chore: sync upstream (autowarefoundation#402)

* chore: add reviewer/assignee of sync-awf-latest-reference-design's PR (autowarefoundation#594) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * ci(slack-send): remove unused workflow (autowarefoundation#600) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * ci(sync-files): sync .fdignore and .rgignore (autowarefoundation#601) * chore: sync files (autowarefoundation#588) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * feat: rename launch branch (autowarefoundation#604) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat: remove sync-awf-latest-<reference-desing>.yaml (autowarefoundation#608) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * chore: sync files (autowarefoundation#602) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Signed-off-by: GitHub <noreply@github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Tomohito ANDO <tomohito.ando@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: tier4-autoware-private-bot[bot] <87871706+tier4-autoware-private-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>
sensefield · Mar 15, 2023 · 01e3186 · 01e3186
1 parent fd9e8ce
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diff --git a/.fdignore b/.fdignore
@@ -0,0 +1 @@
+!/src/
diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml
@@ -16,13 +16,15 @@
     - source: .github/workflows/sync-files.yaml
     - source: .clang-format
     - source: .clang-tidy
+    - source: .fdignore
     - source: .gitignore
     - source: .markdownlint.yaml
     - source: .pre-commit-config.yaml
     - source: .pre-commit-config-ansible.yaml
     - source: .pre-commit-config-optional.yaml
     - source: .prettierignore
     - source: .prettierrc.yaml
+    - source: .rgignore
     - source: .shellcheckrc
     - source: .yamllint.yaml
     - source: CPPLINT.cfg

diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
@@ -5,7 +5,7 @@ on:
 
 jobs:
   pre-commit:
-    if: ${{ github.event.repository.private }}
+    if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories
     runs-on: ubuntu-latest
     steps:
       - name: Generate token

diff --git a/.github/workflows/slack-send.yaml b/.github/workflows/slack-send.yaml
@@ -3,7 +3,6 @@ on:
   workflow_run:
     workflows:
       - build-main
-      - build-humble
     types:
       - completed
 

diff --git a/.github/workflows/sync-awf-latest-s1.yaml b/.github/workflows/sync-awf-latest-s1.yaml
diff --git a/.github/workflows/sync-awf-latest-x1.yaml b/.github/workflows/sync-awf-latest-x1.yaml
diff --git a/.github/workflows/sync-awf-latest-x2.yaml b/.github/workflows/sync-awf-latest-x2.yaml
diff --git a/.github/workflows/sync-awf-latest-xx1.yaml b/.github/workflows/sync-awf-latest-xx1.yaml
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -1,6 +1,5 @@
 ci:
   autofix_commit_msg: "style(pre-commit): autofix"
-  autoupdate_commit_msg: "ci(pre-commit): autoupdate"
 
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
@@ -18,7 +17,7 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.32.2
+    rev: v0.33.0
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix]
@@ -29,23 +28,23 @@ repos:
       - id: prettier
 
   - repo: https://github.com/adrienverge/yamllint
-    rev: v1.28.0
+    rev: v1.29.0
     hooks:
       - id: yamllint
 
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.8.0.4
+    rev: v0.9.0.2
     hooks:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.5.1-1
+    rev: v3.6.0-1
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
 
   - repo: https://github.com/AleksaC/hadolint-py
-    rev: v2.10.0
+    rev: v2.12.0.2
     hooks:
       - id: hadolint
 

diff --git a/.rgignore b/.rgignore
@@ -0,0 +1 @@
+!/src/
diff --git a/amd64.env b/amd64.env
@@ -2,6 +2,7 @@ rosdistro=humble
 rmw_implementation=rmw_cyclonedds_cpp
 base_image=ubuntu:22.04
 cuda_base_image=ubuntu:22.04
+prebuilt_base_image=ubuntu:22.04
 cuda_version=11.6
 cudnn_version=8.4.1.50-1+cuda11.6
 tensorrt_version=8.4.2-1+cuda11.6
diff --git a/ansible-galaxy-requirements.yaml b/ansible-galaxy-requirements.yaml
@@ -4,4 +4,4 @@ collections:
 
   - name: https://github.com/autowarefoundation/autoware.git#/ansible
     type: git
-    version: 9da9b5e25d40b5c9d4d7141ef807325de2077bcf
+    version: dfefdef4d308a4418097a6d6b9b67b588c061fe8
diff --git a/autoware.repos b/autoware.repos
@@ -11,7 +11,7 @@ repositories:
   autoware/launcher:
     type: git
     url: git@github.com:tier4/autoware_launch.x1.eve.git
-    version: tier4/universe
+    version: tier4/main
   autoware/aip_launcher:
     type: git
     url: https://github.com/tier4/aip_launcher.git

diff --git a/docker/build.sh b/docker/build.sh
@@ -16,6 +16,9 @@ while [ "$1" != "" ]; do
         option_platform="$2"
         shift
         ;;
+    --no-prebuilt)
+        option_no_prebuilt=true
+        ;;
     *)
         args+=("$1")
         ;;
@@ -32,6 +35,14 @@ else
     image_name_suffix="-cuda"
 fi
 
+# Set prebuilt options
+if [ "$option_no_prebuilt" = "true" ]; then
+    targets=("devel")
+else
+    # default targets include devel and prebuilt
+    targets=()
+fi
+
 # Set platform
 if [ -n "$option_platform" ]; then
     platform="$option_platform"
@@ -52,13 +63,15 @@ fi
 export BUILDKIT_STEP_LOG_MAX_SIZE=10000000
 
 set -x
-docker buildx bake --load --progress=plain -f "$SCRIPT_DIR/pilot-auto/docker-bake.hcl" \
+docker buildx bake --no-cache --load --progress=plain -f "$SCRIPT_DIR/pilot-auto/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.PREBUILT_BASE_IMAGE=$prebuilt_base_image" \
     --set "*.args.SETUP_ARGS=$setup_args" \
     --set "devel.tags=ghcr.io/tier4/pilot-auto:$rosdistro-latest$image_name_suffix" \
-    --set "prebuilt.tags=ghcr.io/tier4/pilot-auto:$rosdistro-latest-prebuilt$image_name_suffix"
+    --set "prebuilt.tags=ghcr.io/tier4/pilot-auto:$rosdistro-latest-prebuilt$image_name_suffix" \
+    "${targets[@]}"
 set +x
diff --git a/docker/pilot-auto/Dockerfile b/docker/pilot-auto/Dockerfile
@@ -1,4 +1,6 @@
+# Image args should come at the beginning.
 ARG BASE_IMAGE
+ARG PREBUILT_BASE_IMAGE
 # hadolint ignore=DL3006
 FROM $BASE_IMAGE as devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
@@ -43,10 +45,10 @@ RUN rm -rf \
   /etc/apt/sources.list.d/nvidia-docker.list
 
 ## Register Vulkan GPU vendors
-ADD "https://gitlab.com/nvidia/container-images/vulkan/raw/dc389b0445c788901fda1d85be96fd1cb9410164/nvidia_icd.json" /etc/vulkan/icd.d/nvidia_icd.json
-RUN chmod 644 /etc/vulkan/icd.d/nvidia_icd.json
-ADD "https://gitlab.com/nvidia/container-images/opengl/raw/5191cf205d3e4bb1150091f9464499b076104354/glvnd/runtime/10_nvidia.json" /etc/glvnd/egl_vendor.d/10_nvidia.json
-RUN chmod 644 /etc/glvnd/egl_vendor.d/10_nvidia.json
+RUN curl https://gitlab.com/nvidia/container-images/vulkan/raw/dc389b0445c788901fda1d85be96fd1cb9410164/nvidia_icd.json -o /etc/vulkan/icd.d/nvidia_icd.json \
+  && chmod 644 /etc/vulkan/icd.d/nvidia_icd.json
+RUN curl https://gitlab.com/nvidia/container-images/opengl/raw/5191cf205d3e4bb1150091f9464499b076104354/glvnd/runtime/10_nvidia.json -o /etc/glvnd/egl_vendor.d/10_nvidia.json \
+  && chmod 644 /etc/glvnd/egl_vendor.d/10_nvidia.json
 
 ## Register OpenCL GPU vendors
 RUN mkdir -p /etc/OpenCL/vendors \
@@ -58,14 +60,69 @@ RUN mkdir -p /etc/OpenCL/vendors \
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" > /etc/bash.bashrc
 CMD ["/bin/bash"]
 
-FROM devel as prebuilt
+FROM devel as builder
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 ## Build and change permission for runtime data conversion
 RUN source /opt/ros/"$ROS_DISTRO"/setup.bash \
   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release \
   && find /autoware/install -type d -exec chmod 777 {} \;
 
+# hadolint ignore=DL3006
+FROM $PREBUILT_BASE_IMAGE as prebuilt
+
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+ARG ROS_DISTRO
+ARG SETUP_ARGS
+
+## Install apt packages
+# hadolint ignore=DL3008
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get -y install --no-install-recommends \
+  git \
+  ssh \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+## Copy files
+COPY autoware.repos setup-dev-env.sh ansible-galaxy-requirements.yaml amd64.env arm64.env /autoware/
+COPY ansible/ /autoware/ansible/
+WORKDIR /autoware
+RUN ls /autoware
+
+## Add GitHub to known hosts for private repositories
+RUN mkdir -p ~/.ssh \
+  && ssh-keyscan github.com >> ~/.ssh/known_hosts
+
+## Set up runtime environment
+RUN --mount=type=ssh \
+  ./setup-dev-env.sh -y $SETUP_ARGS --no-cuda-drivers --runtime local_dev_env \
+  && pip uninstall -y ansible ansible-core \
+  && mkdir src \
+  && vcs import src < autoware.repos \
+  && rosdep update \
+  && DEBIAN_FRONTEND=noninteractive rosdep install -y --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \
+  && rm -rf src \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+## Copy install folder from builder
+COPY --from=builder /autoware/install/ /autoware/install/
+
+## Clean up unnecessary files
+RUN rm -rf \
+  "$HOME"/.cache \
+  /etc/apt/sources.list.d/cuda*.list \
+  /etc/apt/sources.list.d/docker.list \
+  /etc/apt/sources.list.d/nvidia-docker.list
+
+## Register Vulkan GPU vendors
+ADD "https://gitlab.com/nvidia/container-images/vulkan/raw/dc389b0445c788901fda1d85be96fd1cb9410164/nvidia_icd.json" /etc/vulkan/icd.d/nvidia_icd.json
+RUN chmod 644 /etc/vulkan/icd.d/nvidia_icd.json
+ADD "https://gitlab.com/nvidia/container-images/opengl/raw/5191cf205d3e4bb1150091f9464499b076104354/glvnd/runtime/10_nvidia.json" /etc/glvnd/egl_vendor.d/10_nvidia.json
+RUN chmod 644 /etc/glvnd/egl_vendor.d/10_nvidia.json
+
 ## Create entrypoint
+# hadolint ignore=DL3059
 RUN echo "source /autoware/install/setup.bash" > /etc/bash.bashrc
 CMD ["/bin/bash"]