Merge branch 'main' into refactor-docker-build-and-push

autowarefoundation · Jun 10, 2024 · c4d0771 · c4d0771
2 parents 7c209e6 + 226be42
commit c4d0771
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Showing 5 changed files with 23 additions and 15 deletions.
diff --git a/.github/workflows/build-main-self-hosted.yaml b/.github/workflows/build-main-self-hosted.yaml
@@ -27,11 +27,13 @@ jobs:
           - cuda
         include:
           - name: no-cuda
+            platform: arm64
             base_image_env: base_image
             lib_dir: aarch64
             setup-args: --no-nvidia
             additional-tag-suffix: ""
           - name: cuda
+            platform: arm64
             base_image_env: base_image
             lib_dir: aarch64
             additional-tag-suffix: -cuda
@@ -57,13 +59,13 @@ jobs:
         with:
           bake-target: autoware
           build-args: |
-            *.platform=linux/arm64
+            *.platform=linux/${{ matrix.platform }}
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
             *.args.LIB_DIR=${{ matrix.lib_dir }}
-            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-arm64
-            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-arm64,mode=max
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }}
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }},mode=max
           tag-suffix: ${{ matrix.additional-tag-suffix }}-arm64
           tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
           allow-push: false

diff --git a/.github/workflows/build-main.yaml b/.github/workflows/build-main.yaml
@@ -27,11 +27,13 @@ jobs:
           - cuda
         include:
           - name: no-cuda
+            platform: amd64
             base_image_env: base_image
             lib_dir: x86_64
             setup-args: --no-nvidia
             additional-tag-suffix: ""
           - name: cuda
+            platform: amd64
             base_image_env: base_image
             lib_dir: x86_64
             additional-tag-suffix: -cuda
@@ -52,13 +54,13 @@ jobs:
         with:
           bake-target: autoware
           build-args: |
-            *.platform=linux/amd64
+            *.platform=linux/${{ matrix.platform }}
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
             *.args.LIB_DIR=${{ matrix.lib_dir }}
-            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-amd64
-            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-amd64,mode=max
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }}
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }},mode=max
           tag-suffix: ${{ matrix.additional-tag-suffix }}-amd64
           tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
           allow-push: false

diff --git a/.github/workflows/docker-build-and-push-main-self-hosted.yaml b/.github/workflows/docker-build-and-push-main-self-hosted.yaml
@@ -39,11 +39,13 @@ jobs:
           - cuda
         include:
           - name: no-cuda
+            platform: arm64
             base_image_env: base_image
             lib_dir: aarch64
             setup-args: --no-nvidia
             additional-tag-suffix: ""
           - name: cuda
+            platform: arm64
             base_image_env: base_image
             lib_dir: aarch64
             additional-tag-suffix: -cuda
@@ -69,13 +71,13 @@ jobs:
         with:
           bake-target: autoware
           build-args: |
-            *.platform=linux/arm64
+            *.platform=linux/${{ matrix.platform }}
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
             *.args.LIB_DIR=${{ matrix.lib_dir }}
-            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-arm64
-            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-arm64,mode=max
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }}
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }},mode=max
           tag-suffix: ${{ matrix.additional-tag-suffix }}-arm64
           tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
           allow-push: true

diff --git a/.github/workflows/docker-build-and-push-main.yaml b/.github/workflows/docker-build-and-push-main.yaml
@@ -40,11 +40,13 @@ jobs:
         include:
           - name: no-cuda
             base_image_env: base_image
+            platform: amd64
             lib_dir: x86_64
             setup-args: --no-nvidia
             additional-tag-suffix: ""
           - name: cuda
             base_image_env: base_image
+            platform: amd64
             lib_dir: x86_64
             additional-tag-suffix: -cuda
     steps:
@@ -64,13 +66,13 @@ jobs:
         with:
           bake-target: autoware
           build-args: |
-            *.platform=linux/amd64
+            *.platform=linux/${{ matrix.platform }}
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
             *.args.LIB_DIR=${{ matrix.lib_dir }}
-            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-amd64
-            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-amd64,mode=max
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }}
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }},mode=max
           tag-suffix: ${{ matrix.additional-tag-suffix }}-amd64
           tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
           allow-push: true

diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -90,11 +90,11 @@ RUN --mount=type=ssh \
 COPY --from=src-imported /autoware/src /autoware/src
 RUN --mount=type=cache,target=${CCACHE_DIR} \
   source /opt/ros/"$ROS_DISTRO"/setup.bash \
-  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --cmake-args \
-    " -Wno-dev" \
-    " --no-warn-unused-cli" \
+  && colcon build --cmake-args \
     -DCMAKE_BUILD_TYPE=Release \
     -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+    " -Wno-dev" \
+    " --no-warn-unused-cli" \
   && find /autoware/install -type d -exec chmod 777 {} \; \
   && chmod -R 777 /var/tmp/ccache \
   && rm -rf /autoware/build /autoware/src