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Merge branch 'main' into fix/drivable-are
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‎.cppcheck_suppressions

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checkersReport
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missingInclude
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missingIncludeSystem
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noConstructor
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unknownMacro
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unmatchedSuppression
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unreadVariable
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unusedFunction
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useInitializationList
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useStlAlgorithm
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variableScope
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virtualCallInConstructor

‎.cspell.json

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{
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"ignorePaths": [
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"perception/bytetrack/lib/**",
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"planning/behavior_velocity_intersection_module/scripts/**"
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"perception/autoware_bytetrack/lib/**",
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"planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/scripts/**"
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],
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"ignoreRegExpList": [],
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"words": ["dltype", "tvmgen", "fromarray"]

‎.github/CODEOWNERS

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‎.github/actions/build-and-test-differential/action.yaml

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name: build-and-test-differential
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description: ""
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inputs:
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rosdistro:
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description: ""
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required: true
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container:
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description: ""
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required: true
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container-suffix:
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description: ""
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required: true
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runner:
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description: ""
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required: true
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build-depends-repos:
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description: ""
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required: true
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build-pre-command:
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description: ""
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required: true
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codecov-token:
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description: ""
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required: true
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runs:
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using: composite
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steps:
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- name: Show disk space before the tasks
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run: df -h
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shell: bash
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- name: Show machine specs
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run: lscpu && free -h
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shell: bash
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- name: Remove exec_depend
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uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
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- name: Get modified packages
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id: get-modified-packages
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uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
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- name: Create ccache directory
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run: |
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mkdir -p ${CCACHE_DIR}
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du -sh ${CCACHE_DIR} && ccache -s
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shell: bash
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- name: Attempt to restore ccache
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uses: actions/cache/restore@v4
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with:
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path: |
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/root/.ccache
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key: ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-${{ github.event.pull_request.base.sha }}
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restore-keys: |
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ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-
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- name: Show ccache stats before build
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run: du -sh ${CCACHE_DIR} && ccache -s
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shell: bash
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- name: Export CUDA state as a variable for adding to cache key
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run: |
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build_type_cuda_state=nocuda
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if [[ "${{ inputs.container-suffix }}" == "-cuda" ]]; then
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build_type_cuda_state=cuda
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fi
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echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
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echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
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shell: bash
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- name: Build
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if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
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uses: autowarefoundation/autoware-github-actions/colcon-build@v1
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with:
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rosdistro: ${{ inputs.rosdistro }}
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target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
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build-depends-repos: ${{ inputs.build-depends-repos }}
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cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
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build-pre-command: ${{ inputs.build-pre-command }}
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- name: Show ccache stats after build
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run: du -sh ${CCACHE_DIR} && ccache -s
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shell: bash
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- name: Test
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id: test
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if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
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uses: autowarefoundation/autoware-github-actions/colcon-test@v1
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with:
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rosdistro: ${{ inputs.rosdistro }}
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target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
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build-depends-repos: ${{ inputs.build-depends-repos }}
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- name: Upload coverage to CodeCov
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if: ${{ steps.test.outputs.coverage-report-files != '' }}
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uses: codecov/codecov-action@v4
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with:
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files: ${{ steps.test.outputs.coverage-report-files }}
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fail_ci_if_error: false
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verbose: true
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flags: differential
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token: ${{ inputs.codecov-token }}
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- name: Show disk space after the tasks
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run: df -h
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shell: bash

‎.github/labeler.yaml

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- tools/**/*
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"component:vehicle":
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- vehicle/**/*
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"tag:require-cuda-build-and-test":
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- perception/**/*
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- sensing/**/*
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- common/cuda_utils/**/*
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- common/tensorrt_common/**/*

‎.github/overall-ci-infrastructure.md

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# Overall CI Infrastructure
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## Machine Types
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### Standard GitHub-hosted runners
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- [Documentation](https://docs.github.com/en/actions/using-github-hosted-runners/using-github-hosted-runners/about-github-hosted-runners#standard-github-hosted-runners-for-public-repositories)
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These runners are utilized by the majority of the workflows.
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They are free to use for public repositories, with a concurrency limit of 20 jobs per organization.
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**Listed specs:**
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| vCPU | RAM | Storage (SSD) |
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| ---- | ----- | ------------- |
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| 4 | 16 GB | 14 GB |
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**Note:** While the official documentation lists 14 GB of storage, the actual available storage is approximately 73 GB.
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### AWS CodeBuild runners
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- [AWS CodeBuild Documentation](https://docs.aws.amazon.com/codebuild/latest/userguide/action-runner.html)
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These runners are employed for workflows that require more resources and are funded by the Autoware Foundation budget.
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**Relevant machine types:**
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| Instance Type | Memory | vCPUs | Price per Minute |
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| --------------- | ------ | ----- | ---------------- |
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| arm1.large | 16 GiB | 8 | $0.015 |
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| general1.medium | 7 GB | 4 | $0.01 |
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| general1.large | 15 GB | 8 | $0.02 |
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| general1.xlarge | 72 GiB | 36 | $0.0798 |
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| gpu1.small | 15 GB | 4 | $0.05 |
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**Sources:**
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- [Compute images supported with the CodeBuild-hosted GitHub Actions runner](https://docs.aws.amazon.com/codebuild/latest/userguide/sample-github-action-runners-update-yaml.images.html)
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- [AWS CodeBuild pricing](https://aws.amazon.com/codebuild/pricing/)
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## Key workflows and their runners
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| Workflow | Trigger | Runner |
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| ---------------------------------- | --------------------- | -------------- |
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| build-and-test (cuda) | merge to main | general1.large |
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| build-and-test-daily | daily on main | github-std |
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| build-and-test-daily-arm64 | daily on main | arm1.large |
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| build-and-test-differential | PR update | github-std |
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| build-and-test-differential (cuda) | PR update | general1.large |
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| build-and-test-differential-arm64 | PR update (arm label) | arm1.large |
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## Additional notes
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- We use [`taskset`](https://manpages.ubuntu.com/manpages/jammy/man1/taskset.1.html) from GNU Coreutils to limit the number of cores utilized by build processes. This is done to prevent overloading the self-hosted runners.
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- The number of cores is limited to `vCPU count - 1`.

‎.github/workflows/build-and-test-daily-arm64.yaml

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- cron: 0 0 * * *
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workflow_dispatch:
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concurrency:
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group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.run_id }}
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cancel-in-progress: true
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jobs:
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build-and-test-daily-arm64:
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runs-on: [self-hosted, linux, ARM64]
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runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-arm-3.0-large
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container: ${{ matrix.container }}${{ matrix.container-suffix }}
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strategy:
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fail-fast: false
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- name: Show disk space before the tasks
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run: df -h
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- name: Show machine specs
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run: lscpu && free -h
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- name: Remove exec_depend
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uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
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target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
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build-depends-repos: ${{ matrix.build-depends-repos }}
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cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
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build-pre-command: taskset --cpu-list 0-6
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- name: Test
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if: ${{ steps.get-self-packages.outputs.self-packages != '' }}

‎.github/workflows/build-and-test-differential-arm64.yaml

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- reopened
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- labeled
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concurrency:
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group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.run_id }}
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cancel-in-progress: true
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jobs:
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make-sure-label-is-present:
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uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
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build-and-test-differential-arm64:
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needs: make-sure-label-is-present
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if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }}
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runs-on: [self-hosted, linux, ARM64]
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runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-arm-3.0-large
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container: ${{ matrix.container }}${{ matrix.container-suffix }}
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strategy:
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fail-fast: false
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- name: Show disk space before the tasks
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run: df -h
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- name: Show machine specs
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run: lscpu && free -h
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- name: Remove exec_depend
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uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
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target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
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build-depends-repos: ${{ matrix.build-depends-repos }}
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cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
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build-pre-command: taskset --cpu-list 0-6
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- name: Test
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id: test

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