feat(docker): install colcon build artifacts to /opt/autoware instead of /autoware/install (autowarefoundation#5117)

Author: youtalk

docker/Dockerfile

@@ -100,15 +100,18 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
   && cat /tmp/rosdep-core-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache
 
-RUN --mount=type=bind,from=rosdep-depend,source=/autoware/src/core,target=/autoware/src/core \
-  --mount=type=cache,target=${CCACHE_DIR} \
+RUN --mount=type=cache,target=${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
+  && du -sh ${CCACHE_DIR} && ccache -s \
+  && rm -rf /autoware/build
 
 FROM autoware-core AS autoware-universe
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
@@ -125,15 +128,25 @@ RUN --mount=type=ssh \
   && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
 
 # Build Autoware
-RUN --mount=type=bind,from=rosdep-depend,source=/autoware/src,target=/autoware/src \
-  --mount=type=cache,target=${CCACHE_DIR} \
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=${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,target=/autoware/src/universe \
+  --mount=type=bind,from=rosdep-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
+  && du -sh ${CCACHE_DIR} && ccache -s \
+  && rm -rf /autoware/build
 
 CMD ["/bin/bash"]
 
@@ -147,7 +160,6 @@ RUN --mount=type=ssh \
   && pip uninstall -y ansible ansible-core \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache
 
-COPY src /autoware/src
 # Create entrypoint
 COPY docker/etc/ros_entrypoint.sh /ros_entrypoint.sh
 RUN chmod +x /ros_entrypoint.sh
@@ -179,11 +191,11 @@ RUN --mount=type=ssh \
     /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*
 
-COPY --from=autoware-universe /autoware/install/ /autoware/install/
+COPY --from=autoware-universe /opt/autoware /opt/autoware
 
 # Copy bash aliases
 COPY docker/etc/.bash_aliases /root/.bash_aliases
-RUN echo "source /autoware/install/setup.bash" > /etc/bash.bashrc
+RUN echo "source /opt/autoware/setup.bash" > /etc/bash.bashrc
 
 # Create entrypoint
 COPY docker/etc/ros_entrypoint.sh /ros_entrypoint.sh

docker/etc/ros_entrypoint.sh

@@ -10,7 +10,7 @@ GROUP_NAME=${LOCAL_GROUP}
 # Check if any of the variables are empty
 if [[ -z $USER_ID || -z $USER_NAME || -z $GROUP_ID || -z $GROUP_NAME ]]; then
     source "/opt/ros/$ROS_DISTRO/setup.bash"
-    source /autoware/install/setup.bash
+    source /opt/autoware/setup.bash
     exec "$@"
 else
     echo "Starting with user: $USER_NAME >> UID $USER_ID, GID: $GROUP_ID"
@@ -25,7 +25,7 @@ else
     # Source ROS2
     # hadolint ignore=SC1090
     source "/opt/ros/$ROS_DISTRO/setup.bash"
-    source /autoware/install/setup.bash
+    source /opt/autoware/setup.bash
 
     # Execute the command as the user
     exec /usr/sbin/gosu "$USER_NAME" "$@"