Merge remote-tracking branch 'upstream/main' into upstream-cache-apt-…

…archives

.devcontainer/base/devcontainer.json

@@ -2,7 +2,7 @@
   "name": "Autoware",
   "build": {
     "dockerfile": "../Dockerfile",
-    "args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware-openadk:latest-devel" }
+    "args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware:latest-devel" }
   },
   "remoteUser": "autoware",
   "runArgs": [

.devcontainer/cuda/devcontainer.json

@@ -2,7 +2,7 @@
   "name": "Autoware-cuda",
   "build": {
     "dockerfile": "../Dockerfile",
-    "args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware-openadk:latest-devel-cuda" }
+    "args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware:latest-devel-cuda" }
   },
   "remoteUser": "autoware",
   "hostRequirements": {

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

@@ -98,7 +98,7 @@ runs:
       with:
         push: ${{ inputs.allow-push == 'true' }}
         files: |
-          docker/${{ inputs.bake-target }}/docker-bake.hcl
+          docker/docker-bake.hcl
           ${{ steps.meta-prebuilt.outputs.bake-file }}
           ${{ steps.meta-devel.outputs.bake-file }}
         targets: |
@@ -114,7 +114,7 @@ runs:
       with:
         push: true
         files: |
-          docker/${{ inputs.bake-target }}/docker-bake.hcl
+          docker/docker-bake.hcl
           ${{ steps.meta-devel.outputs.bake-file }}
           ${{ steps.meta-prebuilt.outputs.bake-file }}
           ${{ steps.meta-runtime.outputs.bake-file }}
@@ -128,7 +128,7 @@ runs:
       with:
         push: false
         files: |
-          docker/${{ inputs.bake-target }}/docker-bake.hcl
+          docker/docker-bake.hcl
           ${{ steps.meta-devel.outputs.bake-file }}
           ${{ steps.meta-prebuilt.outputs.bake-file }}
           ${{ steps.meta-runtime.outputs.bake-file }}

.github/workflows/build-main-self-hosted.yaml

@@ -50,7 +50,7 @@ jobs:
       - name: Build 'autoware-universe'
         uses: ./.github/actions/docker-build-and-push
         with:
-          bake-target: autoware-openadk
+          bake-target: autoware
           build-args: |
             *.platform=linux/arm64
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}

.github/workflows/build-main.yaml

@@ -45,7 +45,7 @@ jobs:
       - name: Build 'autoware-universe'
         uses: ./.github/actions/docker-build-and-push
         with:
-          bake-target: autoware-openadk
+          bake-target: autoware
           build-args: |
             *.platform=linux/amd64
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}

.github/workflows/docker-build-and-push-main-self-hosted.yaml

@@ -9,7 +9,7 @@ name: docker-build-and-push-main-self-hosted
 on:
   push:
     tags:
-      - adkit-v*.*.*
+      - openadkit-v*.*.*
     branches:
       - main
   schedule:
@@ -75,10 +75,10 @@ jobs:
           mkdir src
           vcs import src < autoware.repos
 
-      - name: Build 'autoware-openadk'
+      - name: Build 'Autoware'
         uses: ./.github/actions/docker-build-and-push
         with:
-          bake-target: autoware-openadk
+          bake-target: autoware
           build-args: |
             *.platform=linux/arm64
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}

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

@@ -9,7 +9,7 @@ name: docker-build-and-push-main
 on:
   push:
     tags:
-      - adkit-v*.*.*
+      - openadkit-v*.*.*
     branches:
       - main
   schedule:
@@ -70,10 +70,10 @@ jobs:
           mkdir src
           vcs import src < autoware.repos
 
-      - name: Build 'autoware-openadk'
+      - name: Build 'Autoware'
         uses: ./.github/actions/docker-build-and-push
         with:
-          bake-target: autoware-openadk
+          bake-target: autoware
           build-args: |
             *.platform=linux/amd64
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}

.github/workflows/update-docker-manifest.yaml

@@ -12,7 +12,7 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
-      - name: Combine multi arch images for 'autoware-openadk'
+      - name: Combine multi arch images for 'Autoware'
         uses: ./.github/actions/combine-multi-arch-images
         with:
-          package-name: autoware-openadk
+          package-name: autoware

ansible/roles/artifacts/tasks/main.yaml

@@ -213,6 +213,30 @@
     mode: "644"
     checksum: sha256:3540a365bfd6d8afb1b5d8df4ec47f82cb984760d3270c9b41dbbb3422d09a0c
 
+- name: Download tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/object_detection_semseg_yolox_s/v1/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx"
+    mode: "644"
+    checksum: sha256:73b3812432cedf65cebf02ca4cb630542fc3b1671c4c0fbf7cee50fa38e416a8
+
+- name: Download tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.EntropyV2-calibration.table
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/object_detection_semseg_yolox_s/v1/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.EntropyV2-calibration.table
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.EntropyV2-calibration.table"
+    mode: "644"
+    checksum: sha256:28cd6524d4bcdb2809592a225d28330433e58dc02c92169ea555b44c1a51a584
+
+- name: Download tensorrt_yolox/semseg_color_map.csv
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/object_detection_semseg_yolox_s/v1/semseg_color_map.csv
+    dest: "{{ data_dir }}/tensorrt_yolox/semseg_color_map.csv"
+    mode: "644"
+    checksum: sha256:3d93ca05f31b63424d7d7246a01a2365953705a0ed3323ba5b6fddd744a4bfea
+
 # traffic_light_classifier
 - name: Create traffic_light_classifier directory inside {{ data_dir }}
   ansible.builtin.file:

ansible/roles/rmw_implementation/tasks/main.yaml

@@ -3,12 +3,25 @@
   register: rmw_implementation__dash_case_rmw_implementation
   changed_when: false
 
+- name: Hold check of ros-{{ rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout }}
+  ansible.builtin.command: apt-mark showhold
+  register: held_ros_packages
+  changed_when: false
+
 - name: Install ros-{{ rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout }}
   become: true
   ansible.builtin.apt:
     name: ros-{{ rosdistro }}-{{ rmw_implementation__dash_case_rmw_implementation.stdout }}
     state: latest
     update_cache: true
+  when: "'ros-' + rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout not in held_ros_packages.stdout"
+  register: install_result
+  failed_when: false
+
+- name: Display warning if ROS 2 RMW package is held
+  ansible.builtin.debug:
+    msg: ROS 2 RMW package 'ros-{{ rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout }}' is apt-mark hold. Skipping installation.
+  when: not install_result.changed
 
 - name: Add RMW_IMPLEMENTATION to .bashrc
   ansible.builtin.lineinfile:

docker/autoware-openadk/Dockerfile → docker/Dockerfile

@@ -26,7 +26,7 @@ WORKDIR /autoware
 RUN --mount=type=ssh \
   --mount=type=cache,target=/var/cache/apt,sharing=locked \
   --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  ./setup-dev-env.sh -y --module base --runtime openadk \
+  ./setup-dev-env.sh -y --module base --runtime openadkit \
   && pip uninstall -y ansible ansible-core \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache \
   && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" > /etc/bash.bashrc
@@ -84,7 +84,7 @@ ENV CXX="/usr/lib/ccache/g++"
 RUN --mount=type=ssh \
   --mount=type=cache,target=/var/cache/apt,sharing=locked \
   --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  ./setup-dev-env.sh -y --module all ${SETUP_ARGS} --no-cuda-drivers openadk \
+  ./setup-dev-env.sh -y --module all ${SETUP_ARGS} --no-cuda-drivers openadkit \
   && pip uninstall -y ansible ansible-core \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache \
   && find / -name 'libcu*.a' -delete \
@@ -120,12 +120,12 @@ SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 RUN --mount=type=ssh \
   --mount=type=cache,target=/var/cache/apt,sharing=locked \
   --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  ./setup-dev-env.sh -y --module dev-tools openadk \
+  ./setup-dev-env.sh -y --module dev-tools openadkit \
   && pip uninstall -y ansible ansible-core \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache
 
 # Create entrypoint
-COPY docker/autoware-openadk/etc/ros_entrypoint.sh /ros_entrypoint.sh
+COPY docker/etc/ros_entrypoint.sh /ros_entrypoint.sh
 RUN chmod +x /ros_entrypoint.sh
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
@@ -142,7 +142,7 @@ COPY --from=src-imported /rosdep-exec-depend-packages.txt /tmp/rosdep-exec-depen
 RUN --mount=type=ssh \
   --mount=type=cache,target=/var/cache/apt,sharing=locked \
   --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  ./setup-dev-env.sh -y --module all ${SETUP_ARGS} --no-cuda-drivers --runtime openadk \
+  ./setup-dev-env.sh -y --module all ${SETUP_ARGS} --no-cuda-drivers --runtime openadkit \
   && pip uninstall -y ansible ansible-core \
   && apt-get update \
   && cat /tmp/rosdep-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
@@ -160,11 +160,11 @@ RUN --mount=type=ssh \
 COPY --from=prebuilt /autoware/install/ /autoware/install/
 
 # Copy bash aliases
-COPY docker/autoware-openadk/etc/.bash_aliases /root/.bash_aliases
+COPY docker/etc/.bash_aliases /root/.bash_aliases
 RUN echo "source /autoware/install/setup.bash" > /etc/bash.bashrc
 
 # Create entrypoint
-COPY docker/autoware-openadk/etc/ros_entrypoint.sh /ros_entrypoint.sh
+COPY docker/etc/ros_entrypoint.sh /ros_entrypoint.sh
 RUN chmod +x /ros_entrypoint.sh
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["bash"]

docker/build.sh

@@ -16,7 +16,7 @@ print_help() {
 }
 
 SCRIPT_DIR=$(readlink -f "$(dirname "$0")")
-WORKSPACE_ROOT="$SCRIPT_DIR/../"
+WORKSPACE_ROOT="$SCRIPT_DIR/.."
 
 # Parse arguments
 parse_arguments() {
@@ -111,17 +111,17 @@ build_images() {
     echo "Targets: ${targets[*]}"
 
     set -x
-    docker buildx bake --load --progress=plain -f "$SCRIPT_DIR/autoware-openadk/docker-bake.hcl" \
+    docker buildx bake --load --progress=plain -f "$SCRIPT_DIR/docker-bake.hcl" \
         --set "*.context=$WORKSPACE_ROOT" \
         --set "*.ssh=default" \
         --set "*.platform=$platform" \
         --set "*.args.ROS_DISTRO=$rosdistro" \
         --set "*.args.BASE_IMAGE=$base_image" \
         --set "*.args.SETUP_ARGS=$setup_args" \
         --set "*.args.LIB_DIR=$lib_dir" \
-        --set "devel.tags=ghcr.io/autowarefoundation/autoware-openadk:latest-devel$image_name_suffix" \
-        --set "prebuilt.tags=ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt$image_name_suffix" \
-        --set "runtime.tags=ghcr.io/autowarefoundation/autoware-openadk:latest-runtime$image_name_suffix" \
+        --set "devel.tags=ghcr.io/autowarefoundation/autoware:latest-devel$image_name_suffix" \
+        --set "prebuilt.tags=ghcr.io/autowarefoundation/autoware:latest-prebuilt$image_name_suffix" \
+        --set "runtime.tags=ghcr.io/autowarefoundation/autoware:latest-runtime$image_name_suffix" \
         "${targets[@]}"
     set +x
 }

docker/autoware-openadk/docker-bake.hcl → docker/docker-bake.hcl

@@ -9,18 +9,18 @@ target "docker-metadata-action-runtime" {}
 
 target "prebuilt" {
   inherits = ["docker-metadata-action-prebuilt"]
-  dockerfile = "docker/autoware-openadk/Dockerfile"
+  dockerfile = "docker/Dockerfile"
   target = "prebuilt"
 }
 
 target "devel" {
   inherits = ["docker-metadata-action-devel"]
-  dockerfile = "docker/autoware-openadk/Dockerfile"
+  dockerfile = "docker/Dockerfile"
   target = "devel"
 }
 
 target "runtime" {
   inherits = ["docker-metadata-action-runtime"]
-  dockerfile = "docker/autoware-openadk/Dockerfile"
+  dockerfile = "docker/Dockerfile"
   target = "runtime"
 }

docker/run.sh

@@ -10,7 +10,7 @@ GREEN='\033[0;32m'
 NC='\033[0m' # No Color
 
 SCRIPT_DIR=$(readlink -f "$(dirname "$0")")
-WORKSPACE_ROOT="$SCRIPT_DIR/../"
+WORKSPACE_ROOT="$SCRIPT_DIR/.."
 source "$WORKSPACE_ROOT/amd64.env"
 if [ "$(uname -m)" = "aarch64" ]; then
     source "$WORKSPACE_ROOT/arm64.env"
@@ -124,9 +124,9 @@ set_variables() {
 
     # Set image based on option
     if [ "$option_devel" == "true" ]; then
-        IMAGE="ghcr.io/autowarefoundation/autoware-openadk:latest-devel"
+        IMAGE="ghcr.io/autowarefoundation/autoware:latest-devel"
     else
-        IMAGE="ghcr.io/autowarefoundation/autoware-openadk:latest-runtime"
+        IMAGE="ghcr.io/autowarefoundation/autoware:latest-runtime"
     fi
 }