From 55d0ab638dcec9dc01913867d8ce4aa8e83e6d07 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Thu, 14 Nov 2024 14:30:02 +0900 Subject: [PATCH 01/13] fix version to 0.38.0 Signed-off-by: Yutaka Kondo --- autoware.repos | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware.repos b/autoware.repos index 66feaa178b2..43492dcd093 100644 --- a/autoware.repos +++ b/autoware.repos @@ -37,7 +37,7 @@ repositories: universe/autoware.universe: type: git url: https://github.com/autowarefoundation/autoware.universe.git - version: main + version: 0.38.0 universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Migrate to AD API type: git url: https://github.com/tier4/tier4_ad_api_adaptor.git @@ -79,7 +79,7 @@ repositories: launcher/autoware_launch: type: git url: https://github.com/autowarefoundation/autoware_launch.git - version: main + version: 0.38.0 # sensor_component sensor_component/external/sensor_component_description: type: git From 6cdbe0205f9e5a262e10bdea30428253146d0697 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Thu, 14 Nov 2024 14:48:13 +0900 Subject: [PATCH 02/13] revert cuda_utils Signed-off-by: Yutaka Kondo --- docker/Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/Dockerfile b/docker/Dockerfile index 5534205363e..42952022004 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -274,7 +274,7 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \ --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_yolox,target=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_yolox \ --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_traffic_light_classifier,target=/autoware/src/universe/autoware.universe/perception/autoware_traffic_light_classifier \ --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_traffic_light_fine_detector,target=/autoware/src/universe/autoware.universe/perception/autoware_traffic_light_fine_detector \ - --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/sensing/autoware_cuda_utils,target=/autoware/src/universe/autoware.universe/sensing/autoware_cuda_utils \ + --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/sensing/cuda_utils,target=/autoware/src/universe/autoware.universe/sensing/cuda_utils \ source /opt/ros/"$ROS_DISTRO"/setup.bash \ && source /opt/autoware/setup.bash \ && /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware From 0910f1930d6d80ab81c5185d534de74e32f39f0c Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Thu, 14 Nov 2024 15:37:50 +0900 Subject: [PATCH 03/13] wip Signed-off-by: Yutaka Kondo --- autoware.repos | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware.repos b/autoware.repos index 43492dcd093..fbb3d332019 100644 --- a/autoware.repos +++ b/autoware.repos @@ -41,7 +41,7 @@ repositories: universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Migrate to AD API type: git url: https://github.com/tier4/tier4_ad_api_adaptor.git - version: tier4/universe + version: 5effcb893e13be37fa813a03db6bb59e4e62d1d5 universe/external/tier4_autoware_msgs: type: git url: https://github.com/tier4/tier4_autoware_msgs.git From 981956cd139d07e3b7d9ff485d7ef1512aeed7e7 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Thu, 14 Nov 2024 16:07:12 +0900 Subject: [PATCH 04/13] wip Signed-off-by: Yutaka Kondo --- autoware.repos | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware.repos b/autoware.repos index fbb3d332019..5911d8c3214 100644 --- a/autoware.repos +++ b/autoware.repos @@ -41,7 +41,7 @@ repositories: universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Migrate to AD API type: git url: https://github.com/tier4/tier4_ad_api_adaptor.git - version: 5effcb893e13be37fa813a03db6bb59e4e62d1d5 + version: 3de19bc5b554d4cecef2240da3c33434379ccb54 universe/external/tier4_autoware_msgs: type: git url: https://github.com/tier4/tier4_autoware_msgs.git From 87fb103015bddace35a3d4ecf069e7cab5556143 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Thu, 14 Nov 2024 16:36:31 +0900 Subject: [PATCH 05/13] wip Signed-off-by: Yutaka Kondo --- autoware.repos | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware.repos b/autoware.repos index 5911d8c3214..5c739bbc076 100644 --- a/autoware.repos +++ b/autoware.repos @@ -41,7 +41,7 @@ repositories: universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Migrate to AD API type: git url: https://github.com/tier4/tier4_ad_api_adaptor.git - version: 3de19bc5b554d4cecef2240da3c33434379ccb54 + version: d9ef8aaf7c8a3ac1e665206259707d79c82750f2 universe/external/tier4_autoware_msgs: type: git url: https://github.com/tier4/tier4_autoware_msgs.git From 736ea654b75b731005da6cc58b4d3484cc6c7290 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Fri, 15 Nov 2024 12:17:36 +0900 Subject: [PATCH 06/13] Revert "wip" This reverts commit 87fb103015bddace35a3d4ecf069e7cab5556143. --- autoware.repos | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware.repos b/autoware.repos index 5c739bbc076..5911d8c3214 100644 --- a/autoware.repos +++ b/autoware.repos @@ -41,7 +41,7 @@ repositories: universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Migrate to AD API type: git url: https://github.com/tier4/tier4_ad_api_adaptor.git - version: d9ef8aaf7c8a3ac1e665206259707d79c82750f2 + version: 3de19bc5b554d4cecef2240da3c33434379ccb54 universe/external/tier4_autoware_msgs: type: git url: https://github.com/tier4/tier4_autoware_msgs.git From f0132de0f515a88f214ea7cc70cbeced29b7a28e Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Fri, 15 Nov 2024 11:50:23 +0900 Subject: [PATCH 07/13] Revert "fix: remove `ndt_omp` (#5390)" This reverts commit 71c87896fb06cb929f7d0d4f1f65cb0b3a19c9e1. --- autoware.repos | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware.repos b/autoware.repos index 5911d8c3214..4124b266287 100644 --- a/autoware.repos +++ b/autoware.repos @@ -55,6 +55,10 @@ 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 universe/external/pointcloud_to_laserscan: type: git url: https://github.com/tier4/pointcloud_to_laserscan.git From 03a1033c74e9d31d69530c4e67ff11541c472041 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Fri, 15 Nov 2024 13:55:20 +0900 Subject: [PATCH 08/13] add autoware-nightly.repos Signed-off-by: Yutaka Kondo --- autoware-nightly.repos | 140 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 140 insertions(+) create mode 100644 autoware-nightly.repos diff --git a/autoware-nightly.repos b/autoware-nightly.repos new file mode 100644 index 00000000000..55e313b2277 --- /dev/null +++ b/autoware-nightly.repos @@ -0,0 +1,140 @@ +repositories: + # core + core/autoware_msgs: + type: git + url: https://github.com/autowarefoundation/autoware_msgs.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 + # 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 + version: main + core/autoware_utils: + type: git + url: https://github.com/autowarefoundation/autoware_utils.git + version: main + core/autoware_lanelet2_extension: + type: git + url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git + version: main + core/autoware.core: + type: git + url: https://github.com/autowarefoundation/autoware.core.git + version: main + # universe + universe/autoware.universe: + type: git + url: https://github.com/autowarefoundation/autoware.universe.git + version: main + universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Migrate to AD API + type: git + url: https://github.com/tier4/tier4_ad_api_adaptor.git + version: tier4/universe + universe/external/tier4_autoware_msgs: + type: git + url: https://github.com/tier4/tier4_autoware_msgs.git + version: tier4/universe + # 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: e2e75fc1603a9798773e467a679edf68b448e705 + universe/external/muSSP: + type: git + url: https://github.com/tier4/muSSP.git + version: tier4/main + universe/external/pointcloud_to_laserscan: + type: git + url: https://github.com/tier4/pointcloud_to_laserscan.git + version: tier4/main + universe/external/eagleye: + type: git + url: https://github.com/MapIV/eagleye.git + version: autoware-main + universe/external/rtklib_ros_bridge: + type: git + url: https://github.com/MapIV/rtklib_ros_bridge.git + version: ros2-v0.1.0 + universe/external/llh_converter: + type: git + url: https://github.com/MapIV/llh_converter.git + version: ros2 + universe/external/glog: # TODO(Horibe): 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 + # launcher + launcher/autoware_launch: + type: git + url: https://github.com/autowarefoundation/autoware_launch.git + version: main + # sensor_component + sensor_component/external/sensor_component_description: + type: git + url: https://github.com/tier4/sensor_component_description.git + version: main + sensor_component/external/tamagawa_imu_driver: + type: git + url: https://github.com/tier4/tamagawa_imu_driver.git + version: ros2 + sensor_component/external/nebula: + type: git + url: https://github.com/tier4/nebula.git + version: main + # Fork of transport_drivers that enables reduction of copy operations + sensor_component/transport_drivers: + type: git + url: https://github.com/autowarefoundation/transport_drivers + version: main + # Continental compatible version of ROS 2 socket CAN + sensor_component/ros2_socketcan: + type: git + url: https://github.com/autowarefoundation/ros2_socketcan + version: main + # sensor_kit + sensor_kit/sample_sensor_kit_launch: + type: git + url: https://github.com/autowarefoundation/sample_sensor_kit_launch.git + version: main + sensor_kit/external/awsim_sensor_kit_launch: # TODO: Integrate into sample_sensor_kit_launch + type: git + url: https://github.com/tier4/awsim_sensor_kit_launch.git + version: main + sensor_kit/awsim_labs_sensor_kit_launch: + type: git + url: https://github.com/autowarefoundation/awsim_labs_sensor_kit_launch.git + version: main + sensor_kit/single_lidar_sensor_kit_launch: + type: git + url: https://github.com/autowarefoundation/single_lidar_sensor_kit_launch.git + version: main + # vehicle + vehicle/sample_vehicle_launch: + type: git + url: https://github.com/autowarefoundation/sample_vehicle_launch.git + version: main + vehicle/awsim_labs_vehicle_launch: + type: git + url: https://github.com/autowarefoundation/awsim_labs_vehicle_launch.git + version: main + vehicle/external/pacmod_interface: + type: git + url: https://github.com/tier4/pacmod_interface.git + version: main + # param + param/autoware_individual_params: + type: git + url: https://github.com/autowarefoundation/autoware_individual_params.git + version: main From ef9890743adf4abd573ac002d2d44b3967dfa7e5 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Fri, 15 Nov 2024 14:07:57 +0900 Subject: [PATCH 09/13] add health-check-nightly Signed-off-by: Yutaka Kondo --- .github/actions/docker-build/action.yaml | 6 ++- .github/workflows/health-check-nightly.yaml | 58 +++++++++++++++++++++ 2 files changed, 63 insertions(+), 1 deletion(-) create mode 100644 .github/workflows/health-check-nightly.yaml diff --git a/.github/actions/docker-build/action.yaml b/.github/actions/docker-build/action.yaml index 9a6a6e7e140..2dc427203bb 100644 --- a/.github/actions/docker-build/action.yaml +++ b/.github/actions/docker-build/action.yaml @@ -8,6 +8,10 @@ inputs: cache-tag-suffix: description: Suffix of the target cache tag. required: true + repos: + description: Target .repos file. + default: autoware.repos + required: true build-args: description: Additional build args. required: false @@ -28,7 +32,7 @@ runs: - name: Run vcs import run: | mkdir src - vcs import src < autoware.repos + vcs import src < ${{ inputs.repos }} shell: bash - name: Cache ccache diff --git a/.github/workflows/health-check-nightly.yaml b/.github/workflows/health-check-nightly.yaml new file mode 100644 index 00000000000..b848122b88b --- /dev/null +++ b/.github/workflows/health-check-nightly.yaml @@ -0,0 +1,58 @@ +name: health-check-nightly + +on: + pull_request: + types: + - opened + - synchronize + - reopened + - labeled + schedule: + - cron: 0 6 * * * + workflow_dispatch: + +jobs: + label-check: + uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1 + with: + label: tag:run-health-check + + load-env: + needs: label-check + if: ${{ needs.label-check.outputs.result == 'true' || + github.event_name == 'schedule' || + github.event_name == 'workflow_dispatch' }} + uses: ./.github/workflows/load-env.yaml + + docker-build: + needs: load-env + runs-on: ubuntu-22.04 + strategy: + fail-fast: false + steps: + - name: Check out repository + uses: actions/checkout@v4 + + - name: Set git config + uses: autowarefoundation/autoware-github-actions/set-git-config@v1 + with: + token: ${{ secrets.GITHUB_TOKEN }} + + - name: Free disk space + uses: ./.github/actions/free-disk-space + + - name: Build 'Autoware' + uses: ./.github/actions/docker-build + with: + platform: amd64 + cache-tag-suffix: main + repos: autoware.repos + build-args: | + ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }} + BASE_IMAGE=${{ needs.load-env.outputs.base_image }} + LIB_DIR=x86_64 + + - name: Show disk space + if: always() + run: | + df -h From 30857f67e047c3daea2dc7e07314fdee9806d8ad Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Fri, 15 Nov 2024 14:09:44 +0900 Subject: [PATCH 10/13] fix inputs Signed-off-by: Yutaka Kondo --- .github/workflows/health-check-nightly.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/health-check-nightly.yaml b/.github/workflows/health-check-nightly.yaml index b848122b88b..6de1de16a48 100644 --- a/.github/workflows/health-check-nightly.yaml +++ b/.github/workflows/health-check-nightly.yaml @@ -45,8 +45,8 @@ jobs: uses: ./.github/actions/docker-build with: platform: amd64 - cache-tag-suffix: main - repos: autoware.repos + cache-tag-suffix: nightly + repos: autoware-nightly.repos build-args: | ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }} BASE_IMAGE=${{ needs.load-env.outputs.base_image }} From df72d69f9eae9106fe2b479d6e434c6cb84eab40 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Fri, 15 Nov 2024 14:14:17 +0900 Subject: [PATCH 11/13] rename Signed-off-by: Yutaka Kondo --- .github/workflows/health-check-nightly.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/health-check-nightly.yaml b/.github/workflows/health-check-nightly.yaml index 6de1de16a48..a22c2c1b3d2 100644 --- a/.github/workflows/health-check-nightly.yaml +++ b/.github/workflows/health-check-nightly.yaml @@ -24,7 +24,7 @@ jobs: github.event_name == 'workflow_dispatch' }} uses: ./.github/workflows/load-env.yaml - docker-build: + docker-build-nightly: needs: load-env runs-on: ubuntu-22.04 strategy: From 9cb0c7ac5da2f9b2c4606838af6e81ab86a0d5a0 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Wed, 20 Nov 2024 08:25:56 +0900 Subject: [PATCH 12/13] comment Signed-off-by: Yutaka Kondo --- autoware.repos | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware.repos b/autoware.repos index 4124b266287..f5435d433c1 100644 --- a/autoware.repos +++ b/autoware.repos @@ -41,6 +41,7 @@ repositories: universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Migrate to AD API type: git url: https://github.com/tier4/tier4_ad_api_adaptor.git + # TODO(youtalk): Use version tag instead version: 3de19bc5b554d4cecef2240da3c33434379ccb54 universe/external/tier4_autoware_msgs: type: git From 05bf0bc24d93af89de500ad3e2727debcebc97f7 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Wed, 20 Nov 2024 08:31:35 +0900 Subject: [PATCH 13/13] Revert "fix(docker): add autoware prefix to map_loader (#5451)" This reverts commit 0dd08838d0ebc154bf698ee1b8d157a456eb044f. --- docker/Dockerfile | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docker/Dockerfile b/docker/Dockerfile index b061207eaa6..01d5e41b55e 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -115,7 +115,7 @@ ARG ROS_DISTRO COPY src/universe/autoware.universe/control /autoware/src/universe/autoware.universe/control COPY src/universe/autoware.universe/planning /autoware/src/universe/autoware.universe/planning # TODO(youtalk): Remove COPYs when https://github.com/autowarefoundation/autoware.universe/issues/8805 is resolved -COPY src/universe/autoware.universe/map/autoware_map_loader /autoware/src/universe/autoware.universe/map/autoware_map_loader +COPY src/universe/autoware.universe/map/map_loader /autoware/src/universe/autoware.universe/map/map_loader 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 @@ -332,7 +332,7 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \ --mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/control,target=/autoware/src/universe/autoware.universe/control \ --mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/planning,target=/autoware/src/universe/autoware.universe/planning \ # TODO(youtalk): Remove --mount options when https://github.com/autowarefoundation/autoware.universe/issues/8805 is resolved - --mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/map/autoware_map_loader,target=/autoware/src/universe/autoware.universe/map/autoware_map_loader \ + --mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/map/map_loader,target=/autoware/src/universe/autoware.universe/map/map_loader \ --mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/map/autoware_map_projection_loader,target=/autoware/src/universe/autoware.universe/map/autoware_map_projection_loader \ --mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/sensing/autoware_pcl_extensions,target=/autoware/src/universe/autoware.universe/sensing/autoware_pcl_extensions \ --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 \