args \
" -Wno-dev" \
" --no-warn-unused-cli" \
--merge-install \
--install-base "$install_base" \
--mixin release compile-commands ccache &&
du -sh "$ccache_dir" && ccache -s &&
rm -rf /autoware/build /autoware/log
}

build_and_clean "$@"
18 changes: 18 additions & 0 deletions docker/scripts/cleanup_system.sh
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Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
#!/bin/bash

function cleanup_system() {
local lib_dir=$1
local ros_distro=$2

apt-get autoremove -y && rm -rf "$HOME"/.cache &&
find /usr/lib/$lib_dir-linux-gnu -name "*.a" -type f -delete &&
find / -name "*.o" -type f -delete &&
find / -name "*.h" -type f -delete &&
find / -name "*.hpp" -type f -delete &&
rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
/root/.local/pipx /opt/ros/"$ros_distro"/include /etc/apt/sources.list.d/cuda*.list \
/etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
/usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
}

cleanup_system "$@"
14 changes: 14 additions & 0 deletions docker/scripts/resolve_rosdep_keys.sh
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Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@
#!/bin/bash

function resolve_rosdep_keys() {
local src_path=$1
local ros_distro=$2

rosdep keys --ignore-src --from-paths "$src_path" |
xargs rosdep resolve --rosdistro "$ros_distro" |
grep -v '^#' |
sed 's/ \+/\n/g' |
sort
}

resolve_rosdep_keys "$@"