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feat(docker): add autoware:core image #5709

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merged 6 commits into from
Jan 31, 2025
Merged

feat(docker): add autoware:core image #5709

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753fea4
add autoware:core
youtalk Jan 29, 2025
eadb8f2
fix copy
youtalk Jan 29, 2025
19d8b8f
update readme
youtalk Jan 29, 2025
745fcc8
run pre-commit
youtalk Jan 29, 2025
82c0b9e
style(pre-commit): autofix
pre-commit-ci[bot] Jan 29, 2025
7525681
Merge branch 'main' into feat/autoware-core
youtalk Jan 29, 2025
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14 changes: 14 additions & 0 deletions .github/actions/docker-build-and-push/action.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,19 @@ runs:
run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT
shell: bash

- name: Docker meta for autoware:core
id: meta-core
uses: docker/metadata-action@v5
with:
images: ghcr.io/${{ github.repository_owner }}/${{ inputs.target-image }}
tags: |
type=raw,value=core-${{ inputs.platform }}
type=raw,value=core-${{ steps.date.outputs.date }}-${{ inputs.platform }}
type=ref,event=tag,prefix=core-,suffix=-${{ inputs.platform }}
bake-target: docker-metadata-action-core
flavor: |
latest=false

- name: Docker meta for autoware:core-devel
id: meta-core-devel
uses: docker/metadata-action@v5
Expand Down Expand Up @@ -246,6 +259,7 @@ runs:
push: true
files: |
docker/docker-bake.hcl
${{ steps.meta-core.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 }}
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31 changes: 30 additions & 1 deletion docker/Dockerfile
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Expand Up @@ -3,7 +3,7 @@
ARG AUTOWARE_BASE_CUDA_IMAGE

# hadolint ignore=DL3006
FROM $BASE_IMAGE AS rosdep-depend

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

Expand All @@ -28,6 +28,9 @@
RUN rosdep update && /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-core-depend-packages.txt \
&& cat /rosdep-core-depend-packages.txt
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-types=exec \
> /rosdep-core-exec-depend-packages.txt \
&& cat /rosdep-core-exec-depend-packages.txt

COPY src/universe/external /autoware/src/universe/external
COPY src/universe/autoware.universe/common /autoware/src/universe/autoware.universe/common
Expand All @@ -43,7 +46,7 @@
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-universe-visualization-depend-packages.txt \
&& cat /rosdep-universe-visualization-depend-packages.txt
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-types=exec \
> /rosdep-universe-visualization-exec-depend-packages.txt \
&& cat /rosdep-universe-visualization-exec-depend-packages.txt

Expand Down Expand Up @@ -125,7 +128,7 @@
&& cat /rosdep-exec-depend-packages.txt

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS core-devel

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ENV CCACHE_DIR="/root/.ccache"
Expand Down Expand Up @@ -405,8 +408,34 @@
ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS core

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR

# Set up runtime environment
COPY --from=rosdep-depend /rosdep-core-exec-depend-packages.txt /tmp/rosdep-core-exec-depend-packages.txt
# hadolint ignore=SC2002
RUN --mount=type=ssh \
--mount=type=cache,target=/var/cache/apt,sharing=locked \
./setup-dev-env.sh -y --module all --no-nvidia --no-cuda-drivers --runtime openadkit \
&& pip uninstall -y ansible ansible-core \
&& apt-get update \
&& cat /tmp/rosdep-core-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
&& /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO

COPY --from=core-devel /opt/autoware /opt/autoware

# Copy bash aliases
COPY docker/etc/.bash_aliases /root/.bash_aliases
RUN echo "source /opt/autoware/setup.bash" > /etc/bash.bashrc

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-sensing-perception

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
Expand All @@ -432,7 +461,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_CUDA_IMAGE AS universe-sensing-perception-cuda

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
Expand All @@ -454,7 +483,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-localization-mapping

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
Expand All @@ -480,7 +509,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-planning-control

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
Expand All @@ -506,7 +535,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-vehicle-system

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
Expand All @@ -532,7 +561,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-visualization

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
Expand All @@ -558,7 +587,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
Expand All @@ -584,7 +613,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_CUDA_IMAGE AS universe-cuda

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
Expand Down
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