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youtalkChgygLinSakodaShintaro
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feat: upstream to origin (#124)
* chore(docker): remove `/autoware/log` after `colcon build` (autowarefoundation#5329) * chore(.github): always run `Show disk space` (autowarefoundation#5354) always show disk space Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * build(autoware.repos): remove ament_cmake fork repository (autowarefoundation#5360) Signed-off-by: Chengyong Lin <stclin@qq.com> * fix: remove `ndt_omp` (autowarefoundation#5390) Removed ndt_omp Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * fix: change the organization of `awsim_sensor_kit_launch` from RobotecAI to tier4 (autowarefoundation#5403) Fixed organization of `awsim_sensor_kit_launch` from RobotecAI to tier4 Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * chore(.devcontainer): rename `.devcontainer` directories (autowarefoundation#5407) rename .devcontainer dirs Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * feat(docker): integrate `cuda`/`no-cuda` jobs into single job (autowarefoundation#5363) --------- Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> Signed-off-by: Chengyong Lin <stclin@qq.com> Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Co-authored-by: chgyg <99009754+ChgygLin@users.noreply.github.com> Co-authored-by: SakodaShintaro <rgbygscrsedppbwg@gmail.com> Co-authored-by: SakodaShintaro <shintaro.sakoda@tier4.jp>
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‎.devcontainer/cuda/devcontainer.json ‎.devcontainer/universe-devel-cuda/devcontainer.json

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‎.devcontainer/base/devcontainer.json ‎.devcontainer/universe-devel/devcontainer.json

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‎.github/actions/docker-build-and-push-cuda/action.yaml

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name: docker-build-and-push-cuda
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description: Workflow do build and push CUDA images to registry.
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inputs:
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platform:
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description: ""
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required: true
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bake-target:
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description: ""
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required: true
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build-args:
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description: ""
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required: false
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dockerhub-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: Setup Docker Buildx
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uses: docker/setup-buildx-action@v3
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- name: 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-${{ inputs.platform }}-${{ hashFiles('src/**/*.cpp') }}
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restore-keys: |
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ccache-${{ inputs.platform }}-
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- name: Restore apt-get
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uses: actions/cache/restore@v4
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with:
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path: |
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var-cache-apt
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key: apt-get-${{ inputs.platform }}-${{ hashFiles('src/**/package.xml') }}
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restore-keys: |
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apt-get-${{ inputs.platform }}-
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- name: Inject cache into docker
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uses: reproducible-containers/buildkit-cache-dance@v3.1.2
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with:
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cache-map: |
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{
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"root-ccache": "/root/.ccache",
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"var-cache-apt": "/var/cache/apt"
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}
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skip-extraction: true
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- name: Get current date
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id: date
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run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT
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shell: bash
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- name: Docker meta for autoware:universe-sensing-perception-devel-cuda
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id: meta-universe-sensing-perception-devel-cuda
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uses: docker/metadata-action@v5
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with:
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images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
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tags: |
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type=raw,value=universe-sensing-perception-devel-cuda-${{ inputs.platform }}
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type=raw,value=universe-sensing-perception-devel-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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bake-target: docker-metadata-action-universe-sensing-perception-devel-cuda
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flavor: |
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latest=false
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- name: Docker meta for autoware:universe-sensing-perception-cuda
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id: meta-universe-sensing-perception-cuda
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uses: docker/metadata-action@v5
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with:
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images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
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tags: |
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type=raw,value=universe-sensing-perception-cuda-${{ inputs.platform }}
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type=raw,value=universe-sensing-perception-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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bake-target: docker-metadata-action-universe-sensing-perception-cuda
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flavor: |
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latest=false
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- name: Docker meta for autoware:universe-devel-cuda
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id: meta-universe-devel-cuda
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uses: docker/metadata-action@v5
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with:
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images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
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tags: |
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type=raw,value=universe-devel-cuda-${{ inputs.platform }}
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type=raw,value=universe-devel-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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bake-target: docker-metadata-action-universe-devel-cuda
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flavor: |
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latest=false
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- name: Docker meta for autoware:universe-cuda
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id: meta-universe-cuda
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uses: docker/metadata-action@v5
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with:
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images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
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tags: |
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type=raw,value=universe-cuda-${{ inputs.platform }}
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type=raw,value=universe-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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bake-target: docker-metadata-action-universe-cuda
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flavor: |
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latest=auto
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- name: Login to Docker Hub
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uses: docker/login-action@v3
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with:
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username: ${{ github.repository_owner }}
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password: ${{ inputs.dockerhub-token }}
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- name: Build and Push to GitHub Container Registry
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uses: docker/bake-action@v5
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with:
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push: true
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files: |
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docker/docker-bake-cuda.hcl
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${{ steps.meta-universe-sensing-perception-devel-cuda.outputs.bake-file }}
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${{ steps.meta-universe-sensing-perception-cuda.outputs.bake-file }}
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${{ steps.meta-universe-devel-cuda.outputs.bake-file }}
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${{ steps.meta-universe-cuda.outputs.bake-file }}
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provenance: false
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set: |
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${{ inputs.build-args }}

‎.github/actions/docker-build-and-push/action.yaml

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description: ""
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inputs:
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name:
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description: ""
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required: true
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platform:
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description: ""
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required: true
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build-args:
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description: ""
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required: false
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tag-suffix:
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description: ""
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required: false
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dockerhub-token:
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description: ""
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required: true
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with:
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path: |
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root-ccache
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key: ccache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/*.cpp') }}
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key: ccache-${{ inputs.platform }}-${{ hashFiles('src/**/*.cpp') }}
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restore-keys: |
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ccache-${{ inputs.platform }}-${{ inputs.name }}-
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ccache-${{ inputs.platform }}-
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- name: Restore apt-get
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uses: actions/cache/restore@v4
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with:
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path: |
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var-cache-apt
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key: apt-get-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/package.xml') }}
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key: apt-get-${{ inputs.platform }}-${{ hashFiles('src/**/package.xml') }}
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restore-keys: |
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apt-get-${{ inputs.platform }}-${{ inputs.name }}-
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apt-get-${{ inputs.platform }}-
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- name: Inject cache into docker
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with:
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images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
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tags: |
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type=raw,value=base${{ inputs.tag-suffix }}-${{ inputs.platform }}
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type=raw,value=base${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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type=raw,value=base-${{ inputs.platform }}
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type=raw,value=base-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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bake-target: docker-metadata-action-base
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flavor: |
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latest=false
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with:
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images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
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tags: |
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type=raw,value=core-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
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type=raw,value=core-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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type=raw,value=core-devel-${{ inputs.platform }}
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type=raw,value=core-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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bake-target: docker-metadata-action-core-devel
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flavor: |
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with:
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images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
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tags: |
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type=raw,value=universe-sensing-perception-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
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type=raw,value=universe-sensing-perception-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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type=raw,value=universe-sensing-perception-devel-${{ inputs.platform }}
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type=raw,value=universe-sensing-perception-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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bake-target: docker-metadata-action-universe-sensing-perception-devel
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flavor: |
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with:
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tags: |
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type=raw,value=universe-sensing-perception${{ inputs.tag-suffix }}-${{ inputs.platform }}
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type=raw,value=universe-sensing-perception${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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type=raw,value=universe-sensing-perception-${{ inputs.platform }}
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type=raw,value=universe-sensing-perception-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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bake-target: docker-metadata-action-universe-sensing-perception
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flavor: |
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latest=false
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with:
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images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
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tags: |
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type=raw,value=universe-localization-mapping-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
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type=raw,value=universe-localization-mapping-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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type=raw,value=universe-localization-mapping-devel-${{ inputs.platform }}
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type=raw,value=universe-localization-mapping-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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bake-target: docker-metadata-action-universe-localization-mapping-devel
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flavor: |
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latest=false
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images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
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tags: |
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type=raw,value=universe-localization-mapping${{ inputs.tag-suffix }}-${{ inputs.platform }}
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type=raw,value=universe-localization-mapping${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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type=raw,value=universe-localization-mapping-${{ inputs.platform }}
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type=raw,value=universe-localization-mapping-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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bake-target: docker-metadata-action-universe-localization-mapping
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flavor: |
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latest=false
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with:
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images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
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tags: |
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type=raw,value=universe-planning-control-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
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type=raw,value=universe-planning-control-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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type=raw,value=universe-planning-control-devel-${{ inputs.platform }}
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type=raw,value=universe-planning-control-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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bake-target: docker-metadata-action-universe-planning-control-devel
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flavor: |
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latest=false
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with:
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images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
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tags: |
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type=raw,value=universe-planning-control${{ inputs.tag-suffix }}-${{ inputs.platform }}
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type=raw,value=universe-planning-control${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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type=raw,value=universe-planning-control-${{ inputs.platform }}
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type=raw,value=universe-planning-control-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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bake-target: docker-metadata-action-universe-planning-control
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flavor: |
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latest=false
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images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
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tags: |
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type=raw,value=universe-vehicle-system-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
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type=raw,value=universe-vehicle-system-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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type=raw,value=universe-vehicle-system-devel-${{ inputs.platform }}
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type=raw,value=universe-vehicle-system-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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bake-target: docker-metadata-action-universe-vehicle-system-devel
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flavor: |
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tags: |
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type=raw,value=universe-vehicle-system${{ inputs.tag-suffix }}-${{ inputs.platform }}
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type=raw,value=universe-vehicle-system${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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type=raw,value=universe-vehicle-system-${{ inputs.platform }}
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type=raw,value=universe-vehicle-system-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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bake-target: docker-metadata-action-universe-vehicle-system
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flavor: |
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latest=false
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images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
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tags: |
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type=raw,value=universe-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
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type=raw,value=universe-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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type=raw,value=universe-devel-${{ inputs.platform }}
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type=raw,value=universe-devel-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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bake-target: docker-metadata-action-universe-devel
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flavor: |
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tags: |
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type=raw,value=universe${{ inputs.tag-suffix }}-${{ inputs.platform }}
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type=raw,value=universe${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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type=raw,value=universe-${{ inputs.platform }}
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type=raw,value=universe-${{ steps.date.outputs.date }}-${{ inputs.platform }}
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bake-target: docker-metadata-action-universe
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flavor: |
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latest=auto

‎.github/actions/docker-build/action.yaml

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inputs:
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name:
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description: ""
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required: true
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- name: Cache ccache
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if: ${{ inputs.name == 'no-cuda' && github.ref == 'refs/heads/main' }}
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if: ${{ github.ref == 'refs/heads/main' }}
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id: cache-ccache
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with:
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path: |
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root-ccache
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key: ccache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/*.cpp') }}
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key: ccache-${{ inputs.platform }}-${{ hashFiles('src/**/*.cpp') }}
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restore-keys: |
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ccache-${{ inputs.platform }}-${{ inputs.name }}-
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ccache-${{ inputs.platform }}-
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- name: Cache apt-get
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if: ${{ inputs.name == 'no-cuda' && github.ref == 'refs/heads/main' }}
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if: ${{ github.ref == 'refs/heads/main' }}
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id: cache-apt-get
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with:
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path: |
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var-cache-apt
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key: apt-get-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/package.xml') }}
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key: apt-get-${{ inputs.platform }}-${{ hashFiles('src/**/package.xml') }}
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restore-keys: |
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apt-get-${{ inputs.platform }}-${{ inputs.name }}-
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apt-get-${{ inputs.platform }}-
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- name: Restore ccache
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if: ${{ inputs.name != 'no-cuda' || github.ref != 'refs/heads/main' }}
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if: ${{ github.ref != 'refs/heads/main' }}
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key: ccache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/*.cpp') }}
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key: ccache-${{ inputs.platform }}-${{ hashFiles('src/**/*.cpp') }}
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- name: Restore apt-get
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if: ${{ github.ref != 'refs/heads/main' }}
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var-cache-apt
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key: apt-get-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/package.xml') }}
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key: apt-get-${{ inputs.platform }}-${{ hashFiles('src/**/package.xml') }}
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- name: Inject cache into docker
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cache-from: type=registry,ref=${{ github.repository }}-buildcache:${{ inputs.platform }}-${{ inputs.cache-tag-suffix }}

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