feat(docker): inherit autoware-base images

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

@@ -64,18 +64,6 @@ runs:
       run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT
       shell: bash
 
-    - name: Docker meta for autoware:base-cuda
-      id: meta-base-cuda
-      uses: docker/metadata-action@v5
-      with:
-        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.target-image }}
-        tags: |
-          type=raw,value=base-cuda-${{ inputs.platform }}
-          type=raw,value=base-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
-        bake-target: docker-metadata-action-base-cuda
-        flavor: |
-          latest=false
-
     - name: Docker meta for autoware:universe-sensing-perception-devel-cuda
       id: meta-universe-sensing-perception-devel-cuda
       uses: docker/metadata-action@v5
@@ -137,7 +125,6 @@ runs:
         push: true
         files: |
           docker/docker-bake-cuda.hcl
-          ${{ steps.meta-base-cuda.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception-devel-cuda.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception-cuda.outputs.bake-file }}
           ${{ steps.meta-universe-devel-cuda.outputs.bake-file }}

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

@@ -64,18 +64,6 @@ runs:
       run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT
       shell: bash
 
-    - name: Docker meta for autoware:base
-      id: meta-base
-      uses: docker/metadata-action@v5
-      with:
-        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.target-image }}
-        tags: |
-          type=raw,value=base-${{ inputs.platform }}
-          type=raw,value=base-${{ steps.date.outputs.date }}-${{ inputs.platform }}
-        bake-target: docker-metadata-action-base
-        flavor: |
-          latest=false
-
     - name: Docker meta for autoware:core-devel
       id: meta-core-devel
       uses: docker/metadata-action@v5
@@ -221,7 +209,6 @@ runs:
         push: true
         files: |
           docker/docker-bake.hcl
-          ${{ steps.meta-base.outputs.bake-file }}
           ${{ steps.meta-core-devel.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception-devel.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception.outputs.bake-file }}

.github/workflows/docker-build-and-push-arm64.yaml

@@ -56,6 +56,8 @@ jobs:
             *.platform=linux/arm64
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
+            *.args.AUTOWARE_BASE_IMAGE=${{ needs.load-env.outputs.autoware_base_image }}
+            *.args.AUTOWARE_BASE_CUDA_IMAGE=${{ needs.load-env.outputs.autoware_base_cuda_image }}
             *.args.LIB_DIR=aarch64
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }}
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-main
@@ -106,6 +108,8 @@ jobs:
             *.platform=linux/arm64
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
+            *.args.AUTOWARE_BASE_IMAGE=${{ needs.load-env.outputs.autoware_base_image }}
+            *.args.AUTOWARE_BASE_CUDA_IMAGE=${{ needs.load-env.outputs.autoware_base_cuda_image }}
             *.args.LIB_DIR=aarch64
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }}
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-main

.github/workflows/docker-build-and-push.yaml

@@ -51,6 +51,8 @@ jobs:
             *.platform=linux/amd64
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
+            *.args.AUTOWARE_BASE_IMAGE=${{ needs.load-env.outputs.autoware_base_image }}
+            *.args.AUTOWARE_BASE_CUDA_IMAGE=${{ needs.load-env.outputs.autoware_base_cuda_image }}
             *.args.LIB_DIR=x86_64
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-${{ github.ref_name }}
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-main
@@ -101,6 +103,8 @@ jobs:
             *.platform=linux/amd64
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
+            *.args.AUTOWARE_BASE_IMAGE=${{ needs.load-env.outputs.autoware_base_image }}
+            *.args.AUTOWARE_BASE_CUDA_IMAGE=${{ needs.load-env.outputs.autoware_base_cuda_image }}
             *.args.LIB_DIR=x86_64
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-${{ github.ref_name }}
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-main

.github/workflows/health-check-arm64.yaml

@@ -37,6 +37,8 @@ jobs:
           build-args: |
             ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
+            AUTOWARE_BASE_IMAGE=${{ needs.load-env.outputs.autoware_base_image }}
+            AUTOWARE_BASE_CUDA_IMAGE=${{ needs.load-env.outputs.autoware_base_cuda_image }}
             LIB_DIR=aarch64
 
       - name: Show disk space

.github/workflows/health-check-nightly.yaml

@@ -50,6 +50,8 @@ jobs:
           build-args: |
             ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
+            AUTOWARE_BASE_IMAGE=${{ needs.load-env.outputs.autoware_base_image }}
+            AUTOWARE_BASE_CUDA_IMAGE=${{ needs.load-env.outputs.autoware_base_cuda_image }}
             LIB_DIR=x86_64
 
       - name: Show disk space

.github/workflows/health-check.yaml

@@ -49,6 +49,8 @@ jobs:
           build-args: |
             ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
+            AUTOWARE_BASE_IMAGE=${{ needs.load-env.outputs.autoware_base_image }}
+            AUTOWARE_BASE_CUDA_IMAGE=${{ needs.load-env.outputs.autoware_base_cuda_image }}
             LIB_DIR=x86_64
 
       - name: Show disk space

.github/workflows/load-env.yaml

@@ -3,17 +3,23 @@ name: load-env
 on:
   workflow_call:
     outputs:
-      base_image:
-        value: ${{ jobs.load-env.outputs.base_image }}
       rosdistro:
         value: ${{ jobs.load-env.outputs.rosdistro }}
+      base_image:
+        value: ${{ jobs.load-env.outputs.base_image }}
+      autoware_base_image:
+        value: ${{ jobs.load-env.outputs.autoware_base_image }}
+      autoware_base_cuda_image:
+        value: ${{ jobs.load-env.outputs.autoware_base_cuda_image }}
 
 jobs:
   load-env:
     runs-on: ubuntu-22.04
     outputs:
-      base_image: ${{ steps.set-env.outputs.base_image }}
       rosdistro: ${{ steps.set-env.outputs.rosdistro }}
+      base_image: ${{ steps.set-env.outputs.base_image }}
+      autoware_base_image: ${{ steps.set-env.outputs.autoware_base_image }}
+      autoware_base_cuda_image: ${{ steps.set-env.outputs.autoware_base_cuda_image }}
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
@@ -28,5 +34,7 @@ jobs:
       - name: Set env
         id: set-env
         run: |
-          echo "base_image=${{ env.base_image }}" >> $GITHUB_OUTPUT
           echo "rosdistro=${{ env.rosdistro }}" >> $GITHUB_OUTPUT
+          echo "base_image=${{ env.base_image }}" >> $GITHUB_OUTPUT
+          echo "autoware_base_image=${{ env.autoware_base_image }}" >> $GITHUB_OUTPUT
+          echo "autoware_base_cuda_image=${{ env.autoware_base_cuda_image }}" >> $GITHUB_OUTPUT

amd64.env

@@ -1,6 +1,8 @@
 rosdistro=humble
 rmw_implementation=rmw_cyclonedds_cpp
 base_image=ros:humble-ros-base-jammy
+autoware_base_image=ghcr.io/autowarefoundation/autoware-base:latest
+autoware_base_cuda_image=ghcr.io/autowarefoundation/autoware-base:cuda-latest
 cuda_version=12.3
 cudnn_version=8.9.5.29-1+cuda12.2
 tensorrt_version=8.6.1.6-1+cuda12.0

docker/Dockerfile

@@ -1,55 +1,9 @@
 ARG BASE_IMAGE
-
-# hadolint ignore=DL3006
-FROM $BASE_IMAGE AS base
-SHELL ["/bin/bash", "-o", "pipefail", "-c"]
-ARG ROS_DISTRO
-
-# Copy files
-COPY setup-dev-env.sh ansible-galaxy-requirements.yaml amd64.env arm64.env /autoware/
-COPY ansible/ /autoware/ansible/
-COPY docker/scripts/cleanup_apt.sh /autoware/cleanup_apt.sh
-RUN chmod +x /autoware/cleanup_apt.sh
-COPY docker/scripts/cleanup_system.sh /autoware/cleanup_system.sh
-RUN chmod +x /autoware/cleanup_system.sh
-WORKDIR /autoware
-
-# Install apt packages and add GitHub to known hosts for private repositories
-RUN rm -f /etc/apt/apt.conf.d/docker-clean \
-  && echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' >/etc/apt/apt.conf.d/keep-cache
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  apt-get update && DEBIAN_FRONTEND=noninteractive apt-get -y install --no-install-recommends \
-  gosu \
-  ssh \
-  && /autoware/cleanup_apt.sh \
-  && mkdir -p ~/.ssh \
-  && ssh-keyscan github.com >> ~/.ssh/known_hosts
-
-# Set up base environment
-RUN --mount=type=ssh \
-  --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  ./setup-dev-env.sh -y --module base --no-nvidia --no-cuda-drivers --runtime openadkit \
-  && pip uninstall -y ansible ansible-core \
-  && /autoware/cleanup_apt.sh \
-  && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" > /etc/bash.bashrc
-
-# Create entrypoint
-COPY docker/etc/ros_entrypoint.sh /ros_entrypoint.sh
-RUN chmod +x /ros_entrypoint.sh
-CMD ["/bin/bash"]
-
-FROM base AS base-cuda
-SHELL ["/bin/bash", "-o", "pipefail", "-c"]
-
-# Set up CUDA runtime environment and artifacts
-# hadolint ignore=SC2002
-RUN --mount=type=ssh \
-  ./setup-dev-env.sh -y --module base --download-artifacts --no-cuda-drivers --runtime openadkit \
-  && pip uninstall -y ansible ansible-core \
-  && /autoware/cleanup_apt.sh true
+ARG AUTOWARE_BASE_IMAGE
+ARG AUTOWARE_BASE_CUDA_IMAGE
 
 # hadolint ignore=DL3006
 FROM $BASE_IMAGE AS rosdep-depend
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 
@@ -158,7 +112,8 @@
     > /rosdep-exec-depend-packages.txt \
     && cat /rosdep-exec-depend-packages.txt
 
-FROM base AS core-devel
+# hadolint ignore=DL3006
+FROM $AUTOWARE_BASE_IMAGE AS core-devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ENV CCACHE_DIR="/root/.ccache"
@@ -413,7 +368,8 @@
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
-FROM base AS universe-sensing-perception
+# hadolint ignore=DL3006
+FROM $AUTOWARE_BASE_IMAGE AS universe-sensing-perception
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
@@ -438,7 +394,8 @@
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
-FROM base-cuda AS universe-sensing-perception-cuda
+# hadolint ignore=DL3006
+FROM $AUTOWARE_BASE_CUDA_IMAGE AS universe-sensing-perception-cuda
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
@@ -459,7 +416,8 @@
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
-FROM base AS universe-localization-mapping
+# hadolint ignore=DL3006
+FROM $AUTOWARE_BASE_IMAGE AS universe-localization-mapping
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
@@ -484,7 +442,8 @@
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
-FROM base AS universe-planning-control
+# hadolint ignore=DL3006
+FROM $AUTOWARE_BASE_IMAGE AS universe-planning-control
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
@@ -509,7 +468,8 @@
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
-FROM base AS universe-vehicle-system
+# hadolint ignore=DL3006
+FROM $AUTOWARE_BASE_IMAGE AS universe-vehicle-system
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
@@ -534,7 +494,8 @@
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
-FROM base AS universe
+# hadolint ignore=DL3006
+FROM $AUTOWARE_BASE_IMAGE AS universe
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
@@ -559,7 +520,8 @@
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
-FROM base-cuda AS universe-cuda
+# hadolint ignore=DL3006
+FROM $AUTOWARE_BASE_CUDA_IMAGE AS universe-cuda
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR

docker/docker-bake-cuda.hcl

@@ -1,6 +1,5 @@
 group "default" {
   targets = [
-    "base-cuda",
     "universe-sensing-perception-devel-cuda",
     "universe-sensing-perception-cuda",
     "universe-devel-cuda",
@@ -9,18 +8,11 @@ group "default" {
 }
 
 // For docker/metadata-action
-target "docker-metadata-action-base-cuda" {}
 target "docker-metadata-action-universe-sensing-perception-devel-cuda" {}
 target "docker-metadata-action-universe-sensing-perception-cuda" {}
 target "docker-metadata-action-universe-devel-cuda" {}
 target "docker-metadata-action-universe-cuda" {}
 
-target "base-cuda" {
-  inherits = ["docker-metadata-action-base-cuda"]
-  dockerfile = "docker/Dockerfile"
-  target = "base-cuda"
-}
-
 target "universe-sensing-perception-devel-cuda" {
   inherits = ["docker-metadata-action-universe-sensing-perception-devel-cuda"]
   dockerfile = "docker/Dockerfile"

docker/docker-bake.hcl

@@ -1,6 +1,5 @@
 group "default" {
   targets = [
-    "base",
     "core-devel",
     "universe-sensing-perception-devel",
     "universe-sensing-perception",
@@ -16,7 +15,6 @@ group "default" {
 }
 
 // For docker/metadata-action
-target "docker-metadata-action-base" {}
 target "docker-metadata-action-core-devel" {}
 target "docker-metadata-action-universe-sensing-perception-devel" {}
 target "docker-metadata-action-universe-sensing-perception" {}
@@ -29,12 +27,6 @@ target "docker-metadata-action-universe-vehicle-system" {}
 target "docker-metadata-action-universe-devel" {}
 target "docker-metadata-action-universe" {}
 
-target "base" {
-  inherits = ["docker-metadata-action-base"]
-  dockerfile = "docker/Dockerfile"
-  target = "base"
-}
-
 target "core-devel" {
   inherits = ["docker-metadata-action-core-devel"]
   dockerfile = "docker/Dockerfile"