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feat(docker): separation from universe-devel stage to universe-planning-control-devel stage #5194

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merged 15 commits into from
Sep 9, 2024
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Merged

feat(docker): separation from universe-devel stage to universe-planning-control-devel stage #5194

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d87cd47
update docker
youtalk Sep 6, 2024
930cdd4
update action
youtalk Sep 6, 2024
d253753
update readme
youtalk Sep 6, 2024
5b8b0ae
fix images
youtalk Sep 6, 2024
213fddd
not download artifacts
youtalk Sep 6, 2024
59402a1
add universe-planning-control-devel
youtalk Sep 7, 2024
f927bcd
fix copy
youtalk Sep 7, 2024
5e43813
add copy
youtalk Sep 7, 2024
c4c98c1
fix copy
youtalk Sep 7, 2024
d6a7969
add linefeed
youtalk Sep 7, 2024
da92d51
add pcl
youtalk Sep 7, 2024
3316dce
update svg
youtalk Sep 7, 2024
5bba62f
update readme
youtalk Sep 7, 2024
40728eb
update todo
youtalk Sep 8, 2024
d8a6b9f
Merge branch 'main' into upstream-universe-planning-control-devel
youtalk Sep 9, 2024
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56 changes: 54 additions & 2 deletions docker/Dockerfile
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
ARG BASE_IMAGE

# hadolint ignore=DL3006
FROM $BASE_IMAGE AS base

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GitHub Actions / docker-build (no-cuda)

Default value for global ARG results in an empty or invalid base image name 

InvalidDefaultArgInFrom: Default value for ARG $BASE_IMAGE results in empty or invalid base image name
More info: https://docs.docker.com/go/dockerfile/rule/invalid-default-arg-in-from/

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GitHub Actions / docker-build (cuda)

Default value for global ARG results in an empty or invalid base image name 

InvalidDefaultArgInFrom: Default value for ARG $BASE_IMAGE results in empty or invalid base image name
More info: https://docs.docker.com/go/dockerfile/rule/invalid-default-arg-in-from/
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG SETUP_ARGS
Expand Down Expand Up @@ -37,7 +37,7 @@
CMD ["/bin/bash"]

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

Check warning on line 40 in docker/Dockerfile

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GitHub Actions / docker-build (no-cuda)

Default value for global ARG results in an empty or invalid base image name 

InvalidDefaultArgInFrom: Default value for ARG $BASE_IMAGE results in empty or invalid base image name
More info: https://docs.docker.com/go/dockerfile/rule/invalid-default-arg-in-from/

Check warning on line 40 in docker/Dockerfile

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GitHub Actions / docker-build (cuda)

Default value for global ARG results in an empty or invalid base image name 

InvalidDefaultArgInFrom: Default value for ARG $BASE_IMAGE results in empty or invalid base image name
More info: https://docs.docker.com/go/dockerfile/rule/invalid-default-arg-in-from/
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

Expand Down Expand Up @@ -118,6 +118,25 @@
> /rosdep-universe-localization-mapping-exec-depend-packages.txt \
&& cat /rosdep-universe-localization-mapping-exec-depend-packages.txt

FROM rosdep-depend AS rosdep-universe-planning-control-depend
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

COPY src/universe/autoware.universe/control /autoware/src/universe/autoware.universe/control
COPY src/universe/autoware.universe/planning /autoware/src/universe/autoware.universe/planning
# TODO(youtalk): Remove COPYs when https://github.com/autowarefoundation/autoware.universe/issues/8805 is resolved
COPY src/universe/autoware.universe/map/map_loader /autoware/src/universe/autoware.universe/map/map_loader
COPY src/universe/autoware.universe/map/autoware_map_projection_loader /autoware/src/universe/autoware.universe/map/autoware_map_projection_loader
COPY src/universe/autoware.universe/sensing/autoware_pcl_extensions /autoware/src/universe/autoware.universe/sensing/autoware_pcl_extensions
COPY src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor /autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor
RUN rosdep keys --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
> /rosdep-universe-planning-control-depend-packages.txt \
&& cat /rosdep-universe-planning-control-depend-packages.txt

FROM rosdep-depend AS rosdep-universe-depend
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
Expand Down Expand Up @@ -277,6 +296,40 @@
&& du -sh ${CCACHE_DIR} && ccache -s \
&& rm -rf /autoware/build

FROM universe-common-devel AS universe-planning-control-devel
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ENV CCACHE_DIR="/root/.ccache"

# Install rosdep dependencies
COPY --from=rosdep-universe-planning-control-depend /rosdep-universe-planning-control-depend-packages.txt /tmp/rosdep-universe-planning-control-depend-packages.txt
# hadolint ignore=SC2002
RUN --mount=type=ssh \
apt-get update \
&& cat /tmp/rosdep-universe-planning-control-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
&& apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache

# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/control,target=/autoware/src/universe/autoware.universe/control \
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/planning,target=/autoware/src/universe/autoware.universe/planning \
# TODO(youtalk): Remove --mount options when https://github.com/autowarefoundation/autoware.universe/issues/8805 is resolved
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/map/map_loader,target=/autoware/src/universe/autoware.universe/map/map_loader \
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/map/autoware_map_projection_loader,target=/autoware/src/universe/autoware.universe/map/autoware_map_projection_loader \
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/sensing/autoware_pcl_extensions,target=/autoware/src/universe/autoware.universe/sensing/autoware_pcl_extensions \
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor,target=/autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor \
source /opt/ros/"$ROS_DISTRO"/setup.bash \
&& source /opt/autoware/setup.bash \
&& du -sh ${CCACHE_DIR} && ccache -s \
&& colcon build --cmake-args \
" -Wno-dev" \
" --no-warn-unused-cli" \
--merge-install \
--install-base /opt/autoware \
--mixin release compile-commands ccache \
&& du -sh ${CCACHE_DIR} && ccache -s \
&& rm -rf /autoware/build

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

Expand All @@ -295,16 +348,15 @@

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
# 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 \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/param,target=/autoware/src/param \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/sensor_component,target=/autoware/src/sensor_component \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/sensor_kit,target=/autoware/src/sensor_kit \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/control,target=/autoware/src/universe/autoware.universe/control \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/evaluator,target=/autoware/src/universe/autoware.universe/evaluator \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/launch,target=/autoware/src/universe/autoware.universe/launch \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/planning,target=/autoware/src/universe/autoware.universe/planning \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/simulator,target=/autoware/src/universe/autoware.universe/simulator \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/system,target=/autoware/src/universe/autoware.universe/system \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/tools,target=/autoware/src/universe/autoware.universe/tools \
Expand Down
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