From 7dc21f1bb8ccb135fbcb2fc71026e35a597c956e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Mete=20Fatih=20C=C4=B1r=C4=B1t?= <mfc@autoware.org>
Date: Tue, 18 Feb 2025 15:32:25 +0900
Subject: [PATCH 1/2] ci(build-depends.repos): separate repos for humble and
nightly
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
---
.../actions/combine-repos-action/README.md | 43 +++++++++++++++
.../actions/combine-repos-action/action.yaml | 48 +++++++++++++++++
.../combine-repos-action/combine-repos.py | 52 +++++++++++++++++++
.github/sync-files.yaml | 1 -
.../workflows/build-and-test-daily-arm64.yaml | 12 +++--
.github/workflows/build-and-test-daily.yaml | 12 +++--
.../build-and-test-differential-arm64.yaml | 18 +++++--
.../build-and-test-differential.yaml | 13 +++++
.github/workflows/build-and-test.yaml | 12 +++--
.github/workflows/check-build-depends.yaml | 20 ++++---
...epends.repos => build_depends_humble.repos | 20 ++-----
build_depends_nightly.repos | 25 +++++++++
12 files changed, 241 insertions(+), 35 deletions(-)
create mode 100644 .github/actions/combine-repos-action/README.md
create mode 100644 .github/actions/combine-repos-action/action.yaml
create mode 100644 .github/actions/combine-repos-action/combine-repos.py
rename build_depends.repos => build_depends_humble.repos (69%)
create mode 100644 build_depends_nightly.repos
diff --git a/.github/actions/combine-repos-action/README.md b/.github/actions/combine-repos-action/README.md
new file mode 100644
index 0000000000000..6c66d60d5560a
--- /dev/null
+++ b/.github/actions/combine-repos-action/README.md
@@ -0,0 +1,43 @@
+# combine-repos-action
+
+## Description
+
+**Combine Repos Action** is a GitHub Action designed to merge two `.repos` files—a base file and an overlay file—into a single file. The overlay file takes precedence over the base file when duplicate repository entries exist. This is especially useful for projects that need to dynamically combine configuration files for dependency management or CI workflows.
+
+## Usage
+
+Below is an example of how to include it in your workflow:
+
+```yaml
+jobs:
+ combine:
+ runs-on: ubuntu-latest
+ steps:
+ - name: Checkout repository
+ uses: actions/checkout@v4
+
+ - name: Combine Repos Files
+ uses: ./.github/actions/combine-repos-action
+ with:
+ base_file: build_depends_humble.repos
+ overlay_file: build_depends_nightly.repos
+ output_file: build_depends.repos
+```
+
+In this example:
+
+- The action reads the `build_depends_humble.repos` file and the `build_depends_nightly.repos` file.
+- It merges them with overlay file taking precedence.
+- The resulting file is saved as `build_depends.repos` (or a custom filename if specified).
+
+## Inputs
+
+| Input | Description | Required | Default |
+| -------------- | --------------------------------- | -------- | ---------------- |
+| `base_file` | Path to the base `.repos` file | Yes | - |
+| `overlay_file` | Path to the overlay `.repos` file | Yes | - |
+| `output_file` | Path for the combined output file | No | `combined.repos` |
+
+## Outputs
+
+This action creates or updates the file specified by the `output_file` input with the combined contents of the two `.repos` files. The final file's content is also echoed to the workflow logs for easy verification.
diff --git a/.github/actions/combine-repos-action/action.yaml b/.github/actions/combine-repos-action/action.yaml
new file mode 100644
index 0000000000000..252955cc99564
--- /dev/null
+++ b/.github/actions/combine-repos-action/action.yaml
@@ -0,0 +1,48 @@
+name: Combine Repos Action
+description: Merge base and overlay .repos files, with overlay entries taking precedence.
+inputs:
+ base_file:
+ description: Path to the base .repos file
+ required: true
+ overlay_file:
+ description: Path to the overlay .repos file
+ required: true
+ output_file:
+ description: Path for the combined output file
+ required: false
+ default: combined.repos
+
+runs:
+ using: composite
+ steps:
+ - name: Install python3-pip
+ run: |
+ sudo apt-get -yqq update
+ sudo apt-get -yqq install python3-pip python-is-python3
+ shell: bash
+
+ - name: Display Python version
+ run: |
+ python --version
+ which pip
+ pip --version
+ shell: bash
+
+ - name: Install PyYAML dependency
+ run: pip install pyyaml
+ shell: bash
+
+ - name: Combine repos files
+ run: |
+ python "${GITHUB_ACTION_PATH}/combine-repos.py" \
+ --base "${{ inputs.base_file }}" \
+ --overlay "${{ inputs.overlay_file }}" \
+ --output "${{ inputs.output_file }}"
+ shell: bash
+
+ - name: Display combined repos file
+ run: |
+ echo "=== Combined .repos File Content ==="
+ cat "${{ inputs.output_file }}"
+ echo "===================================="
+ shell: bash
diff --git a/.github/actions/combine-repos-action/combine-repos.py b/.github/actions/combine-repos-action/combine-repos.py
new file mode 100644
index 0000000000000..4cc279dd674b4
--- /dev/null
+++ b/.github/actions/combine-repos-action/combine-repos.py
@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+import argparse
+import sys
+
+import yaml
+
+
+def main():
+ parser = argparse.ArgumentParser(
+ description="Merge base and overlay .repos files with overlay taking precedence."
+ )
+ parser.add_argument("--base", required=True, help="Path to the base .repos file")
+ parser.add_argument("--overlay", required=True, help="Path to the overlay .repos file")
+ parser.add_argument(
+ "--output",
+ default="combined.repos",
+ help="Path for the combined output file (default: combined.repos)",
+ )
+ args = parser.parse_args()
+
+ try:
+ with open(args.base, "r") as bf:
+ base_data = yaml.safe_load(bf)
+ except Exception as e:
+ sys.exit(f"Error reading base file '{args.base}': {e}")
+
+ try:
+ with open(args.overlay, "r") as of:
+ overlay_data = yaml.safe_load(of)
+ except Exception as e:
+ sys.exit(f"Error reading overlay file '{args.overlay}': {e}")
+
+ if "repositories" not in base_data:
+ sys.exit(f"Base file '{args.base}' is missing the 'repositories' key")
+ if overlay_data and "repositories" not in overlay_data:
+ sys.exit(f"Overlay file '{args.overlay}' is missing the 'repositories' key")
+
+ # Merge: overlay entries override base entries
+ merged_data = base_data.copy()
+ merged_data["repositories"].update(overlay_data.get("repositories", {}))
+
+ try:
+ with open(args.output, "w") as cf:
+ yaml.dump(merged_data, cf, default_flow_style=False)
+ except Exception as e:
+ sys.exit(f"Error writing to output file '{args.output}': {e}")
+
+ print(f"Successfully merged into {args.output}")
+
+
+if __name__ == "__main__":
+ main()
diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml
index 4c09e072766fa..7389e9fb5dbcb 100644
--- a/.github/sync-files.yaml
+++ b/.github/sync-files.yaml
@@ -9,7 +9,6 @@
dest: .github/pull_request_template.md
- source: .github/stale.yml
- source: .github/workflows/cancel-previous-workflows.yaml
- - source: .github/workflows/check-build-depends.yaml
- source: .github/workflows/clang-tidy-pr-comments.yaml
- source: .github/workflows/clang-tidy-pr-comments-manually.yaml
- source: .github/workflows/comment-on-pr.yaml
diff --git a/.github/workflows/build-and-test-daily-arm64.yaml b/.github/workflows/build-and-test-daily-arm64.yaml
index 5e15675bece04..5752050a2f343 100644
--- a/.github/workflows/build-and-test-daily-arm64.yaml
+++ b/.github/workflows/build-and-test-daily-arm64.yaml
@@ -24,7 +24,6 @@ jobs:
include:
- rosdistro: humble
container: ghcr.io/autowarefoundation/autoware:universe-devel
- build-depends-repos: build_depends.repos
steps:
- name: Check out repository
uses: actions/checkout@v4
@@ -54,13 +53,20 @@ jobs:
echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
shell: bash
+ - name: Prepare build_depends.repos file
+ uses: ./.github/actions/combine-repos-action
+ with:
+ base_file: build_depends_humble.repos
+ overlay_file: build_depends_nightly.repos
+ output_file: build_depends.repos
+
- name: Build
if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
uses: autowarefoundation/autoware-github-actions/colcon-build@v1
with:
rosdistro: ${{ matrix.rosdistro }}
target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
- build-depends-repos: ${{ matrix.build-depends-repos }}
+ build-depends-repos: build_depends.repos
cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
build-pre-command: taskset --cpu-list 0-6
@@ -71,7 +77,7 @@ jobs:
with:
rosdistro: ${{ matrix.rosdistro }}
target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
- build-depends-repos: ${{ matrix.build-depends-repos }}
+ build-depends-repos: build_depends.repos
- name: Upload coverage to CodeCov
if: ${{ steps.test.outputs.coverage-report-files != '' }}
diff --git a/.github/workflows/build-and-test-daily.yaml b/.github/workflows/build-and-test-daily.yaml
index b2612f2fcd1f0..5dade7bd3e3a3 100644
--- a/.github/workflows/build-and-test-daily.yaml
+++ b/.github/workflows/build-and-test-daily.yaml
@@ -24,7 +24,6 @@ jobs:
include:
- rosdistro: humble
container: ghcr.io/autowarefoundation/autoware:universe-devel
- build-depends-repos: build_depends.repos
steps:
- name: Check out repository
uses: actions/checkout@v4
@@ -81,13 +80,20 @@ jobs:
echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
shell: bash
+ - name: Prepare build_depends.repos file
+ uses: ./.github/actions/combine-repos-action
+ with:
+ base_file: build_depends_humble.repos
+ overlay_file: build_depends_nightly.repos
+ output_file: build_depends.repos
+
- name: Build
if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
uses: autowarefoundation/autoware-github-actions/colcon-build@v1
with:
rosdistro: ${{ matrix.rosdistro }}
target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
- build-depends-repos: ${{ matrix.build-depends-repos }}
+ build-depends-repos: build_depends.repos
cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
- name: Show ccache stats after build
@@ -101,7 +107,7 @@ jobs:
with:
rosdistro: ${{ matrix.rosdistro }}
target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
- build-depends-repos: ${{ matrix.build-depends-repos }}
+ build-depends-repos: build_depends.repos
- name: Upload coverage to CodeCov
if: ${{ steps.test.outputs.coverage-report-files != '' }}
diff --git a/.github/workflows/build-and-test-differential-arm64.yaml b/.github/workflows/build-and-test-differential-arm64.yaml
index bc6fe11c85bfa..aac5cccaa8799 100644
--- a/.github/workflows/build-and-test-differential-arm64.yaml
+++ b/.github/workflows/build-and-test-differential-arm64.yaml
@@ -34,7 +34,6 @@ jobs:
include:
- rosdistro: humble
container: ghcr.io/autowarefoundation/autoware:universe-devel
- build-depends-repos: build_depends.repos
steps:
- name: Set PR fetch depth
run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
@@ -68,13 +67,26 @@ jobs:
echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
shell: bash
+ - name: Prepare build_depends.repos file (main branch)
+ if: ${{ github.event.pull_request.base.ref == 'main' }}
+ uses: ./.github/actions/combine-repos-action
+ with:
+ base_file: build_depends_humble.repos
+ overlay_file: build_depends_nightly.repos
+ output_file: build_depends.repos
+
+ - name: Prepare build_depends.repos file (humble branch)
+ if: ${{ github.event.pull_request.base.ref == 'humble' }}
+ run: cp build_depends_humble.repos build_depends.repos
+ shell: bash
+
- name: Build
if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
uses: autowarefoundation/autoware-github-actions/colcon-build@v1
with:
rosdistro: ${{ matrix.rosdistro }}
target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
- build-depends-repos: ${{ matrix.build-depends-repos }}
+ build-depends-repos: build_depends.repos
cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
build-pre-command: taskset --cpu-list 0-5
@@ -85,7 +97,7 @@ jobs:
with:
rosdistro: ${{ matrix.rosdistro }}
target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
- build-depends-repos: ${{ matrix.build-depends-repos }}
+ build-depends-repos: build_depends.repos
- name: Upload coverage to CodeCov
if: ${{ steps.test.outputs.coverage-report-files != '' }}
diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index c25f6b24c5e47..77c8952d2f75a 100644
--- a/.github/workflows/build-and-test-differential.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -92,6 +92,19 @@ jobs:
echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
shell: bash
+ - name: Prepare build_depends.repos file (main branch)
+ if: ${{ github.event.pull_request.base.ref == 'main' }}
+ uses: ./.github/actions/combine-repos-action
+ with:
+ base_file: build_depends_humble.repos
+ overlay_file: build_depends_nightly.repos
+ output_file: build_depends.repos
+
+ - name: Prepare build_depends.repos file (humble branch)
+ if: ${{ github.event.pull_request.base.ref == 'humble' }}
+ run: cp build_depends_humble.repos build_depends.repos
+ shell: bash
+
- name: Build
if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
uses: autowarefoundation/autoware-github-actions/colcon-build@v1
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index 60567d18b6beb..4b67beb022a05 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -28,7 +28,6 @@ jobs:
include:
- rosdistro: humble
container: ghcr.io/autowarefoundation/autoware:universe-devel
- build-depends-repos: build_depends.repos
steps:
- name: Check out repository
uses: actions/checkout@v4
@@ -85,13 +84,20 @@ jobs:
echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
shell: bash
+ - name: Prepare build_depends.repos file
+ uses: ./.github/actions/combine-repos-action
+ with:
+ base_file: build_depends_humble.repos
+ overlay_file: build_depends_nightly.repos
+ output_file: build_depends.repos
+
- name: Build
if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
uses: autowarefoundation/autoware-github-actions/colcon-build@v1
with:
rosdistro: ${{ matrix.rosdistro }}
target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
- build-depends-repos: ${{ matrix.build-depends-repos }}
+ build-depends-repos: build_depends.repos
cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
build-pre-command: taskset --cpu-list 0-5
@@ -115,7 +121,7 @@ jobs:
with:
rosdistro: ${{ matrix.rosdistro }}
target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
- build-depends-repos: ${{ matrix.build-depends-repos }}
+ build-depends-repos: build_depends.repos
- name: Upload coverage to CodeCov
if: ${{ steps.test.outputs.coverage-report-files != '' }}
diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml
index bb1d89851dea6..237bd23d21b56 100644
--- a/.github/workflows/check-build-depends.yaml
+++ b/.github/workflows/check-build-depends.yaml
@@ -1,7 +1,3 @@
-# This file is automatically synced from:
-# https://github.com/autowarefoundation/sync-file-templates
-# To make changes, update the source repository and follow the guidelines in its README.
-
name: check-build-depends
on:
@@ -21,7 +17,6 @@ jobs:
include:
- rosdistro: humble
container: ros:humble
- build-depends-repos: build_depends.repos
steps:
- name: Check out repository
uses: actions/checkout@v4
@@ -33,9 +28,22 @@ jobs:
id: get-self-packages
uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
+ - name: Prepare build_depends.repos file (main branch)
+ if: ${{ github.event.pull_request.base.ref == 'main' }}
+ uses: ./.github/actions/combine-repos-action
+ with:
+ base_file: build_depends_humble.repos
+ overlay_file: build_depends_nightly.repos
+ output_file: build_depends.repos
+
+ - name: Prepare build_depends.repos file (humble branch)
+ if: ${{ github.event.pull_request.base.ref == 'humble' }}
+ run: cp build_depends_humble.repos build_depends.repos
+ shell: bash
+
- name: Build
uses: autowarefoundation/autoware-github-actions/colcon-build@v1
with:
rosdistro: ${{ matrix.rosdistro }}
target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
- build-depends-repos: ${{ matrix.build-depends-repos }}
+ build-depends-repos: build_depends.repos
diff --git a/build_depends.repos b/build_depends_humble.repos
similarity index 69%
rename from build_depends.repos
rename to build_depends_humble.repos
index 2313a9be487a6..4ca78e6d95e48 100644
--- a/build_depends.repos
+++ b/build_depends_humble.repos
@@ -1,10 +1,5 @@
repositories:
# core
- # TODO(youtalk): Remove autoware_common when https://github.com/autowarefoundation/autoware/issues/4911 is closed
- core/autoware_common:
- type: git
- url: https://github.com/autowarefoundation/autoware_common.git
- version: remove-autoware-cmake-utils
core/autoware_cmake:
type: git
url: https://github.com/autowarefoundation/autoware_cmake.git
@@ -16,11 +11,11 @@ repositories:
core/autoware_lanelet2_extension:
type: git
url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git
- version: 0.6.1
+ version: 0.6.2
core/autoware.core:
type: git
url: https://github.com/autowarefoundation/autoware.core.git
- version: main
+ version: 0.2.0
core/autoware_msgs:
type: git
url: https://github.com/autowarefoundation/autoware_msgs.git
@@ -42,19 +37,12 @@ repositories:
type: git
url: https://github.com/tier4/muSSP.git
version: tier4/main
- universe/external/ndt_omp:
- type: git
- url: https://github.com/tier4/ndt_omp.git
- version: tier4/main
+ # Fix the version not to merge https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs/pull/9
universe/external/morai_msgs:
type: git
url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git
- version: main
+ version: e2e75fc1603a9798773e467a679edf68b448e705
universe/external/glog: # TODO: to use isGoogleInitialized() API in v0.6.0. Remove when the rosdep glog version is updated to v0.6.0 (already updated in Ubuntu 24.04)
type: git
url: https://github.com/tier4/glog.git
version: v0.6.0_t4-ros
- universe/external/ament_cmake: # TODO(mitsudome-r): remove when https://github.com/ament/ament_cmake/pull/448 is merged
- type: git
- url: https://github.com/autowarefoundation/ament_cmake.git
- version: feat/faster_ament_libraries_deduplicate
diff --git a/build_depends_nightly.repos b/build_depends_nightly.repos
new file mode 100644
index 0000000000000..903670ab6f956
--- /dev/null
+++ b/build_depends_nightly.repos
@@ -0,0 +1,25 @@
+# Expected usage: first import build_depends_$ROS_DISTRO.repos, then import this.
+
+repositories:
+ # core
+ core/autoware_utils:
+ type: git
+ url: https://github.com/autowarefoundation/autoware_utils.git
+ version: main
+ core/autoware.core:
+ type: git
+ url: https://github.com/autowarefoundation/autoware.core.git
+ version: main
+ core/autoware_adapi_msgs:
+ type: git
+ url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
+ version: main
+ core/autoware_internal_msgs:
+ type: git
+ url: https://github.com/autowarefoundation/autoware_internal_msgs.git
+ version: main
+ # universe
+ universe/external/tier4_autoware_msgs:
+ type: git
+ url: https://github.com/tier4/tier4_autoware_msgs.git
+ version: tier4/universe
From f4fa7839bf0afa257ec4fc41c7d3e27b14f5b8b5 Mon Sep 17 00:00:00 2001
From: Mamoru Sobue <hilo.soblin@gmail.com>
Date: Sun, 16 Feb 2025 22:47:25 +0900
Subject: [PATCH 2/2] chore(motion_velocity_planner_universe): fix build
depends (#10122)
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
---
.../autoware_motion_velocity_planner_node_universe/package.xml | 1 +
1 file changed, 1 insertion(+)
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/package.xml
index f2d09306f5aa7..9c4dd9298048b 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/package.xml
@@ -29,6 +29,7 @@
<depend>autoware_velocity_smoother</depend>
<depend>eigen</depend>
<depend>geometry_msgs</depend>
+ <depend>grid_map_core</depend>
<depend>libboost-dev</depend>
<depend>pcl_conversions</depend>
<depend>pluginlib</depend>