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doganulusdoganulus
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Update containers
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3 files changed

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-49
lines changed

3 files changed

+49
-49
lines changed

‎containers/autoware-devel/Dockerfile

Lines changed: 29 additions & 27 deletions
Original file line numberDiff line numberDiff line change
@@ -49,15 +49,15 @@ RUN groupadd bounverif -g 1000 && \
4949
echo 'bounverif:bounverif' | chpasswd \
5050
printf "%s ALL= NOPASSWD: ALL\\n" bounverif >> /etc/sudoers
5151

52-
ENV \
53-
ROS_DISTRO=humble \
54-
AUTOWARE_ROOT=/root/autoware \
55-
AUTOWARE_SOURCE_DIR=/root/autoware/src \
56-
AUTOWARE_BUILD_DIR=/root/autoware/build \
57-
AUTOWARE_INSTALL_DIR=/opt/autoware \
58-
AUTOWARE_DATA_DIR=/opt/autoware/data
52+
ENV ROS_DISTRO=humble
53+
ENV AUTOWARE_DEVEL_ROOT=/root/autoware
54+
ENV AUTOWARE_DEVEL_SOURCE_DIR=/root/autoware/src
55+
ENV AUTOWARE_DEVEL_BUILD_DIR=/root/autoware/build
56+
ENV AUTOWARE_DEVEL_INSTALL_DIR=/root/autoware/autoware
57+
ENV AUTOWARE_DEVEL_DATA_DIR=/root/autoware/data
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6059
ARG AUTOWARE_VERSION
60+
ENV AUTOWARE_VERSION=${AUTOWARE_VERSION:-latest}
6161
ENV AUTOWARE_DEVEL_VERSION=${AUTOWARE_VERSION:-latest}
6262

6363
FROM ${IMAGE_NAME}:${AUTOWARE_VERSION}-base AS autoware-source
@@ -72,9 +72,10 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=${TARGETPLATFORM}
7272
python3-vcstool \
7373
&& apt-get autoremove -y && rm -rf /var/lib/apt/lists/*
7474

75-
RUN --mount=type=bind,source=etc/autoware/autoware.repos.yml,target=/etc/autoware/autoware.repos.yml \
76-
mkdir -p ${AUTOWARE_SOURCE_DIR} && \
77-
vcs import --shallow ${AUTOWARE_SOURCE_DIR} < /etc/autoware/autoware.repos.yml
75+
COPY etc/autoware/autoware.repos.yml /etc/autoware/autoware.repos.yml
76+
77+
RUN mkdir -p ${AUTOWARE_DEVEL_SOURCE_DIR} && \
78+
vcs import --shallow ${AUTOWARE_DEVEL_SOURCE_DIR} < /etc/autoware/autoware.repos.yml
7879

7980
FROM ${IMAGE_NAME}:${AUTOWARE_VERSION}-base AS autoware-builder
8081
ARG TARGETARCH TARGETOS TARGETPLATFORM TARGETVARIANT
@@ -96,20 +97,6 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=${TARGETPLATFORM}
9697
ansible-core \
9798
&& apt-get autoremove -y && rm -rf /var/lib/apt/lists/*
9899

99-
RUN --mount=type=bind,from=autoware-source,source=${AUTOWARE_SOURCE_DIR},target=${AUTOWARE_SOURCE_DIR} \
100-
--mount=type=cache,target=/var/cache/apt,sharing=locked,id=${TARGETPLATFORM}/var/cache/apt \
101-
mkdir -p /etc/autoware && \
102-
vcs export --exact ${AUTOWARE_SOURCE_DIR} > /etc/autoware/autoware.repos.${AUTOWARE_DEVEL_VERSION}.yml && \
103-
export DEBIAN_FRONTEND=noninteractive && \
104-
apt-get update && \
105-
rosdep init && \
106-
rosdep update -q && \
107-
rosdep install -qy \
108-
--from-paths ${AUTOWARE_SOURCE_DIR} \
109-
--ignore-src \
110-
--rosdistro ${ROS_DISTRO} \
111-
&& apt-get autoremove -y && rm -rf /var/lib/apt/lists/*
112-
113100
# CUDA Toolkit Installation
114101
ARG CUDA_TOOLKIT_VERSION_MAJOR=12
115102
ARG CUDA_TOOLKIT_VERSION_MINOR=6
@@ -131,6 +118,20 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=${TARGETPLATFORM}
131118

132119
RUN update-alternatives --set cuda /usr/local/cuda-${CUDA_TOOLKIT_VERSION_MAJOR}.${CUDA_TOOLKIT_VERSION_MINOR}
133120

121+
RUN --mount=type=bind,from=autoware-source,source=${AUTOWARE_DEVEL_SOURCE_DIR},target=${AUTOWARE_DEVEL_SOURCE_DIR} \
122+
--mount=type=cache,target=/var/cache/apt,sharing=locked,id=${TARGETPLATFORM}/var/cache/apt \
123+
mkdir -p /etc/autoware && \
124+
vcs export --exact ${AUTOWARE_DEVEL_SOURCE_DIR} > /etc/autoware/autoware.repos.${AUTOWARE_DEVEL_VERSION}.yml && \
125+
export DEBIAN_FRONTEND=noninteractive && \
126+
apt-get update && \
127+
rosdep init && \
128+
rosdep update -q && \
129+
rosdep install -qy \
130+
--from-paths ${AUTOWARE_DEVEL_SOURCE_DIR} \
131+
--ignore-src \
132+
--rosdistro ${ROS_DISTRO} \
133+
&& apt-get autoremove -y && rm -rf /var/lib/apt/lists/*
134+
134135
# Build environment management
135136
ENV \
136137
CMAKE_BUILD_TYPE=Release \
@@ -149,9 +150,9 @@ ARG TARGETARCH TARGETOS TARGETPLATFORM TARGETVARIANT
149150
# This build is only for producing a build cache to be saved in the image.
150151
# Hence, we do not want build artifacts and logs.
151152
#
152-
RUN --mount=type=bind,from=autoware-source,source=${AUTOWARE_SOURCE_DIR},target=${AUTOWARE_SOURCE_DIR} \
153+
RUN --mount=type=bind,from=autoware-source,source=${AUTOWARE_DEVEL_SOURCE_DIR},target=${AUTOWARE_DEVEL_SOURCE_DIR} \
153154
mkdir -p /tmp/autoware && \
154-
ln -s ${AUTOWARE_SOURCE_DIR} /tmp/autoware/src && \
155+
ln -s ${AUTOWARE_DEVEL_SOURCE_DIR} /tmp/autoware/src && \
155156
. /opt/ros/${ROS_DISTRO}/setup.sh && \
156157
export CCACHE_BASEDIR=/tmp/autoware && \
157158
colcon --log-base /dev/null build \
@@ -172,7 +173,8 @@ RUN --mount=type=bind,from=autoware-source,source=${AUTOWARE_SOURCE_DIR},target=
172173
--cmake-args \
173174
" -Wno-dev" \
174175
" --no-warn-unused-cli" \
175-
&& rm -rf /tmp/autoware/
176+
&& rm -rf /tmp/autoware/ \
177+
&& ccache --zero-stats
176178

177179
FROM ${IMAGE_NAME}:${AUTOWARE_VERSION}-builder-with-cache AS autoware-devel
178180
ARG TARGETARCH TARGETOS TARGETPLATFORM TARGETVARIANT

‎containers/autoware-runtime/Dockerfile

Lines changed: 8 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -2,10 +2,11 @@ ARG IMAGE_NAME=localhost/autoware
22
ARG AUTOWARE_VERSION=latest
33

44
FROM ${IMAGE_NAME}:latest-builder-with-cache AS autoware-prebuilt
5-
# ARG TARGETARCH TARGETOS TARGETPLATFORM TARGETVARIANT
5+
ARG TARGETARCH TARGETOS TARGETPLATFORM TARGETVARIANT
66

77
ARG AUTOWARE_PACKAGES_UP_TO=autoware_launch
8-
WORKDIR ${AUTOWARE_ROOT}
8+
9+
WORKDIR ${AUTOWARE_DEVEL_ROOT}
910

1011
RUN --mount=type=bind,source=etc/autoware/autoware.repos.yml,target=/etc/autoware/autoware.repos.yml set -ex \
1112
; mkdir -p src \
@@ -45,11 +46,12 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=${TARGETPLATFORM}
4546
; apt-get autoremove -y \
4647
; rm -rf /var/lib/apt/lists/*
4748

48-
COPY --from=autoware-prebuilt ${AUTOWARE_ROOT}/install ${AUTOWARE_INSTALL_DIR}
49-
50-
ENV NVIDIA_VISIBLE_DEVICES=all
51-
ENV NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics
49+
ENV AUTOWARE_INSTALL_DIR=/opt/autoware
50+
COPY --from=autoware-prebuilt ${AUTOWARE_DEVEL_ROOT}/install ${AUTOWARE_INSTALL_DIR}
5251

5352
ARG AUTOWARE_VERSION
5453
ENV AUTOWARE_RUNTIME_VERSION=${AUTOWARE_VERSION:-latest}
5554
RUN echo "AUTOWARE_RUNTIME_VERSION=${AUTOWARE_RUNTIME_VERSION}" >> /etc/environment
55+
56+
ENV NVIDIA_VISIBLE_DEVICES=all
57+
ENV NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics

‎etc/autoware/autoware.repos.yml

Lines changed: 12 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -33,10 +33,6 @@ repositories:
3333
type: git
3434
url: https://github.com/autowarefoundation/autoware.core.git
3535
version: main
36-
core/external/autoware_auto_msgs: # TODO(mfc): Remove when autoware_msgs is merged
37-
type: git
38-
url: https://github.com/tier4/autoware_auto_msgs.git
39-
version: tier4/main
4036
# universe
4137
universe/autoware.universe:
4238
type: git
@@ -122,18 +118,18 @@ repositories:
122118
# url: https://github.com/autowarefoundation/awsim_labs_sensor_kit_launch.git
123119
# version: main
124120
# vehicle
125-
vehicle/sample_vehicle_launch:
126-
type: git
127-
url: https://github.com/autowarefoundation/sample_vehicle_launch.git
128-
version: main
129-
vehicle/external/pacmod_interface:
130-
type: git
131-
url: https://github.com/tier4/pacmod_interface.git
132-
version: main
133-
vehicle/external/pacmod3_msgs:
134-
type: git
135-
url: https://github.com/astuff/pacmod3_msgs.git
136-
version: 1.0.0
121+
# vehicle/sample_vehicle_launch:
122+
# type: git
123+
# url: https://github.com/autowarefoundation/sample_vehicle_launch.git
124+
# version: main
125+
# vehicle/external/pacmod_interface:
126+
# type: git
127+
# url: https://github.com/tier4/pacmod_interface.git
128+
# version: main
129+
# vehicle/external/pacmod3_msgs:
130+
# type: git
131+
# url: https://github.com/astuff/pacmod3_msgs.git
132+
# version: 1.0.0
137133
# param
138134
param/autoware_individual_params:
139135
type: git

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