refactor: added Docker image for visualization plugins (#5460)

* refactor: added Docker image for visualization plugins Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * added visualization section Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * update README.md Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * update README.md Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * added stages for visualization image Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix dependency generation Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * added target option Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * remove suffix and explicit visualization build Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * added tags for all targets Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * added COPY statement for universe-visualization-devel Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> --------- Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
autowarefoundation · Jan 15, 2025 · b2c7255 · b2c7255
1 parent 6049f52
commit b2c7255
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diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -35,6 +35,18 @@ RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
   > /rosdep-universe-common-depend-packages.txt \
   && cat /rosdep-universe-common-depend-packages.txt
 
+FROM rosdep-depend AS rosdep-universe-visualization-depend
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+
+COPY src/universe/autoware.universe/visualization /autoware/src/universe/autoware.universe/visualization
+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 ${ROS_DISTRO} \
+  > /rosdep-universe-visualization-exec-depend-packages.txt \
+  && cat /rosdep-universe-visualization-exec-depend-packages.txt
+
 FROM rosdep-depend AS rosdep-universe-sensing-perception-depend
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
@@ -314,6 +326,30 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
+FROM universe-common-devel AS universe-visualization-devel
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ENV CCACHE_DIR="/root/.ccache"
+
+# Install rosdep dependencies
+COPY --from=rosdep-universe-visualization-depend /rosdep-universe-visualization-depend-packages.txt /tmp/rosdep-universe-visualization-depend-packages.txt
+# hadolint ignore=SC2002
+RUN --mount=type=ssh \
+  --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  apt-get update \
+  && cat /tmp/rosdep-universe-visualization-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && /autoware/cleanup_apt.sh
+
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=${CCACHE_DIR} \
+  --mount=type=bind,from=rosdep-universe-visualization-depend,source=/autoware/src/universe/autoware.universe/visualization,target=/autoware/src/universe/autoware.universe/visualization \
+  source /opt/ros/"$ROS_DISTRO"/setup.bash \
+  && source /opt/autoware/setup.bash \
+  && /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["/bin/bash"]
+
 FROM universe-common-devel AS universe-devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
@@ -332,6 +368,7 @@ COPY --from=universe-sensing-perception-devel /opt/autoware /opt/autoware
 COPY --from=universe-localization-mapping-devel /opt/autoware /opt/autoware
 COPY --from=universe-planning-control-devel /opt/autoware /opt/autoware
 COPY --from=universe-vehicle-system-devel /opt/autoware /opt/autoware
+COPY --from=universe-visualization-devel /opt/autoware /opt/autoware
 # hadolint ignore=SC1091
 RUN --mount=type=cache,target=${CCACHE_DIR} \
   --mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/launcher,target=/autoware/src/launcher \
@@ -494,6 +531,32 @@ 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-visualization
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ARG LIB_DIR
+
+# Set up runtime environment
+COPY --from=rosdep-universe-visualization-depend /rosdep-universe-visualization-exec-depend-packages.txt /tmp/rosdep-universe-visualization-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-universe-visualization-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO
+
+COPY --from=universe-visualization-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
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]

diff --git a/docker/README.md b/docker/README.md
@@ -135,6 +135,10 @@ This stage is an Autoware Universe Sensing/Perception runtime container. It only
 
 This stage installs the CUDA runtime environment and copies the binaries built in the `universe-sensing-perception-devel-cuda` stage.
 
+### `universe-visualization`
+
+This stage is a Autoware Universe Visualization runtime container. It only includes the dependencies given by `/rosdep-universe-visualization-exec-depend-packages.txt` and the binaries built in the `universe-visualization-devel` stage.
+
 ### `universe-localization-mapping-devel`
 
 This stage installs the dependency packages based on `/rosdep-universe-localization-mapping-depend-packages.txt` and builds the packages under the following directories of `autoware.repos`:
@@ -187,6 +191,7 @@ Then it builds the remaining packages of `autoware.repos`:
 - `universe/autoware.universe/launch`
 - `universe/autoware.universe/simulator`
 - `universe/autoware.universe/tools`
+- `universe/autoware.universe/visualization`
 - `vehicle`
 
 This stage provides an all-in-one development container to Autoware developers. By running the host's source code with volume mounting, it allows for easy building and debugging of Autoware.

diff --git a/docker/build.sh b/docker/build.sh
@@ -11,6 +11,7 @@ print_help() {
     echo "  --no-cuda       Disable CUDA support"
     echo "  --platform      Specify the platform (default: current platform)"
     echo "  --devel-only    Build devel image only"
+    echo "  --target        Specify the target image (default: universe or universe-devel if --devel-only is set)"
     echo ""
     echo "Note: The --platform option should be one of 'linux/amd64' or 'linux/arm64'."
 }
@@ -36,6 +37,10 @@ parse_arguments() {
         --devel-only)
             option_devel_only=true
             ;;
+        --target)
+            option_target="$2"
+            shift
+            ;;
         *)
             echo "Unknown option: $1"
             print_help
@@ -58,10 +63,15 @@ set_cuda_options() {
 
 # Set build options
 set_build_options() {
-    if [ "$option_devel_only" = "true" ]; then
-        target="universe-devel"
+    if [ -n "$option_target" ]; then
+        target="$option_target"
+        image_name_suffix=""
     else
-        target="universe"
+        if [ "$option_devel_only" = "true" ]; then
+            target="universe-devel"
+        else
+            target="universe"
+        fi
     fi
 }
 
@@ -144,9 +154,21 @@ build_images() {
         --set "*.args.AUTOWARE_BASE_CUDA_IMAGE=$autoware_base_cuda_image" \
         --set "*.args.SETUP_ARGS=$setup_args" \
         --set "*.args.LIB_DIR=$lib_dir" \
+        --set "universe-sensing-perception-devel.tags=ghcr.io/autowarefoundation/autoware:universe-sensing-perception-devel" \
+        --set "universe-sensing-perception.tags=ghcr.io/autowarefoundation/autoware:universe-sensing-perception" \
+        --set "universe-localization-mapping-devel.tags=ghcr.io/autowarefoundation/autoware:universe-localization-mapping-devel" \
+        --set "universe-localization-mapping.tags=ghcr.io/autowarefoundation/autoware:universe-localization-mapping" \
+        --set "universe-planning-control-devel.tags=ghcr.io/autowarefoundation/autoware:universe-planning-control-devel" \
+        --set "universe-planning-control.tags=ghcr.io/autowarefoundation/autoware:universe-planning-control" \
+        --set "universe-vehicle-system-devel.tags=ghcr.io/autowarefoundation/autoware:universe-vehicle-system-devel" \
+        --set "universe-vehicle-system.tags=ghcr.io/autowarefoundation/autoware:universe-vehicle-system" \
+        --set "universe-visualization-devel.tags=ghcr.io/autowarefoundation/autoware:universe-visualization-devel" \
+        --set "universe-visualization.tags=ghcr.io/autowarefoundation/autoware:universe-visualization" \
         --set "universe-devel.tags=ghcr.io/autowarefoundation/autoware:universe-devel" \
-        --set "universe-devel-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-devel-cuda" \
         --set "universe.tags=ghcr.io/autowarefoundation/autoware:universe" \
+        --set "universe-sensing-perception-devel-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-sensing-perception-devel-cuda" \
+        --set "universe-sensing-perception-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-sensing-perception-cuda" \
+        --set "universe-devel-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-devel-cuda" \
         --set "universe-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-cuda" \
         "$target$image_name_suffix"
     set +x

diff --git a/docker/docker-bake.hcl b/docker/docker-bake.hcl
@@ -9,6 +9,8 @@ group "default" {
     "universe-planning-control",
     "universe-vehicle-system-devel",
     "universe-vehicle-system",
+    "universe-visualization-devel",
+    "universe-visualization",
     "universe-devel",
     "universe"
   ]
@@ -24,6 +26,8 @@ target "docker-metadata-action-universe-planning-control-devel" {}
 target "docker-metadata-action-universe-planning-control" {}
 target "docker-metadata-action-universe-vehicle-system-devel" {}
 target "docker-metadata-action-universe-vehicle-system" {}
+target "docker-metadata-action-universe-visualization-devel" {}
+target "docker-metadata-action-universe-visualization" {}
 target "docker-metadata-action-universe-devel" {}
 target "docker-metadata-action-universe" {}
 
@@ -81,6 +85,18 @@ target "universe-vehicle-system" {
   target = "universe-vehicle-system"
 }
 
+target "universe-visualization-devel" {
+  inherits = ["docker-metadata-action-universe-visualization-devel"]
+  dockerfile = "docker/Dockerfile"
+  target = "universe-visualization-devel"
+}
+
+target "universe-visualization" {
+  inherits = ["docker-metadata-action-universe-visualization"]
+  dockerfile = "docker/Dockerfile"
+  target = "universe-visualization"
+}
+
 target "universe-devel" {
   inherits = ["docker-metadata-action-universe-devel"]
   dockerfile = "docker/Dockerfile"