From 85e7ee39330068d4acccc4284a18aaec9d004a31 Mon Sep 17 00:00:00 2001 From: urasakikeisuke Date: Tue, 18 Jun 2024 18:47:38 +0900 Subject: [PATCH 1/8] fix dependencies for edge auto launcher Signed-off-by: urasakikeisuke --- ansible/README.md | 30 ++ ansible/playbooks/core.yaml | 22 - ansible/playbooks/docker.yaml | 9 +- ansible/playbooks/download_artifacts.yaml | 4 + ansible/playbooks/edge_auto.yaml | 38 +- ansible/playbooks/openadkit.yaml | 48 ++ ansible/playbooks/rosdep.yaml | 10 + ansible/playbooks/universe.yaml | 46 +- ansible/roles/artifacts/README.md | 32 ++ .../defaults/main.yaml | 0 .../meta/main.yaml | 0 ansible/roles/artifacts/tasks/main.yaml | 501 ++++++++++++++++++ .../roles/autoware_universe/meta/main.yaml | 2 - ansible/roles/build_tools/README.md | 19 + .../defaults/main.yaml | 0 .../defaults => build_tools/meta}/main.yaml | 0 ansible/roles/build_tools/tasks/main.yaml | 42 ++ ansible/roles/ccache/README.md | 13 - ansible/roles/ccache/tasks/main.yaml | 7 - ansible/roles/cuda/README.md | 50 +- ansible/roles/cuda/defaults/main.yaml | 2 +- ansible/roles/cuda/tasks/main.yaml | 112 +++- ansible/roles/dev_tools/README.md | 45 ++ .../meta => dev_tools/defaults}/main.yaml | 0 .../defaults => dev_tools/meta}/main.yaml | 0 ansible/roles/dev_tools/tasks/main.yaml | 59 +++ .../roles/{autoware_core => gdown}/README.md | 4 +- .../meta => gdown/defaults}/main.yaml | 0 .../defaults => gdown/meta}/main.yaml | 0 .../{autoware_core => gdown}/tasks/main.yaml | 0 .../README.md | 4 +- .../meta => geographiclib/defaults}/main.yaml | 0 .../defaults => geographiclib/meta}/main.yaml | 0 .../tasks/main.yaml | 0 ansible/roles/git_lfs/README.md | 14 - ansible/roles/git_lfs/tasks/main.yaml | 19 - ansible/roles/glog/README.md | 14 + .../meta => glog/defaults}/main.yaml | 0 .../{rocker/defaults => glog/meta}/main.yaml | 0 ansible/roles/glog/tasks/main.yaml | 29 + ansible/roles/kisak_mesa/README.md | 36 ++ .../meta => kisak_mesa/defaults}/main.yaml | 0 ansible/roles/kisak_mesa/meta/main.yaml | 0 ansible/roles/kisak_mesa/tasks/main.yaml | 24 + .../README.md | 29 +- .../defaults/main.yaml | 0 .../nvidia_container_toolkit/meta/main.yaml | 0 .../nvidia_container_toolkit/tasks/main.yaml | 34 ++ ansible/roles/nvidia_docker/tasks/main.yaml | 30 -- ansible/roles/pacmod/meta/main.yaml | 2 - ansible/roles/plotjuggler/README.md | 16 - ansible/roles/plotjuggler/meta/main.yaml | 2 - ansible/roles/plotjuggler/tasks/main.yaml | 7 - ansible/roles/pre_commit/README.md | 21 - ansible/roles/pre_commit/defaults/main.yaml | 1 - ansible/roles/pre_commit/tasks/main.yaml | 18 - .../roles/rmw_implementation/meta/main.yaml | 2 - .../roles/rmw_implementation/tasks/main.yaml | 13 + ansible/roles/rocker/README.md | 25 - ansible/roles/rocker/tasks/main.yaml | 33 -- ansible/roles/ros2/README.md | 16 +- ansible/roles/ros2/defaults/main.yaml | 2 +- ansible/roles/ros2/tasks/main.yaml | 17 +- ansible/roles/ros2_dev_tools/README.md | 5 +- ansible/roles/ros2_dev_tools/meta/main.yaml | 2 - ansible/roles/tensorrt/README.md | 40 +- ansible/roles/tensorrt/defaults/main.yaml | 1 - ansible/roles/tensorrt/tasks/main.yaml | 8 +- setup-dev-env.sh | 6 +- 69 files changed, 1219 insertions(+), 346 deletions(-) delete mode 100644 ansible/playbooks/core.yaml create mode 100644 ansible/playbooks/download_artifacts.yaml create mode 100644 ansible/playbooks/openadkit.yaml create mode 100644 ansible/playbooks/rosdep.yaml create mode 100644 ansible/roles/artifacts/README.md rename ansible/roles/{autoware_core => artifacts}/defaults/main.yaml (100%) rename ansible/roles/{autoware_core => artifacts}/meta/main.yaml (100%) create mode 100644 ansible/roles/artifacts/tasks/main.yaml delete mode 100644 ansible/roles/autoware_universe/meta/main.yaml create mode 100644 ansible/roles/build_tools/README.md rename ansible/roles/{autoware_universe => build_tools}/defaults/main.yaml (100%) rename ansible/roles/{ccache/defaults => build_tools/meta}/main.yaml (100%) create mode 100644 ansible/roles/build_tools/tasks/main.yaml delete mode 100644 ansible/roles/ccache/README.md delete mode 100644 ansible/roles/ccache/tasks/main.yaml create mode 100644 ansible/roles/dev_tools/README.md rename ansible/roles/{ccache/meta => dev_tools/defaults}/main.yaml (100%) rename ansible/roles/{git_lfs/defaults => dev_tools/meta}/main.yaml (100%) create mode 100644 ansible/roles/dev_tools/tasks/main.yaml rename ansible/roles/{autoware_core => gdown}/README.md (59%) rename ansible/roles/{git_lfs/meta => gdown/defaults}/main.yaml (100%) rename ansible/roles/{nvidia_docker/defaults => gdown/meta}/main.yaml (100%) rename ansible/roles/{autoware_core => gdown}/tasks/main.yaml (100%) rename ansible/roles/{autoware_universe => geographiclib}/README.md (64%) rename ansible/roles/{nvidia_docker/meta => geographiclib/defaults}/main.yaml (100%) rename ansible/roles/{plotjuggler/defaults => geographiclib/meta}/main.yaml (100%) rename ansible/roles/{autoware_universe => geographiclib}/tasks/main.yaml (100%) delete mode 100644 ansible/roles/git_lfs/README.md delete mode 100644 ansible/roles/git_lfs/tasks/main.yaml create mode 100644 ansible/roles/glog/README.md rename ansible/roles/{pre_commit/meta => glog/defaults}/main.yaml (100%) rename ansible/roles/{rocker/defaults => glog/meta}/main.yaml (100%) create mode 100644 ansible/roles/glog/tasks/main.yaml create mode 100644 ansible/roles/kisak_mesa/README.md rename ansible/roles/{rocker/meta => kisak_mesa/defaults}/main.yaml (100%) create mode 100644 ansible/roles/kisak_mesa/meta/main.yaml create mode 100644 ansible/roles/kisak_mesa/tasks/main.yaml rename ansible/roles/{nvidia_docker => nvidia_container_toolkit}/README.md (61%) create mode 100644 ansible/roles/nvidia_container_toolkit/defaults/main.yaml create mode 100644 ansible/roles/nvidia_container_toolkit/meta/main.yaml create mode 100644 ansible/roles/nvidia_container_toolkit/tasks/main.yaml delete mode 100644 ansible/roles/nvidia_docker/tasks/main.yaml delete mode 100644 ansible/roles/plotjuggler/README.md delete mode 100644 ansible/roles/plotjuggler/meta/main.yaml delete mode 100644 ansible/roles/plotjuggler/tasks/main.yaml delete mode 100644 ansible/roles/pre_commit/README.md delete mode 100644 ansible/roles/pre_commit/defaults/main.yaml delete mode 100644 ansible/roles/pre_commit/tasks/main.yaml delete mode 100644 ansible/roles/rocker/README.md delete mode 100644 ansible/roles/rocker/tasks/main.yaml diff --git a/ansible/README.md b/ansible/README.md index 3a252f1a23a..6fd630f75fa 100644 --- a/ansible/README.md +++ b/ansible/README.md @@ -1 +1,31 @@ # Ansible Collection - autoware.dev_env + +This collection contains the playbooks to set up the development environment for Autoware. + +## Set up a development environment + +### Ansible installation + +```bash +# Remove apt installed ansible (In Ubuntu 22.04, ansible the version is old) +sudo apt-get purge ansible + +# Install pipx +sudo apt-get -y update +sudo apt-get -y install pipx + +# Add pipx to the system PATH +python3 -m pipx ensurepath + +# Install ansible +pipx install --include-deps --force "ansible==6.*" +``` + +### Install ansible collections + +This step should be repeated when a new playbook is added. + +```bash +cd ~/autoware # The root directory of the cloned repository +ansible-galaxy collection install -f -r "ansible-galaxy-requirements.yaml" +``` diff --git a/ansible/playbooks/core.yaml b/ansible/playbooks/core.yaml deleted file mode 100644 index dd37be36253..00000000000 --- a/ansible/playbooks/core.yaml +++ /dev/null @@ -1,22 +0,0 @@ -- name: Set up source development environments for Autoware Core - hosts: localhost - connection: local - pre_tasks: - - name: Verify OS - ansible.builtin.fail: - msg: Only Ubuntu 22.04 is supported for this branch. Please refer to https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/. - when: ansible_distribution_version != '22.04' - - - name: Print args - ansible.builtin.debug: - msg: - - rosdistro: "{{ rosdistro }}" - - rmw_implementation: "{{ rmw_implementation }}" - roles: - - role: autoware.dev_env.autoware_core - - role: autoware.dev_env.ccache - - role: autoware.dev_env.plotjuggler - - role: autoware.dev_env.pre_commit - - role: autoware.dev_env.ros2 - - role: autoware.dev_env.ros2_dev_tools - - role: autoware.dev_env.rmw_implementation diff --git a/ansible/playbooks/docker.yaml b/ansible/playbooks/docker.yaml index 434d800c106..443d355709a 100644 --- a/ansible/playbooks/docker.yaml +++ b/ansible/playbooks/docker.yaml @@ -21,7 +21,10 @@ when: prompt_install_nvidia != 'y' roles: - role: autoware.dev_env.cuda - when: prompt_install_nvidia == 'y' and install_devel == 'true' + when: prompt_install_nvidia == 'y' - role: autoware.dev_env.docker_engine - - role: autoware.dev_env.nvidia_docker - - role: autoware.dev_env.rocker + - role: autoware.dev_env.nvidia_container_toolkit + + # ONNX files and other artifacts + - role: autoware.dev_env.artifacts + when: prompt_download_artifacts == 'y' diff --git a/ansible/playbooks/download_artifacts.yaml b/ansible/playbooks/download_artifacts.yaml new file mode 100644 index 00000000000..17da12494d5 --- /dev/null +++ b/ansible/playbooks/download_artifacts.yaml @@ -0,0 +1,4 @@ +- name: Download Autoware artifacts + hosts: localhost + roles: + - autoware.dev_env.artifacts diff --git a/ansible/playbooks/edge_auto.yaml b/ansible/playbooks/edge_auto.yaml index 27b5a0bb983..41d289745ee 100644 --- a/ansible/playbooks/edge_auto.yaml +++ b/ansible/playbooks/edge_auto.yaml @@ -9,6 +9,16 @@ [Warning] Some Autoware components depend on the CUDA, cuDNN and TensorRT NVIDIA libraries which have end-user license agreements that should be reviewed before installation. Install NVIDIA libraries? [y/N] private: false + - name: prompt_download_artifacts + prompt: |- + [Warning] Should the ONNX model files and other artifacts be downloaded alongside setting up the development environment. + Download artifacts? [y/N] + private: false + - name: install_devel + prompt: |- + [Warning] Do you want to install recommended development tools for Autoware? [y/N] + private: false + default: y - name: prompt_configure_network prompt: |- [Warning] Do you want to configure the network? This configuration may overwrite the IP address of the specific network interface [y/N] @@ -35,26 +45,30 @@ [Warning] Skipping installation of NVIDIA libraries. Please manually install them if you plan to use any dependent components. when: prompt_install_nvidia != 'y' roles: - # Core - - role: autoware.dev_env.autoware_core - - role: autoware.dev_env.ccache - when: install_devel == 'true' - - role: autoware.dev_env.plotjuggler - - role: autoware.dev_env.pre_commit - when: install_devel == 'true' + # Autoware base dependencies - role: autoware.dev_env.ros2 - role: autoware.dev_env.ros2_dev_tools - # - role: autoware.dev_env.rmw_implementation + - role: autoware.dev_env.rmw_implementation + - role: autoware.dev_env.gdown + - role: autoware.dev_env.build_tools + - role: autoware.dev_env.glog - # Universe - - role: autoware.dev_env.autoware_universe + # Autoware module dependencies + - role: autoware.dev_env.geographiclib - role: autoware.dev_env.cuda - when: prompt_install_nvidia == 'y' and install_devel == 'true' + when: prompt_install_nvidia == 'y' - role: autoware.dev_env.pacmod when: rosdistro != 'rolling' - role: autoware.dev_env.tensorrt when: prompt_install_nvidia == 'y' - - role: autoware.dev_env.git_lfs + + # Autoware devel dependencies + - role: autoware.dev_env.dev_tools + when: install_devel == 'y' + + # ONNX files and other artifacts + - role: autoware.dev_env.artifacts + when: prompt_download_artifacts == 'y' # Edge.Auto - role: autoware.dev_env.ros2_domain_id diff --git a/ansible/playbooks/openadkit.yaml b/ansible/playbooks/openadkit.yaml new file mode 100644 index 00000000000..f343d9cef55 --- /dev/null +++ b/ansible/playbooks/openadkit.yaml @@ -0,0 +1,48 @@ +- name: Set up source development environments for Autoware Universe + hosts: localhost + connection: local + pre_tasks: + - name: Verify OS + ansible.builtin.fail: + msg: Only Ubuntu 22.04 is supported for this branch. Please refer to https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/. + when: ansible_distribution != 'Ubuntu' or ansible_distribution_version != '22.04' + + - name: Print args + ansible.builtin.debug: + msg: + - module: "{{ module }}" + - rosdistro: "{{ rosdistro }}" + - rmw_implementation: "{{ rmw_implementation }}" + - cuda_version: "{{ cuda_version }}" + - cudnn_version: "{{ cudnn_version }}" + - tensorrt_version: "{{ tensorrt_version }}" + roles: + # Autoware base dependencies + - role: autoware.dev_env.rmw_implementation + when: module == 'base' + - role: autoware.dev_env.gdown + when: module == 'base' + - role: autoware.dev_env.kisak_mesa + when: module == 'base' + - role: autoware.dev_env.build_tools + when: module == 'all' and install_devel=='y' + + # Module specific dependencies + - role: autoware.dev_env.geographiclib + when: module == 'perception-localization' or module == 'all' + - role: autoware.dev_env.cuda + when: (module == 'perception-localization' or module == 'all') and prompt_install_nvidia=='y' + - role: autoware.dev_env.tensorrt + when: (module == 'perception-localization' or module == 'all') and prompt_install_nvidia=='y' + - role: autoware.dev_env.pacmod + when: module == 'planning-control' or module == 'perception-localization' or module == 'all' + + # Development environment + - role: autoware.dev_env.dev_tools + when: module == 'dev-tools' + - role: autoware.dev_env.ros2_dev_tools + when: module == 'dev-tools' + + # ONNX files and other artifacts + - role: autoware.dev_env.artifacts + when: prompt_download_artifacts == 'y' diff --git a/ansible/playbooks/rosdep.yaml b/ansible/playbooks/rosdep.yaml new file mode 100644 index 00000000000..c7c23a245ab --- /dev/null +++ b/ansible/playbooks/rosdep.yaml @@ -0,0 +1,10 @@ +- name: Register rosdep package repositories + hosts: localhost + connection: local + pre_tasks: + - name: Verify OS + ansible.builtin.fail: + msg: Only Ubuntu 22.04 is supported for this branch. Please refer to https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/. + when: ansible_distribution != 'Ubuntu' or ansible_distribution_version != '22.04' + roles: + - role: autoware.dev_env.pacmod diff --git a/ansible/playbooks/universe.yaml b/ansible/playbooks/universe.yaml index 43333357743..c623ec379d1 100644 --- a/ansible/playbooks/universe.yaml +++ b/ansible/playbooks/universe.yaml @@ -7,6 +7,16 @@ [Warning] Some Autoware components depend on the CUDA, cuDNN and TensorRT NVIDIA libraries which have end-user license agreements that should be reviewed before installation. Install NVIDIA libraries? [y/N] private: false + - name: prompt_download_artifacts + prompt: |- + [Warning] Should the ONNX model files and other artifacts be downloaded alongside setting up the development environment. + Download artifacts? [y/N] + private: false + - name: install_devel + prompt: |- + [Warning] Do you want to install recommended development tools for Autoware? [y/N] + private: false + default: y pre_tasks: - name: Verify OS ansible.builtin.fail: @@ -29,23 +39,37 @@ [Warning] Skipping installation of NVIDIA libraries. Please manually install them if you plan to use any dependent components. when: prompt_install_nvidia != 'y' roles: - # Core - - role: autoware.dev_env.autoware_core - - role: autoware.dev_env.ccache - when: install_devel == 'true' - - role: autoware.dev_env.plotjuggler - - role: autoware.dev_env.pre_commit - when: install_devel == 'true' + # Autoware base dependencies - role: autoware.dev_env.ros2 - role: autoware.dev_env.ros2_dev_tools - role: autoware.dev_env.rmw_implementation + - role: autoware.dev_env.gdown + - role: autoware.dev_env.build_tools + - role: autoware.dev_env.glog - # Universe - - role: autoware.dev_env.autoware_universe + # Autoware module dependencies + - role: autoware.dev_env.geographiclib - role: autoware.dev_env.cuda - when: prompt_install_nvidia == 'y' and install_devel == 'true' + when: prompt_install_nvidia == 'y' - role: autoware.dev_env.pacmod when: rosdistro != 'rolling' - role: autoware.dev_env.tensorrt when: prompt_install_nvidia == 'y' - - role: autoware.dev_env.git_lfs + + # Autoware devel dependencies + - role: autoware.dev_env.dev_tools + when: install_devel == 'y' + + # ONNX files and other artifacts + - role: autoware.dev_env.artifacts + when: prompt_download_artifacts == 'y' + + # Edge.Auto + - role: autoware.dev_env.ros2_domain_id + - role: autoware.dev_env.cyclonedds + - role: autoware.dev_env.ptp4l_host + when: prompt_configure_network == 'y' + - role: autoware.dev_env.enlarge_rx_ring_buffer + when: prompt_configure_network == 'y' + - role: autoware.dev_env.netplan + when: prompt_configure_network == 'y' diff --git a/ansible/roles/artifacts/README.md b/ansible/roles/artifacts/README.md new file mode 100644 index 00000000000..7d848a98eca --- /dev/null +++ b/ansible/roles/artifacts/README.md @@ -0,0 +1,32 @@ +# Autoware artifacts + +The Autoware perception stack uses models for inference. These models are automatically downloaded as part of the `setup-dev-env.sh` script. + +The models are hosted by Web.Auto. + +Default `data_dir` location is `~/autoware_data`. + +## Download instructions + +### Requirements + +Install ansible following the instructions in the [ansible installation guide](../../README.md#ansible-installation). + +### Download artifacts + +#### Install ansible collections + +```bash +cd ~/autoware # The root directory of the cloned repository +ansible-galaxy collection install -f -r "ansible-galaxy-requirements.yaml" +``` + +This step should be repeated when a new playbook is added. + +#### Run the playbook + +```bash +ansible-playbook autoware.dev_env.download_artifacts -e "data_dir=$HOME/autoware_data" --ask-become-pass +``` + +This will download and extract the artifacts to the specified directory and validate the checksums. diff --git a/ansible/roles/autoware_core/defaults/main.yaml b/ansible/roles/artifacts/defaults/main.yaml similarity index 100% rename from ansible/roles/autoware_core/defaults/main.yaml rename to ansible/roles/artifacts/defaults/main.yaml diff --git a/ansible/roles/autoware_core/meta/main.yaml b/ansible/roles/artifacts/meta/main.yaml similarity index 100% rename from ansible/roles/autoware_core/meta/main.yaml rename to ansible/roles/artifacts/meta/main.yaml diff --git a/ansible/roles/artifacts/tasks/main.yaml b/ansible/roles/artifacts/tasks/main.yaml new file mode 100644 index 00000000000..54efaaea341 --- /dev/null +++ b/ansible/roles/artifacts/tasks/main.yaml @@ -0,0 +1,501 @@ +# yabloc_pose_initializer +- name: Create yabloc_pose_initializer directory inside {{ data_dir }} + ansible.builtin.file: + path: "{{ data_dir }}/yabloc_pose_initializer" + mode: "755" + state: directory + +- name: Download yabloc_pose_initializer/resources.tar.gz + become: true + ansible.builtin.get_url: + url: https://s3.ap-northeast-2.wasabisys.com/pinto-model-zoo/136_road-segmentation-adas-0001/resources.tar.gz + dest: "{{ data_dir }}/yabloc_pose_initializer/resources.tar.gz" + mode: "644" + checksum: sha256:1f660e15f95074bade32b1f80dbf618e9cee1f0b9f76d3f4671cb9be7f56eb3a + +- name: Extract yabloc_pose_initializer/resources.tar.gz + ansible.builtin.unarchive: + src: "{{ data_dir }}/yabloc_pose_initializer/resources.tar.gz" + dest: "{{ data_dir }}/yabloc_pose_initializer/" + +# image_projection_based_fusion +- name: Create image_projection_based_fusion directory inside {{ data_dir }} + ansible.builtin.file: + path: "{{ data_dir }}/image_projection_based_fusion" + mode: "755" + state: directory + +- name: Download image_projection_based_fusion/pts_voxel_encoder_pointpainting.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/pointpainting/v4/pts_voxel_encoder_pointpainting.onnx + dest: "{{ data_dir }}/image_projection_based_fusion/pts_voxel_encoder_pointpainting.onnx" + mode: "644" + checksum: sha256:3ca452ea5ca9467bf782955f75704ba8466841e275e8b8acd991b9911d53249e + +- name: Download image_projection_based_fusion/pts_backbone_neck_head_pointpainting.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/pointpainting/v4/pts_backbone_neck_head_pointpainting.onnx + dest: "{{ data_dir }}/image_projection_based_fusion/pts_backbone_neck_head_pointpainting.onnx" + mode: "644" + checksum: sha256:7fe62fcebe0e0f62a000d06aa94d779feb444d933671a4a3189fe01be8c19a00 +- name: Download image_projection_based_fusion/detection_class_remapper.param.yaml + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/pointpainting/v4/detection_class_remapper.param.yaml + dest: "{{ data_dir }}/image_projection_based_fusion/detection_class_remapper.param.yaml" + mode: "644" + checksum: sha256:c711f8875ece9b527dfe31ffc75f8c0de2e77945ef67860a959a4e04c36772d5 +- name: Download image_projection_based_fusion/pointpainting_ml_package.param.yaml + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/pointpainting/v4/pointpainting_ml_package.param.yaml + dest: "{{ data_dir }}/image_projection_based_fusion/pointpainting_ml_package.param.yaml" + mode: "644" + checksum: sha256:2a72f75ca4b49c6b88c0bd2f34c634173420d76a6925e6298d9ca5e012df3f32 +# lidar_apollo_instance_segmentation +- name: Create lidar_apollo_instance_segmentation directory inside {{ data_dir }} + ansible.builtin.file: + path: "{{ data_dir }}/lidar_apollo_instance_segmentation" + mode: "755" + state: directory + +- name: Download lidar_apollo_instance_segmentation/vlp-16.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/lidar_apollo_instance_segmentation/vlp-16.onnx + dest: "{{ data_dir }}/lidar_apollo_instance_segmentation/vlp-16.onnx" + mode: "644" + checksum: sha256:eec521ebad7553d0ea2c90472a293aecb7499ab592632f0e100481c8196eb421 + +- name: Download lidar_apollo_instance_segmentation/hdl-64.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/lidar_apollo_instance_segmentation/hdl-64.onnx + dest: "{{ data_dir }}/lidar_apollo_instance_segmentation/hdl-64.onnx" + mode: "644" + checksum: sha256:86348d8c4bced750f54288b01cc471c0d4f1ec9c693466169ef19413731e6ecc + +- name: Download lidar_apollo_instance_segmentation/vls-128.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/lidar_apollo_instance_segmentation/vls-128.onnx + dest: "{{ data_dir }}/lidar_apollo_instance_segmentation/vls-128.onnx" + mode: "644" + checksum: sha256:95ef950bb694bd6de91b7e47f5d191d557e92a7f5e2a6bdf655a8b5eed4075cc + +# lidar_centerpoint +- name: Create lidar_centerpoint directory inside {{ data_dir }} + ansible.builtin.file: + path: "{{ data_dir }}/lidar_centerpoint" + mode: "755" + state: directory + +- name: Download lidar_centerpoint/pts_voxel_encoder_centerpoint.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_voxel_encoder_centerpoint.onnx + dest: "{{ data_dir }}/lidar_centerpoint/pts_voxel_encoder_centerpoint.onnx" + mode: "644" + checksum: sha256:dc1a876580d86ee7a341d543f8ade2ede7f43bd032dc5b44155b1f0175405764 + +- name: Download lidar_centerpoint/pts_backbone_neck_head_centerpoint.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_backbone_neck_head_centerpoint.onnx + dest: "{{ data_dir }}/lidar_centerpoint/pts_backbone_neck_head_centerpoint.onnx" + mode: "644" + checksum: sha256:3fe7e128955646740c41a25be0c8f141d5a94594fe79d7405fe2a859e391542e + +- name: Download lidar_centerpoint/pts_voxel_encoder_centerpoint_tiny.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_voxel_encoder_centerpoint_tiny.onnx + dest: "{{ data_dir }}/lidar_centerpoint/pts_voxel_encoder_centerpoint_tiny.onnx" + mode: "644" + checksum: sha256:2c53465715c1fd2e9dc5727ef3fca74f4cdf0538f74286b0946e219d0ca5693b + +- name: Download lidar_centerpoint/pts_backbone_neck_head_centerpoint_tiny.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_backbone_neck_head_centerpoint_tiny.onnx + dest: "{{ data_dir }}/lidar_centerpoint/pts_backbone_neck_head_centerpoint_tiny.onnx" + mode: "644" + checksum: sha256:9bb0b634f3664bd098ce7d6a3d8a9fb7cc8d9b8252b27f302c71e43316bab551 +- name: Download lidar_centerpoint/centerpoint_ml_package.param.yaml + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/centerpoint_ml_package.param.yaml + dest: "{{ data_dir }}/lidar_centerpoint/centerpoint_ml_package.param.yaml" + mode: "644" + checksum: sha256:54b88fa0c1bbd6d611d1ec55e483d05bed7a4c0e15877c05eb7d9cf240246ab8 +- name: Download lidar_centerpoint/centerpoint_ml_package.param.yaml + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/centerpoint_tiny_ml_package.param.yaml + dest: "{{ data_dir }}/lidar_centerpoint/centerpoint_tiny_ml_package.param.yaml" + mode: "644" + checksum: sha256:6a40d2282b9c36cc547add7d016f315329c875b6f571dd5c612c6892fbaaabb5 +- name: Download lidar_centerpoint/centerpoint_sigma_ml_package.param.yaml + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/centerpoint_sigma_ml_package.param.yaml + dest: "{{ data_dir }}/lidar_centerpoint/centerpoint_sigma_ml_package.param.yaml" + mode: "644" + checksum: sha256:9946b342a6f457b19fdfe9f02041dbd3cf0b9cefe052663e04e241ec2b6e9c76 +- name: Download lidar_centerpoint/detection_class_remapper.param.yaml + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/detection_class_remapper.param.yaml + dest: "{{ data_dir }}/lidar_centerpoint/detection_class_remapper.param.yaml" + mode: "644" + checksum: sha256:c711f8875ece9b527dfe31ffc75f8c0de2e77945ef67860a959a4e04c36772d5 +- name: Download lidar_centerpoint/deploy_metadata.yaml + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/deploy_metadata.yaml + dest: "{{ data_dir }}/lidar_centerpoint/deploy_metadata.yaml" + mode: "644" + checksum: sha256:152536f053c3750b60d349800e1b983b418029d6dadf087614a00c661942a178 + +# lidar_transfusion +- name: Create lidar_transfusion directory inside {{ data_dir }} + ansible.builtin.file: + path: "{{ data_dir }}/lidar_transfusion" + mode: "755" + state: directory + +- name: Download lidar_transfusion/transfusion.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/transfusion/v1/transfusion.onnx + dest: "{{ data_dir }}/lidar_transfusion/transfusion.onnx" + mode: "644" + checksum: sha256:8938999cf03770ffd3301027300ea2cbcf471c180450e0434121d7294c42aa0b + +- name: Download lidar_transfusion/transfusion.param.yaml + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/transfusion/v1/transfusion.param.yaml + dest: "{{ data_dir }}/lidar_transfusion/transfusion.param.yaml" + mode: "644" + checksum: sha256:0e18776040f14e380037ef6ecb500d1d1d151f21ff7d5c890606673f7e100e14 + +- name: Download lidar_transfusion/detection_class_remapper.param.yaml + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/transfusion/v1/detection_class_remapper.param.yaml + dest: "{{ data_dir }}/lidar_transfusion/detection_class_remapper.param.yaml" + mode: "644" + checksum: sha256:c711f8875ece9b527dfe31ffc75f8c0de2e77945ef67860a959a4e04c36772d5 + +# tensorrt_yolox +- name: Create tensorrt_yolox directory inside {{ data_dir }} + ansible.builtin.file: + path: "{{ data_dir }}/tensorrt_yolox" + mode: "755" + state: directory + +- name: Download tensorrt_yolox/yolox-tiny.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/yolox-tiny.onnx + dest: "{{ data_dir }}/tensorrt_yolox/yolox-tiny.onnx" + mode: "644" + checksum: sha256:471a665f4243e654dff62578394e508db22ee29fe65d9e389dfc3b0f2dee1255 + +- name: Download tensorrt_yolox/yolox-sPlus-opt.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/yolox-sPlus-opt.onnx + dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-opt.onnx" + mode: "644" + checksum: sha256:36b0832177b01e6b278e00c7369f1de71e616c36261cbae50f0753d41289da01 + +- name: Download tensorrt_yolox/yolox-sPlus-opt.EntropyV2-calibration.table + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/yolox-sPlus-opt.EntropyV2-calibration.table + dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-opt.EntropyV2-calibration.table" + mode: "644" + checksum: sha256:b9e9d7da33342262ccaea4469b4d02b8abb32b6d7bf737f9e0883fece1b8f580 + +- name: Download tensorrt_yolox/yolox-sPlus-T4-960x960-pseudo-finetune.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/object_detection_yolox_s/v1/yolox-sPlus-T4-960x960-pseudo-finetune.onnx + dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-T4-960x960-pseudo-finetune.onnx" + mode: "644" + checksum: sha256:f5054e8a890c3be86dc1b4b89a5a36fb2279d4f6110b0159e793be062641bf65 + +- name: Download tensorrt_yolox/yolox-sPlus-T4-960x960-pseudo-finetune.EntropyV2-calibration.table + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/object_detection_yolox_s/v1/yolox-sPlus-T4-960x960-pseudo-finetune.EntropyV2-calibration.table + dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-T4-960x960-pseudo-finetune.EntropyV2-calibration.table" + mode: "644" + checksum: sha256:cc378d327db5616b0b3a4d077bf37100c25a50ecd22d2b542f54098da100f34c + +- name: Download tensorrt_yolox/label.txt + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/label.txt + dest: "{{ data_dir }}/tensorrt_yolox/label.txt" + 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: + path: "{{ data_dir }}/traffic_light_classifier" + mode: "755" + state: directory + +- name: Download traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_1.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/traffic_light_classifier_mobilenetv2_batch_1.onnx + dest: "{{ data_dir }}/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_1.onnx" + mode: "644" + checksum: sha256:455b71b3b20d3a96aa0e49f32714ba50421f668a2f9b9907c30b1346ac8a3703 + +- name: Download traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_4.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/traffic_light_classifier_mobilenetv2_batch_4.onnx + dest: "{{ data_dir }}/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_4.onnx" + mode: "644" + checksum: sha256:41bb79a23a4ac57956adb8e9cb3904420db1b0cd032e97b670cc4f8b174ae3fe + +- name: Download traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/traffic_light_classifier_mobilenetv2_batch_6.onnx + dest: "{{ data_dir }}/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx" + mode: "644" + checksum: sha256:e4792eed6a46fdbd02be2f3a4f1ce91f36fa77698493caf3102e445178c0f058 + +- name: Download traffic_light_classifier/traffic_light_classifier_efficientNet_b1_batch_1.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/traffic_light_classifier_efficientNet_b1_batch_1.onnx + dest: "{{ data_dir }}/traffic_light_classifier/traffic_light_classifier_efficientNet_b1_batch_1.onnx" + mode: "644" + checksum: sha256:55ebb0d117a5e8943f8d1c6769f1d856b533079d4d871d8e923255cc992ad48a + +- name: Download traffic_light_classifier/traffic_light_classifier_efficientNet_b1_batch_4.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/traffic_light_classifier_efficientNet_b1_batch_4.onnx + dest: "{{ data_dir }}/traffic_light_classifier/traffic_light_classifier_efficientNet_b1_batch_4.onnx" + mode: "644" + checksum: sha256:684e29843e3128eadb774018730644b3ab9b0a06dc4cdaeed579c2f3fa5d5265 + +- name: Download traffic_light_classifier/traffic_light_classifier_efficientNet_b1_batch_6.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/traffic_light_classifier_efficientNet_b1_batch_6.onnx + dest: "{{ data_dir }}/traffic_light_classifier/traffic_light_classifier_efficientNet_b1_batch_6.onnx" + mode: "644" + checksum: sha256:44d94540fa8b89dfb39cd9a8523cf010ddfb10ea2f1f9b53bf3618ce7f4912ad + +- name: Download traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_1.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v3/ped_traffic_light_classifier_mobilenetv2_batch_1.onnx + dest: "{{ data_dir }}/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_1.onnx" + mode: "644" + checksum: sha256:b52632fee96d1bc99922e743335ebfd49d6a0645c8a04e615f156e38661add24 + +- name: Download traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_4.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v3/ped_traffic_light_classifier_mobilenetv2_batch_4.onnx + dest: "{{ data_dir }}/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_4.onnx" + mode: "644" + checksum: sha256:ef0a3052857cdc6f380da524560548b40e9e46f876cccf3cd0cb40ccddae9892 + +- name: Download traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v3/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx + dest: "{{ data_dir }}/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx" + mode: "644" + checksum: sha256:b56700551254afa985916d03b74372ebc675f2d9b76ee0e39c46e88c37744a4f + +- name: Download traffic_light_classifier/lamp_labels.txt + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/lamp_labels.txt + dest: "{{ data_dir }}/traffic_light_classifier/lamp_labels.txt" + mode: "644" + checksum: sha256:1a5a49eeec5593963eab8d70f48b8a01bfb07e753e9688eb1510ad26e803579d + +- name: Download traffic_light_classifier/lamp_labels_ped.txt + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v3/lamp_labels_ped.txt + dest: "{{ data_dir }}/traffic_light_classifier/lamp_labels_ped.txt" + mode: "644" + checksum: sha256:5427e1b7c2e33acd9565ede29e77992c38137bcf7d7074c73ebbc38080c6bcac + +# traffic_light_fine_detector +- name: Create traffic_light_fine_detector directory inside {{ data_dir }} + ansible.builtin.file: + path: "{{ data_dir }}/traffic_light_fine_detector" + mode: "755" + state: directory + +- name: Download traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_1.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/tlr_yolox_s/v3/tlr_car_ped_yolox_s_batch_1.onnx + dest: "{{ data_dir }}/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_1.onnx" + mode: "644" + checksum: sha256:1ad633066a1195006f4709f8fa07800dd65a74a814b3efb4c99bcc5a1a7962f6 + +- name: Download traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_4.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/tlr_yolox_s/v3/tlr_car_ped_yolox_s_batch_4.onnx + dest: "{{ data_dir }}/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_4.onnx" + mode: "644" + checksum: sha256:cf93eb1e1a97aefc6edd0c0c4d77c7f5fc2aa1e81e3c5c9cd49d976173d03a04 + +- name: Download traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/tlr_yolox_s/v3/tlr_car_ped_yolox_s_batch_6.onnx + dest: "{{ data_dir }}/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx" + mode: "644" + checksum: sha256:0b05a89fb30f1f92c6ec687d48e8ceda4da6f81cbd82d8a102d168753a6cedb6 + +- name: Download traffic_light_fine_detector/tlr_labels.txt + become: true + ansible.builtin.get_url: + url: https://awf.ml.dev.web.auto/perception/models/tlr_yolox_s/v3/tlr_labels.txt + dest: "{{ data_dir }}/traffic_light_fine_detector/tlr_labels.txt" + mode: "644" + checksum: sha256:a2a91f5fe9c2e68e3e3647a272bb9bb25cd07631a1990a3fb15efddce7691131 + +# tvm_utility +- name: Create tvm_utility/models directory inside {{ data_dir }} + ansible.builtin.file: + path: "{{ data_dir }}/tvm_utility/models" + mode: "755" + state: directory + +- name: Download yolo_v2_tiny-x86_64-llvm-3.0.0-20221221.tar.gz + become: true + ansible.builtin.get_url: + url: https://autoware-modelzoo.s3.us-east-2.amazonaws.com/models/3.0.0-20221221/yolo_v2_tiny-x86_64-llvm-3.0.0-20221221.tar.gz + dest: "{{ data_dir }}/tvm_utility/yolo_v2_tiny-x86_64-llvm-3.0.0-20221221.tar.gz" + mode: "644" + checksum: sha256:66b3ca668e577393b657fbe1ed626538d89ca3adccd5862de6c7fa190238dbca + +- name: Create yolo_v2_tiny folder in tvm_utility/models of {{ data_dir }} + ansible.builtin.file: + path: "{{ data_dir }}/tvm_utility/models/yolo_v2_tiny" + mode: "755" + state: directory + +- name: Extract yolo_v2_tiny-x86_64-llvm-3.0.0-20221221.tar.gz + ansible.builtin.unarchive: + src: "{{ data_dir }}/tvm_utility/yolo_v2_tiny-x86_64-llvm-3.0.0-20221221.tar.gz" + dest: "{{ data_dir }}/tvm_utility/models/yolo_v2_tiny" + +# lidar_centerpoint_tvm +- name: Create lidar_centerpoint_tvm/models directory inside {{ data_dir }} + ansible.builtin.file: + path: "{{ data_dir }}/lidar_centerpoint_tvm/models" + mode: "755" + state: directory + +- name: Download centerpoint_encoder-x86_64-llvm-3.0.0-20221221.tar.gz + become: true + ansible.builtin.get_url: + url: https://autoware-modelzoo.s3.us-east-2.amazonaws.com/models/3.0.0-20221221/centerpoint_encoder-x86_64-llvm-3.0.0-20221221.tar.gz + dest: "{{ data_dir }}/lidar_centerpoint_tvm/centerpoint_encoder-x86_64-llvm-3.0.0-20221221.tar.gz" + mode: "644" + checksum: sha256:41e19de43f30549c325968aee06b4ad0d9701220be819e79d37efdfa86b918d0 + +- name: Create centerpoint_encoder folder in lidar_centerpoint_tvm/models of {{ data_dir }} + ansible.builtin.file: + path: "{{ data_dir }}/lidar_centerpoint_tvm/models/centerpoint_encoder" + mode: "755" + state: directory + +- name: Extract centerpoint_encoder-x86_64-llvm-3.0.0-20221221.tar.gz + ansible.builtin.unarchive: + src: "{{ data_dir }}/lidar_centerpoint_tvm/centerpoint_encoder-x86_64-llvm-3.0.0-20221221.tar.gz" + dest: "{{ data_dir }}/lidar_centerpoint_tvm/models/centerpoint_encoder" + +- name: Download centerpoint_backbone-x86_64-llvm-3.0.0-20221221.tar.gz + become: true + ansible.builtin.get_url: + url: https://autoware-modelzoo.s3.us-east-2.amazonaws.com/models/3.0.0-20221221/centerpoint_backbone-x86_64-llvm-3.0.0-20221221.tar.gz + dest: "{{ data_dir }}/lidar_centerpoint_tvm/centerpoint_backbone-x86_64-llvm-3.0.0-20221221.tar.gz" + mode: "644" + checksum: sha256:3840b6b3590984e8115d66b12061aea3a2cfaed70b4e8d59457f04b0d6f6a1fc + +- name: Create centerpoint_backbone folder in lidar_centerpoint_tvm/models of {{ data_dir }} + ansible.builtin.file: + path: "{{ data_dir }}/lidar_centerpoint_tvm/models/centerpoint_backbone" + mode: "755" + state: directory + +- name: Extract centerpoint_backbone-x86_64-llvm-3.0.0-20221221.tar.gz + ansible.builtin.unarchive: + src: "{{ data_dir }}/lidar_centerpoint_tvm/centerpoint_backbone-x86_64-llvm-3.0.0-20221221.tar.gz" + dest: "{{ data_dir }}/lidar_centerpoint_tvm/models/centerpoint_backbone" + +# lidar_apollo_segmentation_tvm +- name: Create lidar_apollo_segmentation_tvm/models directory inside {{ data_dir }} + ansible.builtin.file: + path: "{{ data_dir }}/lidar_apollo_segmentation_tvm/models" + mode: "755" + state: directory + +- name: Download baidu_cnn-x86_64-llvm-3.0.0-20221221.tar.gz + become: true + ansible.builtin.get_url: + url: https://autoware-modelzoo.s3.us-east-2.amazonaws.com/models/3.0.0-20221221/baidu_cnn-x86_64-llvm-3.0.0-20221221.tar.gz + dest: "{{ data_dir }}/lidar_apollo_segmentation_tvm/baidu_cnn-x86_64-llvm-3.0.0-20221221.tar.gz" + mode: "644" + checksum: sha256:4293e6196ec937d2cd5ec658e5ce70933647d2d38633a1805febb36cafd684e3 + +- name: Create baidu_cnn folder in lidar_apollo_segmentation_tvm/models of {{ data_dir }} + ansible.builtin.file: + path: "{{ data_dir }}/lidar_apollo_segmentation_tvm/models/baidu_cnn" + mode: "755" + state: directory + +- name: Extract baidu_cnn-x86_64-llvm-3.0.0-20221221.tar.gz + ansible.builtin.unarchive: + src: "{{ data_dir }}/lidar_apollo_segmentation_tvm/baidu_cnn-x86_64-llvm-3.0.0-20221221.tar.gz" + dest: "{{ data_dir }}/lidar_apollo_segmentation_tvm/models/baidu_cnn" diff --git a/ansible/roles/autoware_universe/meta/main.yaml b/ansible/roles/autoware_universe/meta/main.yaml deleted file mode 100644 index 626281ada2a..00000000000 --- a/ansible/roles/autoware_universe/meta/main.yaml +++ /dev/null @@ -1,2 +0,0 @@ -dependencies: - - role: autoware.dev_env.autoware_core diff --git a/ansible/roles/build_tools/README.md b/ansible/roles/build_tools/README.md new file mode 100644 index 00000000000..3db8fa73d2f --- /dev/null +++ b/ansible/roles/build_tools/README.md @@ -0,0 +1,19 @@ +# Build Tools + +This role installs build tools for building Autoware. + +## Tools + +- ccache + +## Inputs + +## Manual Installation + +```bash +# Update package lists +sudo apt-get update + +# Install ccache +sudo apt-get install -y ccache +``` diff --git a/ansible/roles/autoware_universe/defaults/main.yaml b/ansible/roles/build_tools/defaults/main.yaml similarity index 100% rename from ansible/roles/autoware_universe/defaults/main.yaml rename to ansible/roles/build_tools/defaults/main.yaml diff --git a/ansible/roles/ccache/defaults/main.yaml b/ansible/roles/build_tools/meta/main.yaml similarity index 100% rename from ansible/roles/ccache/defaults/main.yaml rename to ansible/roles/build_tools/meta/main.yaml diff --git a/ansible/roles/build_tools/tasks/main.yaml b/ansible/roles/build_tools/tasks/main.yaml new file mode 100644 index 00000000000..836501f6a94 --- /dev/null +++ b/ansible/roles/build_tools/tasks/main.yaml @@ -0,0 +1,42 @@ +- name: Install ccache + become: true + ansible.builtin.apt: + name: ccache + state: latest + update_cache: true + +- name: Add CCACHE_DIR to .bashrc + ansible.builtin.lineinfile: + dest: ~/.bashrc + line: export CCACHE_DIR="/var/tmp/ccache" + state: present + create: true + mode: 0644 + +- name: Export CC to ccache + ansible.builtin.lineinfile: + dest: ~/.bashrc + line: export CC="/usr/lib/ccache/gcc" + state: present + create: true + mode: 0644 + +- name: Export CXX to ccache + ansible.builtin.lineinfile: + dest: ~/.bashrc + line: export CXX="/usr/lib/ccache/g++" + state: present + create: true + mode: 0644 + +- name: Create ccache directory + ansible.builtin.file: + path: /var/tmp/ccache + state: directory + mode: 0755 + +- name: Source .bashrc + ansible.builtin.shell: source ~/.bashrc + args: + executable: /bin/bash + changed_when: false diff --git a/ansible/roles/ccache/README.md b/ansible/roles/ccache/README.md deleted file mode 100644 index e77979ee4ea..00000000000 --- a/ansible/roles/ccache/README.md +++ /dev/null @@ -1,13 +0,0 @@ -# ccache - -This role installs Ccache. You can access detailed information about Ccache with this [link](https://ccache.dev/). - -## Inputs - -None. - -## Manual Installation - -```bash -sudo apt update && sudo apt install ccache -``` diff --git a/ansible/roles/ccache/tasks/main.yaml b/ansible/roles/ccache/tasks/main.yaml deleted file mode 100644 index 3623238c6b6..00000000000 --- a/ansible/roles/ccache/tasks/main.yaml +++ /dev/null @@ -1,7 +0,0 @@ -- name: Install ccache - become: true - ansible.builtin.apt: - name: - - ccache - state: latest - update_cache: true diff --git a/ansible/roles/cuda/README.md b/ansible/roles/cuda/README.md index 858031d5782..57d638d1187 100644 --- a/ansible/roles/cuda/README.md +++ b/ansible/roles/cuda/README.md @@ -1,13 +1,15 @@ # cuda -This role installs [CUDA Toolkit](https://developer.nvidia.com/cuda-toolkit) following [this page](https://developer.nvidia.com/cuda-downloads?target_os=Linux&target_arch=x86_64&Distribution=Ubuntu&target_version=20.04&target_type=deb_network) and [this page](https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#post-installation-actions). +This role installs [CUDA Toolkit](https://developer.nvidia.com/cuda-toolkit) following [this page](https://developer.nvidia.com/cuda-downloads?target_os=Linux&target_arch=x86_64&Distribution=Ubuntu&target_version=22.04&target_type=deb_network) and [this page](https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#post-installation-actions). + +This role also registers Vulkan, OpenGL, and OpenCL GPU vendors for future use. ## Inputs | Name | Required | Description | | -------------------- | -------- | -------------------------------- | | cuda_version | true | The version of CUDA Toolkit. | -| install_cuda_drivers | false | Whether to install cuda-drivers. | +| cuda_install_drivers | false | Whether to install cuda-drivers. | ## Manual Installation @@ -19,20 +21,11 @@ For Universe, the `cuda_version` version can also be found in: ```bash wget -O /tmp/amd64.env https://raw.githubusercontent.com/autowarefoundation/autoware/main/amd64.env && source /tmp/amd64.env -# Modified from: https://developer.nvidia.com/cuda-downloads?target_os=Linux&target_arch=x86_64&Distribution=Ubuntu&target_version=22.04&target_type=deb_network - -# A temporary workaround for Ubuntu 22.04 with the ubuntu2004 repository -if [[ "$(uname -m)" == "x86_64" ]]; then - liburcu6_url=http://archive.ubuntu.com/ubuntu -else - liburcu6_url=http://ports.ubuntu.com/ubuntu-ports -fi -sudo echo "deb $liburcu6_url focal main restricted" > /etc/apt/sources.list.d/focal.list +# From: https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#network-repo-installation-for-ubuntu -# TODO: Use 22.04 in https://github.com/autowarefoundation/autoware/pull/3084. Currently, 20.04 is intentionally used. -os=ubuntu2004 -wget https://developer.download.nvidia.com/compute/cuda/repos/$os/$(uname -m)/cuda-keyring_1.0-1_all.deb -sudo dpkg -i cuda-keyring_1.0-1_all.deb +os=ubuntu2204 +wget https://developer.download.nvidia.com/compute/cuda/repos/$os/$(uname -m)/cuda-keyring_1.1-1_all.deb +sudo dpkg -i cuda-keyring_1.1-1_all.deb sudo apt-get update cuda_version_dashed=$(eval sed -e "s/[.]/-/g" <<< "${cuda_version}") sudo apt-get -y install cuda-${cuda_version_dashed} @@ -44,4 +37,31 @@ Perform the post installation actions: # Taken from: https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#post-installation-actions echo 'export PATH=/usr/local/cuda/bin${PATH:+:${PATH}}' >> ~/.bashrc echo 'export LD_LIBRARY_PATH=/usr/local/cuda/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}' >> ~/.bashrc + +# Register Vulkan, OpenGL, and OpenCL GPU vendors + +# Create Vulkan directory +sudo mkdir -p /etc/vulkan/icd.d +sudo chmod 0755 /etc/vulkan/icd.d + +# Create OpenGL directory +sudo mkdir -p /etc/glvnd/egl_vendor.d +sudo chmod 0755 /etc/glvnd/egl_vendor.d + +# Create OpenCL directory +sudo mkdir -p /etc/OpenCL/vendors +sudo chmod 0755 /etc/OpenCL/vendors + +# Download and set permissions for Vulkan GPU vendors JSON +sudo wget https://gitlab.com/nvidia/container-images/vulkan/raw/dc389b0445c788901fda1d85be96fd1cb9410164/nvidia_icd.json -O /etc/vulkan/icd.d/nvidia_icd.json +sudo chmod 0644 /etc/vulkan/icd.d/nvidia_icd.json + +# Download and set permissions for OpenGL GPU vendors JSON +sudo wget https://gitlab.com/nvidia/container-images/opengl/raw/5191cf205d3e4bb1150091f9464499b076104354/glvnd/runtime/10_nvidia.json -O /etc/glvnd/egl_vendor.d/10_nvidia.json +sudo chmod 0644 /etc/glvnd/egl_vendor.d/10_nvidia.json + +# Register and set permissions for OpenCL GPU vendors +sudo touch /etc/OpenCL/vendors/nvidia.icd +echo "libnvidia-opencl.so.1" | sudo tee /etc/OpenCL/vendors/nvidia.icd > /dev/null +sudo chmod 0644 /etc/OpenCL/vendors/nvidia.icd ``` diff --git a/ansible/roles/cuda/defaults/main.yaml b/ansible/roles/cuda/defaults/main.yaml index 3488c01e83e..1945f8820bf 100644 --- a/ansible/roles/cuda/defaults/main.yaml +++ b/ansible/roles/cuda/defaults/main.yaml @@ -1 +1 @@ -install_cuda_drivers: true +cuda_install_drivers: true diff --git a/ansible/roles/cuda/tasks/main.yaml b/ansible/roles/cuda/tasks/main.yaml index 30e19d41d00..e683d90da18 100644 --- a/ansible/roles/cuda/tasks/main.yaml +++ b/ansible/roles/cuda/tasks/main.yaml @@ -8,22 +8,6 @@ register: cuda_architecture changed_when: false -- name: (tmp for Ubuntu 22.04) Add liburcu6 repository into sources.list for amd64 - become: true - ansible.builtin.apt_repository: - repo: deb http://archive.ubuntu.com/ubuntu focal main restricted - filename: focal - state: present - when: cuda_architecture.stdout == "x86_64" - -- name: (tmp for Ubuntu 22.04) Add liburcu6 repository into sources.list for arm64 - become: true - ansible.builtin.apt_repository: - repo: deb http://ports.ubuntu.com/ubuntu-ports focal main restricted - filename: focal - state: present - when: cuda_architecture.stdout == "aarch64" - - name: Remove old /etc/apt/sources.list.d/cuda.list become: true ansible.builtin.file: @@ -33,7 +17,7 @@ - name: Install CUDA keyring become: true ansible.builtin.apt: - deb: https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/{{ cuda_architecture.stdout }}/cuda-keyring_1.0-1_all.deb + deb: https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/{{ cuda_architecture.stdout }}/cuda-keyring_1.1-1_all.deb update_cache: true - name: Get dash-case name of cuda_version @@ -41,21 +25,37 @@ register: cuda__dash_case_cuda_version changed_when: false -- name: Install CUDA libraries except for cuda-drivers +- name: Install CUDA devel libraries except for cuda-drivers become: true ansible.builtin.apt: name: - - cuda-cudart-dev-{{ cuda__dash_case_cuda_version.stdout }} - cuda-command-line-tools-{{ cuda__dash_case_cuda_version.stdout }} - cuda-minimal-build-{{ cuda__dash_case_cuda_version.stdout }} - - cuda-libraries-dev-{{ cuda__dash_case_cuda_version.stdout }} - - cuda-nvml-dev-{{ cuda__dash_case_cuda_version.stdout }} - - cuda-nvprof-{{ cuda__dash_case_cuda_version.stdout }} - - libnpp-dev-{{ cuda__dash_case_cuda_version.stdout }} - libcusparse-dev-{{ cuda__dash_case_cuda_version.stdout }} - libcublas-dev-{{ cuda__dash_case_cuda_version.stdout }} - - libnccl-dev + - libcurand-dev-{{ cuda__dash_case_cuda_version.stdout }} + - cuda-nvml-dev-{{ cuda__dash_case_cuda_version.stdout }} + update_cache: true + when: install_devel == 'y' + +- name: Install CUDA libraries except for cuda-drivers + become: true + ansible.builtin.apt: + name: + - cuda-minimal-build-{{ cuda__dash_case_cuda_version.stdout }} + - libcusparse-{{ cuda__dash_case_cuda_version.stdout }} + - libcublas-{{ cuda__dash_case_cuda_version.stdout }} + - libcurand-{{ cuda__dash_case_cuda_version.stdout }} update_cache: true + when: install_devel == 'N' + +- name: Install extra CUDA libraries for x86_64 + become: true + ansible.builtin.apt: + name: + - cuda-nvprof-{{ cuda__dash_case_cuda_version.stdout }} + update_cache: true + when: cuda_architecture.stdout == "x86_64" - name: Install cuda-drivers become: true @@ -63,7 +63,7 @@ name: - cuda-drivers update_cache: true - when: install_cuda_drivers | bool + when: cuda_install_drivers | bool - name: Add PATH to .bashrc ansible.builtin.lineinfile: @@ -80,3 +80,65 @@ state: present create: true mode: 0644 + +- name: Create Vulkan directory + become: true + ansible.builtin.file: + path: /etc/vulkan/icd.d + state: directory + mode: "0755" + +- name: Create OpenGL directory + become: true + ansible.builtin.file: + path: /etc/glvnd/egl_vendor.d + state: directory + mode: "0755" + +- name: Create OpenCL directory + become: true + ansible.builtin.file: + path: /etc/OpenCL/vendors + state: directory + mode: "0755" + +- name: Register Vulkan GPU vendors + become: true + ansible.builtin.get_url: + url: https://gitlab.com/nvidia/container-images/vulkan/raw/dc389b0445c788901fda1d85be96fd1cb9410164/nvidia_icd.json + dest: /etc/vulkan/icd.d/nvidia_icd.json + mode: "0644" + +- name: Set permissions for Vulkan GPU vendors + become: true + ansible.builtin.file: + path: /etc/vulkan/icd.d/nvidia_icd.json + mode: "0644" + +- name: Register OpenGL GPU vendors + become: true + ansible.builtin.get_url: + url: https://gitlab.com/nvidia/container-images/opengl/raw/5191cf205d3e4bb1150091f9464499b076104354/glvnd/runtime/10_nvidia.json + dest: /etc/glvnd/egl_vendor.d/10_nvidia.json + mode: "0644" + +- name: Set permissions for OpenGL GPU vendors + become: true + ansible.builtin.file: + path: /etc/glvnd/egl_vendor.d/10_nvidia.json + mode: "0644" + +- name: Register OpenCL GPU vendors + become: true + ansible.builtin.file: + path: /etc/OpenCL/vendors/nvidia.icd + state: touch + mode: "0644" + +- name: Set permissions for OpenCL GPU vendors + become: true + ansible.builtin.lineinfile: + path: /etc/OpenCL/vendors/nvidia.icd + line: libnvidia-opencl.so.1 + create: true + mode: "0644" diff --git a/ansible/roles/dev_tools/README.md b/ansible/roles/dev_tools/README.md new file mode 100644 index 00000000000..145c70f020b --- /dev/null +++ b/ansible/roles/dev_tools/README.md @@ -0,0 +1,45 @@ +# devel + +This role installs optional development tools for Autoware. + +## Tools + +- Git LFS +- pre-commit +- clang-format +- Go +- PlotJuggler + +## Inputs + +| Name | Required | Description | +| ------------- | -------- | --------------------------------------- | +| clang-version | true | The version of clang-format to install. | +| ros-distro | true | The ROS distribution. | + +## Manual Installation + +```bash +#!/bin/bash + +# Update package lists +sudo apt-get update + +# Install Git LFS +sudo apt-get install -y git-lfs + +# Setup Git LFS +git lfs install + +# Install pre-commit using pip3 +pip3 install pre-commit + +# Install a specific version of clang-format using pip3 +pip3 install clang-format==${pre_commit_clang_format_version} + +# Install Go +sudo apt-get install -y golang + +# Install PlotJuggler +sudo apt-get install -y ros-${ROS_DISTRO}-plotjuggler-ros +``` diff --git a/ansible/roles/ccache/meta/main.yaml b/ansible/roles/dev_tools/defaults/main.yaml similarity index 100% rename from ansible/roles/ccache/meta/main.yaml rename to ansible/roles/dev_tools/defaults/main.yaml diff --git a/ansible/roles/git_lfs/defaults/main.yaml b/ansible/roles/dev_tools/meta/main.yaml similarity index 100% rename from ansible/roles/git_lfs/defaults/main.yaml rename to ansible/roles/dev_tools/meta/main.yaml diff --git a/ansible/roles/dev_tools/tasks/main.yaml b/ansible/roles/dev_tools/tasks/main.yaml new file mode 100644 index 00000000000..1a7d3c6511a --- /dev/null +++ b/ansible/roles/dev_tools/tasks/main.yaml @@ -0,0 +1,59 @@ +# https://github.com/git-lfs/git-lfs/wiki/Installation#debian-and-ubuntu +- name: Install Git LFS + become: true + ansible.builtin.apt: + name: git-lfs + state: latest + update_cache: true + +# ref: https://github.com/ansible/ansible-lint/issues/1780 +- name: Check if git lfs is installed # https://github.com/git-lfs/git-lfs/issues/901 + community.general.git_config: + list_all: true + scope: global + register: git_lfs__git_global_config + +- name: Setup Git LFS + ansible.builtin.command: git lfs install + when: "'filter.lfs.required' not in git_lfs__git_global_config.config_values" + changed_when: true + +- name: Install pre-commit + ansible.builtin.pip: + name: pre-commit + state: latest + executable: pip3 + +- name: Install clang-format + ansible.builtin.pip: + name: clang-format + version: "{{ pre_commit_clang_format_version }}" + executable: pip3 + +- name: Install Go + become: true + ansible.builtin.apt: + name: golang + state: latest + update_cache: true + +- name: Hold check of ros-{{ rosdistro + '-plotjuggler-ros' }} + ansible.builtin.command: apt-mark showhold + register: held_ros_packages + changed_when: false + +- name: Install plotjuggler + become: true + ansible.builtin.apt: + name: + - ros-{{ rosdistro }}-plotjuggler-ros + state: latest + update_cache: true + when: "'ros-' + rosdistro + '-plotjuggler-ros' not in held_ros_packages.stdout" + register: install_result + failed_when: false + +- name: Display warning if plotjuggler-ros package is held + ansible.builtin.debug: + msg: ROS package 'ros-{{ rosdistro }}-plotjuggler-ros' is apt-mark hold. Skipping installation. + when: not install_result.changed diff --git a/ansible/roles/autoware_core/README.md b/ansible/roles/gdown/README.md similarity index 59% rename from ansible/roles/autoware_core/README.md rename to ansible/roles/gdown/README.md index a834adb9e79..4d5e1e5dbab 100644 --- a/ansible/roles/autoware_core/README.md +++ b/ansible/roles/gdown/README.md @@ -1,6 +1,6 @@ -# autoware_core +# Role: gdown -This role installs development/runtime dependencies for Autoware Core. +This role installs gdown to download files from CMakeLists.txt. ## Inputs diff --git a/ansible/roles/git_lfs/meta/main.yaml b/ansible/roles/gdown/defaults/main.yaml similarity index 100% rename from ansible/roles/git_lfs/meta/main.yaml rename to ansible/roles/gdown/defaults/main.yaml diff --git a/ansible/roles/nvidia_docker/defaults/main.yaml b/ansible/roles/gdown/meta/main.yaml similarity index 100% rename from ansible/roles/nvidia_docker/defaults/main.yaml rename to ansible/roles/gdown/meta/main.yaml diff --git a/ansible/roles/autoware_core/tasks/main.yaml b/ansible/roles/gdown/tasks/main.yaml similarity index 100% rename from ansible/roles/autoware_core/tasks/main.yaml rename to ansible/roles/gdown/tasks/main.yaml diff --git a/ansible/roles/autoware_universe/README.md b/ansible/roles/geographiclib/README.md similarity index 64% rename from ansible/roles/autoware_universe/README.md rename to ansible/roles/geographiclib/README.md index e3ab6300083..8ab94806be3 100644 --- a/ansible/roles/autoware_universe/README.md +++ b/ansible/roles/geographiclib/README.md @@ -1,6 +1,4 @@ -# autoware_universe - -This role installs development/runtime dependencies for Autoware Universe. +# geographiclib ## Inputs diff --git a/ansible/roles/nvidia_docker/meta/main.yaml b/ansible/roles/geographiclib/defaults/main.yaml similarity index 100% rename from ansible/roles/nvidia_docker/meta/main.yaml rename to ansible/roles/geographiclib/defaults/main.yaml diff --git a/ansible/roles/plotjuggler/defaults/main.yaml b/ansible/roles/geographiclib/meta/main.yaml similarity index 100% rename from ansible/roles/plotjuggler/defaults/main.yaml rename to ansible/roles/geographiclib/meta/main.yaml diff --git a/ansible/roles/autoware_universe/tasks/main.yaml b/ansible/roles/geographiclib/tasks/main.yaml similarity index 100% rename from ansible/roles/autoware_universe/tasks/main.yaml rename to ansible/roles/geographiclib/tasks/main.yaml diff --git a/ansible/roles/git_lfs/README.md b/ansible/roles/git_lfs/README.md deleted file mode 100644 index a6b8da6e0a4..00000000000 --- a/ansible/roles/git_lfs/README.md +++ /dev/null @@ -1,14 +0,0 @@ -# Git Large File Storage - -This role installs Git LFS. You can access detailed information about Git LFS with [this link](https://git-lfs.github.com/). - -## Inputs - -None. - -## Manual Installation - -```bash -sudo apt install git-lfs -git lfs install -``` diff --git a/ansible/roles/git_lfs/tasks/main.yaml b/ansible/roles/git_lfs/tasks/main.yaml deleted file mode 100644 index b416dc3237d..00000000000 --- a/ansible/roles/git_lfs/tasks/main.yaml +++ /dev/null @@ -1,19 +0,0 @@ -# https://github.com/git-lfs/git-lfs/wiki/Installation#debian-and-ubuntu -- name: Install Git LFS - become: true - ansible.builtin.apt: - name: git-lfs - state: latest - update_cache: true - -# ref: https://github.com/ansible/ansible-lint/issues/1780 -- name: Check if git lfs is installed # https://github.com/git-lfs/git-lfs/issues/901 - community.general.git_config: - list_all: true - scope: global - register: git_lfs__git_global_config - -- name: Setup Git LFS - ansible.builtin.command: git lfs install - when: "'filter.lfs.required' not in git_lfs__git_global_config.config_values" - changed_when: true diff --git a/ansible/roles/glog/README.md b/ansible/roles/glog/README.md new file mode 100644 index 00000000000..4d5e1e5dbab --- /dev/null +++ b/ansible/roles/glog/README.md @@ -0,0 +1,14 @@ +# Role: gdown + +This role installs gdown to download files from CMakeLists.txt. + +## Inputs + +None. + +## Manual Installation + +```bash +# Install gdown to download files from CMakeLists.txt +pip3 install gdown +``` diff --git a/ansible/roles/pre_commit/meta/main.yaml b/ansible/roles/glog/defaults/main.yaml similarity index 100% rename from ansible/roles/pre_commit/meta/main.yaml rename to ansible/roles/glog/defaults/main.yaml diff --git a/ansible/roles/rocker/defaults/main.yaml b/ansible/roles/glog/meta/main.yaml similarity index 100% rename from ansible/roles/rocker/defaults/main.yaml rename to ansible/roles/glog/meta/main.yaml diff --git a/ansible/roles/glog/tasks/main.yaml b/ansible/roles/glog/tasks/main.yaml new file mode 100644 index 00000000000..1a5c4b8fd46 --- /dev/null +++ b/ansible/roles/glog/tasks/main.yaml @@ -0,0 +1,29 @@ +- name: Purge the old glog + apt: + name: libgoogle-glog-dev + purge: 'yes' + state: absent + become: 'yes' + +- name: Clone glog source code + git: + repo: https://github.com/google/glog.git + dest: /tmp/glog + version: 45f99f5e1a03cc4d3d845a3bd31dcad5b3619ed0 + +- name: Configure the build tree + shell: cmake -S . -B build -G "Unix Makefiles" + args: + chdir: /tmp/glog + +- name: Compile the project + shell: cmake --build build + args: + chdir: /tmp/glog + +- name: Install the built files + shell: cmake --build build --target install + args: + chdir: /tmp/glog + become: 'yes' + diff --git a/ansible/roles/kisak_mesa/README.md b/ansible/roles/kisak_mesa/README.md new file mode 100644 index 00000000000..e92b276647e --- /dev/null +++ b/ansible/roles/kisak_mesa/README.md @@ -0,0 +1,36 @@ +# Kisak Mesa Fix for Ubuntu 22.04 for Rviz2 (Not mandatory) + +If you are using Ubuntu 22.04 and Rviz2 (especially inside a container), you may encounter black-screen error on Rviz2: + +This role will install the Kisak Mesa fix for Ubuntu 22.04 for Rviz2. + +## Inputs + +None + +## Manual Installation + +```bash +#!/bin/bash + +# Update the package list and install software-properties-common +sudo apt-get update +sudo apt-get install -y software-properties-common + +# Add the Kisak Mesa PPA +sudo add-apt-repository -y ppa:kisak/kisak-mesa + +# Update the package list after adding the new repository +sudo apt-get update + +# Install Mesa libraries +sudo apt-get install -y \ +libegl-mesa0 \ +libegl1-mesa-dev \ +libgbm-dev \ +libgbm1 \ +libgl1-mesa-dev \ +libgl1-mesa-dri \ +libglapi-mesa \ +libglx-mesa0 +``` diff --git a/ansible/roles/rocker/meta/main.yaml b/ansible/roles/kisak_mesa/defaults/main.yaml similarity index 100% rename from ansible/roles/rocker/meta/main.yaml rename to ansible/roles/kisak_mesa/defaults/main.yaml diff --git a/ansible/roles/kisak_mesa/meta/main.yaml b/ansible/roles/kisak_mesa/meta/main.yaml new file mode 100644 index 00000000000..e69de29bb2d diff --git a/ansible/roles/kisak_mesa/tasks/main.yaml b/ansible/roles/kisak_mesa/tasks/main.yaml new file mode 100644 index 00000000000..910c6f38b62 --- /dev/null +++ b/ansible/roles/kisak_mesa/tasks/main.yaml @@ -0,0 +1,24 @@ +- name: Install additional dependencies + become: true + ansible.builtin.apt: + name: software-properties-common + state: present + +- name: Add Kisak Mesa PPA + become: true + ansible.builtin.apt_repository: + repo: ppa:kisak/kisak-mesa + +- name: Install Mesa libraries + become: true + ansible.builtin.apt: + name: + - libegl-mesa0 + - libegl1-mesa-dev + - libgbm-dev + - libgbm1 + - libgl1-mesa-dev + - libgl1-mesa-dri + - libglapi-mesa + - libglx-mesa0 + state: present diff --git a/ansible/roles/nvidia_docker/README.md b/ansible/roles/nvidia_container_toolkit/README.md similarity index 61% rename from ansible/roles/nvidia_docker/README.md rename to ansible/roles/nvidia_container_toolkit/README.md index 303ac8ad6eb..01dd1791e63 100644 --- a/ansible/roles/nvidia_docker/README.md +++ b/ansible/roles/nvidia_container_toolkit/README.md @@ -1,6 +1,6 @@ -# nvidia_docker +# nvidia_container_toolkit -This role installs [NVIDIA Container Toolkit](https://github.com/NVIDIA/nvidia-docker) following the [installation guide](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker). +This role installs [NVIDIA Container Toolkit](https://github.com/NVIDIA/nvidia-container-toolkit) following the [installation guide](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html). ## Inputs @@ -13,26 +13,31 @@ Install Nvidia Container Toolkit: ```bash -# Taken from https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#setting-up-nvidia-container-toolkit +# Add NVIDIA container toolkit GPG key +sudo apt-key adv --fetch-keys https://nvidia.github.io/libnvidia-container/gpgkey +sudo gpg --no-default-keyring --keyring /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg --import /etc/apt/trusted.gpg -# Setup the package repository and the GPG key: -distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \ - && curl -s -L https://nvidia.github.io/libnvidia-container/gpgkey | sudo apt-key add - \ - && curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list | sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list +# Add NVIDIA container toolkit repository +echo "deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://nvidia.github.io/libnvidia-container/stable/deb/$(dpkg --print-architecture) /" | sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list -# Install the nvidia-docker2 package (and dependencies) after updating the package listing: +# Update the package list sudo apt-get update -sudo apt-get install -y nvidia-docker2 -# Restart the Docker daemon to complete the installation after setting the default runtime: +# Install NVIDIA Container Toolkit +sudo apt-get install -y nvidia-container-toolkit + +# Add NVIDIA runtime support to docker engine +sudo nvidia-ctk runtime configure --runtime=docker + +# Restart docker daemon sudo systemctl restart docker # At this point, a working setup can be tested by running a base CUDA container: -sudo docker run --rm --gpus all nvidia/cuda:11.0.3-base-ubuntu20.04 nvidia-smi +sudo docker run --rm --gpus all nvcr.io/nvidia/cuda:12.3.1-runtime-ubuntu20.04 nvidia-smi # This should result in a console output shown below: # +-----------------------------------------------------------------------------+ -# | NVIDIA-SMI 450.51.06 Driver Version: 450.51.06 CUDA Version: 11.0 | +# | NVIDIA-SMI 545.23.08 Driver Version: 545.23.08 CUDA Version: 12.3.1 | # |-------------------------------+----------------------+----------------------+ # | GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC | # | Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. | diff --git a/ansible/roles/nvidia_container_toolkit/defaults/main.yaml b/ansible/roles/nvidia_container_toolkit/defaults/main.yaml new file mode 100644 index 00000000000..e69de29bb2d diff --git a/ansible/roles/nvidia_container_toolkit/meta/main.yaml b/ansible/roles/nvidia_container_toolkit/meta/main.yaml new file mode 100644 index 00000000000..e69de29bb2d diff --git a/ansible/roles/nvidia_container_toolkit/tasks/main.yaml b/ansible/roles/nvidia_container_toolkit/tasks/main.yaml new file mode 100644 index 00000000000..b1197fd21cf --- /dev/null +++ b/ansible/roles/nvidia_container_toolkit/tasks/main.yaml @@ -0,0 +1,34 @@ +- name: Add NVIDIA container toolkit GPG key + become: true + ansible.builtin.apt_key: + url: https://nvidia.github.io/libnvidia-container/gpgkey + state: present + keyring: /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg + +- name: Add NVIDIA container toolkit repository + become: true + ansible.builtin.apt_repository: + repo: deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://nvidia.github.io/libnvidia-container/stable/deb/$(ARCH) / + state: present + filename: nvidia-container-toolkit + update_cache: true + +- name: Install NVIDIA Container Toolkit + become: true + ansible.builtin.apt: + name: + - nvidia-container-toolkit + update_cache: true + +- name: Add NVIDIA runtime support to docker engine + become: true + ansible.builtin.shell: | + nvidia-ctk runtime configure --runtime=docker + changed_when: true + +- name: Restart docker daemon + become: true + ansible.builtin.systemd: + name: docker + state: restarted + changed_when: true diff --git a/ansible/roles/nvidia_docker/tasks/main.yaml b/ansible/roles/nvidia_docker/tasks/main.yaml deleted file mode 100644 index 215354fbffe..00000000000 --- a/ansible/roles/nvidia_docker/tasks/main.yaml +++ /dev/null @@ -1,30 +0,0 @@ -- name: Authorize NVIDIA Docker GPG key - become: true - ansible.builtin.apt_key: - url: https://nvidia.github.io/nvidia-docker/gpgkey - -- name: Save result of '. /etc/os-release;echo $ID$VERSION_ID' - ansible.builtin.shell: . /etc/os-release;echo $ID$VERSION_ID - register: nvidia_docker__distribution - changed_when: false - -- name: Save result of 'curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list' - ansible.builtin.uri: - url: https://nvidia.github.io/nvidia-docker/{{ nvidia_docker__distribution.stdout }}/nvidia-docker.list - return_content: true - register: nvidia_docker_list - -# curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list -- name: Add NVIDIA Docker apt repository to source list - become: true - ansible.builtin.copy: - dest: /etc/apt/sources.list.d/nvidia-docker.list - content: "{{ nvidia_docker_list.content }}" - mode: 0644 - -- name: Install NVIDIA Container Toolkit - become: true - ansible.builtin.apt: - name: - - nvidia-docker2 - update_cache: true diff --git a/ansible/roles/pacmod/meta/main.yaml b/ansible/roles/pacmod/meta/main.yaml index 81b20fe4831..e69de29bb2d 100644 --- a/ansible/roles/pacmod/meta/main.yaml +++ b/ansible/roles/pacmod/meta/main.yaml @@ -1,2 +0,0 @@ -dependencies: - - role: autoware.dev_env.ros2 diff --git a/ansible/roles/plotjuggler/README.md b/ansible/roles/plotjuggler/README.md deleted file mode 100644 index 0aceac25c4a..00000000000 --- a/ansible/roles/plotjuggler/README.md +++ /dev/null @@ -1,16 +0,0 @@ -# plotjuggler - -This role installs PlotJuggler. You can access detailed information about PlotJuggler with this [link](https://www.plotjuggler.io/). - -## Inputs - -None. - -## Manual Installation - -```bash -wget -O /tmp/amd64.env https://raw.githubusercontent.com/autowarefoundation/autoware/main/amd64.env && source /tmp/amd64.env - -sudo apt update && sudo apt install -y \ - ros-$rosdistro-plotjuggler-ros -``` diff --git a/ansible/roles/plotjuggler/meta/main.yaml b/ansible/roles/plotjuggler/meta/main.yaml deleted file mode 100644 index 81b20fe4831..00000000000 --- a/ansible/roles/plotjuggler/meta/main.yaml +++ /dev/null @@ -1,2 +0,0 @@ -dependencies: - - role: autoware.dev_env.ros2 diff --git a/ansible/roles/plotjuggler/tasks/main.yaml b/ansible/roles/plotjuggler/tasks/main.yaml deleted file mode 100644 index 07197044a14..00000000000 --- a/ansible/roles/plotjuggler/tasks/main.yaml +++ /dev/null @@ -1,7 +0,0 @@ -- name: Install plotjuggler - become: true - ansible.builtin.apt: - name: - - ros-{{ rosdistro }}-plotjuggler-ros - state: latest - update_cache: true diff --git a/ansible/roles/pre_commit/README.md b/ansible/roles/pre_commit/README.md deleted file mode 100644 index dcef46ec194..00000000000 --- a/ansible/roles/pre_commit/README.md +++ /dev/null @@ -1,21 +0,0 @@ -# pre_commit - -This role installs dependent tools for [pre-commit](https://pre-commit.com/). - -## Inputs - -| Name | Required | Description | -| -------------------- | -------- | --------------------------- | -| clang_format_version | false | The version of ClangFormat. | - -## Manual Installation - -The `clang_format_version` variable can also be found in: -[./defaults/main.yaml](./defaults/main.yaml) - -```bash -clang_format_version=16.0.0 -pip3 install pre-commit clang-format==${clang_format_version} - -sudo apt install golang -``` diff --git a/ansible/roles/pre_commit/defaults/main.yaml b/ansible/roles/pre_commit/defaults/main.yaml deleted file mode 100644 index 93b1c8c66aa..00000000000 --- a/ansible/roles/pre_commit/defaults/main.yaml +++ /dev/null @@ -1 +0,0 @@ -clang_format_version: 16.0.0 diff --git a/ansible/roles/pre_commit/tasks/main.yaml b/ansible/roles/pre_commit/tasks/main.yaml deleted file mode 100644 index 6a69af8db76..00000000000 --- a/ansible/roles/pre_commit/tasks/main.yaml +++ /dev/null @@ -1,18 +0,0 @@ -- name: Install pre-commit - ansible.builtin.pip: - name: pre-commit - state: latest - executable: pip3 - -- name: Install clang-format - ansible.builtin.pip: - name: clang-format - version: "{{ clang_format_version }}" - executable: pip3 - -- name: Install Go - become: true - ansible.builtin.apt: - name: golang - state: latest - update_cache: true diff --git a/ansible/roles/rmw_implementation/meta/main.yaml b/ansible/roles/rmw_implementation/meta/main.yaml index 81b20fe4831..e69de29bb2d 100644 --- a/ansible/roles/rmw_implementation/meta/main.yaml +++ b/ansible/roles/rmw_implementation/meta/main.yaml @@ -1,2 +0,0 @@ -dependencies: - - role: autoware.dev_env.ros2 diff --git a/ansible/roles/rmw_implementation/tasks/main.yaml b/ansible/roles/rmw_implementation/tasks/main.yaml index bdbb7fa8a01..e37b94c3146 100644 --- a/ansible/roles/rmw_implementation/tasks/main.yaml +++ b/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: diff --git a/ansible/roles/rocker/README.md b/ansible/roles/rocker/README.md deleted file mode 100644 index ded68609c11..00000000000 --- a/ansible/roles/rocker/README.md +++ /dev/null @@ -1,25 +0,0 @@ -# rocker - -This role installs [osrf/rocker](https://github.com/osrf/rocker) following the [installation guide](https://github.com/osrf/rocker/#installation). - -## Inputs - -None. - -## Manual Installation - -Install rocker: - -```bash -# Taken from: https://github.com/osrf/rocker#installation - -# Add the ROS 2 apt repository to your system. First authorize our GPG key with apt. -sudo apt update && sudo apt install curl gnupg lsb-release -sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg - -# Then add the repository to your sources list. -echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null - -sudo apt update -sudo apt-get install python3-rocker -``` diff --git a/ansible/roles/rocker/tasks/main.yaml b/ansible/roles/rocker/tasks/main.yaml deleted file mode 100644 index 885d2895342..00000000000 --- a/ansible/roles/rocker/tasks/main.yaml +++ /dev/null @@ -1,33 +0,0 @@ -# sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg -- name: Authorize ROS GPG key - become: true - ansible.builtin.get_url: - url: https://raw.githubusercontent.com/ros/rosdistro/master/ros.key - dest: /usr/share/keyrings/ros-archive-keyring.gpg - mode: 644 - -- name: Save result of 'dpkg --print-architecture' - ansible.builtin.command: dpkg --print-architecture - register: rocker__deb_architecture - changed_when: false - -- name: Save result of 'lsb_release -cs' - ansible.builtin.command: lsb_release -cs - register: rocker__lsb_release_cs - changed_when: false - -# echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null -- name: Add ROS 2 apt repository to source list - become: true - ansible.builtin.apt_repository: - repo: deb [arch={{ rocker__deb_architecture.stdout }} signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu {{ rocker__lsb_release_cs.stdout }} main - filename: ros2 - state: present - update_cache: true - -- name: Install rocker - become: true - ansible.builtin.apt: - name: - - python3-rocker - update_cache: true diff --git a/ansible/roles/ros2/README.md b/ansible/roles/ros2/README.md index 0fd0ce65607..07fab9500b8 100644 --- a/ansible/roles/ros2/README.md +++ b/ansible/roles/ros2/README.md @@ -4,6 +4,8 @@ This role installs [ROS 2](http://www.ros2.org/) following [this page](https://d Additional steps may be needed depending on the `rosdistro` you choose. +To prevent the update of the ROS 2 packages, if ros-`distro`-desktop is held, the installation process for the packages will be skipped and output warning. + ```bash @@ -16,14 +18,14 @@ $ apt-cache policy | grep universe ## Inputs -| Name | Required | Description | -| ----------------- | -------- | ------------------------------------------------ | -| rosdistro | true | The ROS distro. | -| installation_type | false | The installation type (`desktop` or `ros-base`). | +| Name | Required | Description | +| ---------------------- | -------- | ------------------------------------------------ | +| rosdistro | true | The ROS distro. | +| ros2_installation_type | false | The installation type (`desktop` or `ros-base`). | ## Manual Installation -The `installation_type` variable can also be found in: +The `ros2_installation_type` variable can also be found in: [./defaults/main.yaml](./defaults/main.yaml) For Universe, the `rosdistro` variable can also be found in: @@ -57,8 +59,8 @@ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-a sudo apt update # Desktop Install -installation_type=desktop -sudo apt install ros-${rosdistro}-${installation_type} +ros2_installation_type=desktop +sudo apt install ros-${rosdistro}-${ros2_installation_type} # Environment setup # (Optional) You can source ros2 in the ~/.bashrc file. diff --git a/ansible/roles/ros2/defaults/main.yaml b/ansible/roles/ros2/defaults/main.yaml index fca2d3a0cdd..ad22b88e874 100644 --- a/ansible/roles/ros2/defaults/main.yaml +++ b/ansible/roles/ros2/defaults/main.yaml @@ -1 +1 @@ -installation_type: desktop +ros2_installation_type: desktop diff --git a/ansible/roles/ros2/tasks/main.yaml b/ansible/roles/ros2/tasks/main.yaml index 679f5dc4c90..9ad8bb165f9 100644 --- a/ansible/roles/ros2/tasks/main.yaml +++ b/ansible/roles/ros2/tasks/main.yaml @@ -34,12 +34,25 @@ state: present update_cache: true -- name: Install ros-{{ rosdistro + '-' + installation_type }} +- name: Hold check of ros-{{ rosdistro + '-' + ros2_installation_type }} + ansible.builtin.command: apt-mark showhold + register: held_ros_packages + changed_when: false + +- name: Install ros-{{ rosdistro + '-' + ros2_installation_type }} become: true ansible.builtin.apt: - name: ros-{{ rosdistro }}-{{ installation_type }} + name: ros-{{ rosdistro }}-{{ ros2_installation_type }} state: latest update_cache: true + when: "'ros-' + rosdistro + '-' + ros2_installation_type not in held_ros_packages.stdout" + register: install_result + failed_when: false + +- name: Display warning if ROS 2 package is held + ansible.builtin.debug: + msg: ROS package 'ros-{{ rosdistro + '-' + ros2_installation_type }}' is apt-mark hold. Skipping installation. + when: not install_result.changed - name: Add PATH to .bashrc ansible.builtin.lineinfile: diff --git a/ansible/roles/ros2_dev_tools/README.md b/ansible/roles/ros2_dev_tools/README.md index 6a10a8b5316..1afe660799c 100644 --- a/ansible/roles/ros2_dev_tools/README.md +++ b/ansible/roles/ros2_dev_tools/README.md @@ -11,12 +11,11 @@ None. ```bash # Taken from https://docs.ros.org/en/humble/Installation/Ubuntu-Development-Setup.html sudo apt update && sudo apt install -y \ + python3-colcon-mixin \ python3-flake8-docstrings \ python3-pip \ python3-pytest-cov \ - ros-dev-tools - -sudo apt install -y \ + ros-dev-tools \ python3-flake8-blind-except \ python3-flake8-builtins \ python3-flake8-class-newline \ diff --git a/ansible/roles/ros2_dev_tools/meta/main.yaml b/ansible/roles/ros2_dev_tools/meta/main.yaml index 81b20fe4831..e69de29bb2d 100644 --- a/ansible/roles/ros2_dev_tools/meta/main.yaml +++ b/ansible/roles/ros2_dev_tools/meta/main.yaml @@ -1,2 +0,0 @@ -dependencies: - - role: autoware.dev_env.ros2 diff --git a/ansible/roles/tensorrt/README.md b/ansible/roles/tensorrt/README.md index 0b938ad03a5..1df87cad89e 100644 --- a/ansible/roles/tensorrt/README.md +++ b/ansible/roles/tensorrt/README.md @@ -17,11 +17,37 @@ For Universe, the `cudnn_version` and `tensorrt_version` variables should be cop ```bash wget -O /tmp/amd64.env https://raw.githubusercontent.com/autowarefoundation/autoware/main/amd64.env && source /tmp/amd64.env -# Taken from: https://docs.nvidia.com/deeplearning/tensorrt/install-guide/index.html#installing - -sudo apt-get install libcudnn8=${cudnn_version} libcudnn8-dev=${cudnn_version} -sudo apt-mark hold libcudnn8 libcudnn8-dev - -sudo apt-get install libnvinfer8=${tensorrt_version} libnvonnxparsers8=${tensorrt_version} libnvparsers8=${tensorrt_version} libnvinfer-plugin8=${tensorrt_version} libnvinfer-dev=${tensorrt_version} libnvonnxparsers-dev=${tensorrt_version} libnvparsers-dev=${tensorrt_version} libnvinfer-plugin-dev=${tensorrt_version} -sudo apt-mark hold libnvinfer8 libnvonnxparsers8 libnvparsers8 libnvinfer-plugin8 libnvinfer-dev libnvonnxparsers-dev libnvparsers-dev libnvinfer-plugin-dev +# Can also be found at: https://docs.nvidia.com/deeplearning/tensorrt/install-guide/index.html#installing + +sudo apt-get install -y \ +libcudnn8=${cudnn_version} \ +libnvinfer8=${tensorrt_version} \ +libnvinfer-plugin8=${tensorrt_version} \ +libnvparsers8=${tensorrt_version} \ +libnvonnxparsers8=${tensorrt_version} \ + +sudo apt-mark hold \ +libcudnn8 \ +libnvinfer8 \ +libnvinfer-plugin8 \ +libnvparsers8 \ +libnvonnxparsers8 + +sudo apt-get install -y \ +libcudnn8-dev=${cudnn_version} \ +libnvinfer-dev=${tensorrt_version} \ +libnvinfer-plugin-dev=${tensorrt_version} \ +libnvinfer-headers-dev=${tensorrt_version} \ +libnvinfer-headers-plugin-dev=${tensorrt_version} \ +libnvparsers-dev=${tensorrt_version} \ +libnvonnxparsers-dev=${tensorrt_version} + +sudo apt-mark hold \ +libcudnn8-dev \ +libnvinfer-dev \ +libnvinfer-plugin-dev \ +libnvparsers-dev \ +libnvonnxparsers-dev \ +libnvinfer-headers-dev \ +libnvinfer-headers-plugin-dev ``` diff --git a/ansible/roles/tensorrt/defaults/main.yaml b/ansible/roles/tensorrt/defaults/main.yaml index 8419eba6fa9..e69de29bb2d 100644 --- a/ansible/roles/tensorrt/defaults/main.yaml +++ b/ansible/roles/tensorrt/defaults/main.yaml @@ -1 +0,0 @@ -install_devel: true diff --git a/ansible/roles/tensorrt/tasks/main.yaml b/ansible/roles/tensorrt/tasks/main.yaml index 9e9d80d05c3..816ba7dad4b 100644 --- a/ansible/roles/tensorrt/tasks/main.yaml +++ b/ansible/roles/tensorrt/tasks/main.yaml @@ -18,12 +18,14 @@ - libcudnn8-dev={{ cudnn_version }} - libnvinfer-dev={{ tensorrt_version }} - libnvinfer-plugin-dev={{ tensorrt_version }} + - libnvinfer-headers-dev={{ tensorrt_version }} + - libnvinfer-headers-plugin-dev={{ tensorrt_version }} - libnvparsers-dev={{ tensorrt_version }} - libnvonnxparsers-dev={{ tensorrt_version }} allow_change_held_packages: true allow_downgrade: true update_cache: true - when: install_devel | bool + when: install_devel == 'y' # apt-mark hold - name: Prevent CUDA-related packages from upgrading @@ -47,6 +49,8 @@ - libcudnn8-dev - libnvinfer-dev - libnvinfer-plugin-dev + - libnvinfer-headers-dev + - libnvinfer-headers-plugin-dev - libnvparsers-dev - libnvonnxparsers-dev - when: install_devel | bool + when: install_devel == 'y' diff --git a/setup-dev-env.sh b/setup-dev-env.sh index a77232a08ab..94e2505b388 100755 --- a/setup-dev-env.sh +++ b/setup-dev-env.sh @@ -127,9 +127,9 @@ if ! (python3 -m pipx --version >/dev/null 2>&1); then fi # Install ansible -python3 -m pipx ensurepath -export PATH="${PIPX_BIN_DIR:=$HOME/.local/bin}:$PATH" -pipx install --include-deps --force "ansible==6.*" +# python3 -m pipx ensurepath +# export PATH="${PIPX_BIN_DIR:=$HOME/.local/bin}:$PATH" +# pipx install --include-deps --force "ansible==6.*" # Install ansible collections echo -e "\e[36m"ansible-galaxy collection install -f -r "$SCRIPT_DIR/ansible-galaxy-requirements.yaml" "\e[m" From f6985f724be42446dbc48456f657f8662036d39a Mon Sep 17 00:00:00 2001 From: urasakikeisuke Date: Tue, 18 Jun 2024 19:03:58 +0900 Subject: [PATCH 2/8] fix pipx install comment out Signed-off-by: urasakikeisuke --- setup-dev-env.sh | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/setup-dev-env.sh b/setup-dev-env.sh index 94e2505b388..a77232a08ab 100755 --- a/setup-dev-env.sh +++ b/setup-dev-env.sh @@ -127,9 +127,9 @@ if ! (python3 -m pipx --version >/dev/null 2>&1); then fi # Install ansible -# python3 -m pipx ensurepath -# export PATH="${PIPX_BIN_DIR:=$HOME/.local/bin}:$PATH" -# pipx install --include-deps --force "ansible==6.*" +python3 -m pipx ensurepath +export PATH="${PIPX_BIN_DIR:=$HOME/.local/bin}:$PATH" +pipx install --include-deps --force "ansible==6.*" # Install ansible collections echo -e "\e[36m"ansible-galaxy collection install -f -r "$SCRIPT_DIR/ansible-galaxy-requirements.yaml" "\e[m" From f8936ade627a02303f0083a64433bcb9c2b85e0c Mon Sep 17 00:00:00 2001 From: urasakikeisuke <79469739+urasakikeisuke@users.noreply.github.com> Date: Fri, 26 Jul 2024 10:18:08 +0900 Subject: [PATCH 3/8] Fix repos version --- autoware.repos | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/autoware.repos b/autoware.repos index d8a4c79f86d..9ce6e2a06fc 100644 --- a/autoware.repos +++ b/autoware.repos @@ -2,27 +2,27 @@ repositories: autoware.universe: type: git url: https://github.com/autowarefoundation/autoware.universe.git - version: main + version: 250562d8bc5234296f6a0eae0d48392b86167b4e autoware_common: type: git url: https://github.com/autowarefoundation/autoware_common.git - version: main + version: 6752ca71a985c3bd39ab9cc23a3695930f0a6e29 autoware_msgs: type: git url: https://github.com/autowarefoundation/autoware_msgs.git - version: main + version: 4c3a1939520cd8ac9d05b0addf7286a0534de024 autoware_adapi_msgs: type: git url: https://github.com/autowarefoundation/autoware_adapi_msgs.git - version: main + version: 9bb74bd5006f7e3901ecd0368c19c30d047482f4 autoware_auto_msgs: type: git url: https://github.com/tier4/autoware_auto_msgs.git - version: tier4/main + version: 1e8b6d234e2690c9da386f006bb60835cdccddfd tier4_autoware_msgs: type: git url: https://github.com/tier4/tier4_autoware_msgs.git - version: tier4/universe + version: 5cf56e7c1f1156c0067108a83806a22e42120d1b launcher: type: git url: https://github.com/tier4/edge_auto_launch.git @@ -38,11 +38,11 @@ repositories: nebula: type: git url: https://github.com/tier4/nebula.git - version: main + version: d9aaefc9a4c06f6dae86cd7ef22f6353f1379e4f transport_drivers: type: git url: https://github.com/MapIV/transport_drivers.git - version: boost + version: e7e25ed52b58b3556fa8b0f75a87f7c5d42fbef1 lidartag: type: git url: https://github.com/tier4/LiDARTag.git From 89a5c6d077e761f762e84d0b4b67d616cbd23abc Mon Sep 17 00:00:00 2001 From: urasakikeisuke Date: Fri, 26 Jul 2024 18:15:25 +0900 Subject: [PATCH 4/8] add missing lines Signed-off-by: urasakikeisuke --- amd64.env | 12 ++++++------ ansible/roles/artifacts/tasks/main.yaml | 20 -------------------- ansible/roles/cuda/tasks/main.yaml | 1 + ansible/roles/ros2/tasks/main.yaml | 2 +- setup-dev-env.sh | 11 +++++++++++ 5 files changed, 19 insertions(+), 27 deletions(-) diff --git a/amd64.env b/amd64.env index afa17255034..34f87a6a031 100644 --- a/amd64.env +++ b/amd64.env @@ -1,8 +1,8 @@ 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 +base_image=ros:humble-ros-base-jammy +cuda_base_image=ros:humble-ros-base-jammy +prebuilt_base_image=ros:humble-ros-base-jammy +cuda_version=12.3 +cudnn_version=8.9.5.29-1+cuda12.2 +tensorrt_version=8.6.1.6-1+cuda12.0 diff --git a/ansible/roles/artifacts/tasks/main.yaml b/ansible/roles/artifacts/tasks/main.yaml index 54efaaea341..9f163de9d02 100644 --- a/ansible/roles/artifacts/tasks/main.yaml +++ b/ansible/roles/artifacts/tasks/main.yaml @@ -1,23 +1,3 @@ -# yabloc_pose_initializer -- name: Create yabloc_pose_initializer directory inside {{ data_dir }} - ansible.builtin.file: - path: "{{ data_dir }}/yabloc_pose_initializer" - mode: "755" - state: directory - -- name: Download yabloc_pose_initializer/resources.tar.gz - become: true - ansible.builtin.get_url: - url: https://s3.ap-northeast-2.wasabisys.com/pinto-model-zoo/136_road-segmentation-adas-0001/resources.tar.gz - dest: "{{ data_dir }}/yabloc_pose_initializer/resources.tar.gz" - mode: "644" - checksum: sha256:1f660e15f95074bade32b1f80dbf618e9cee1f0b9f76d3f4671cb9be7f56eb3a - -- name: Extract yabloc_pose_initializer/resources.tar.gz - ansible.builtin.unarchive: - src: "{{ data_dir }}/yabloc_pose_initializer/resources.tar.gz" - dest: "{{ data_dir }}/yabloc_pose_initializer/" - # image_projection_based_fusion - name: Create image_projection_based_fusion directory inside {{ data_dir }} ansible.builtin.file: diff --git a/ansible/roles/cuda/tasks/main.yaml b/ansible/roles/cuda/tasks/main.yaml index e683d90da18..e14af9631a6 100644 --- a/ansible/roles/cuda/tasks/main.yaml +++ b/ansible/roles/cuda/tasks/main.yaml @@ -19,6 +19,7 @@ ansible.builtin.apt: deb: https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/{{ cuda_architecture.stdout }}/cuda-keyring_1.1-1_all.deb update_cache: true + force: true - name: Get dash-case name of cuda_version ansible.builtin.shell: bash -c 'sed -e "s/\./-/g" <<< $(echo {{ cuda_version }})' diff --git a/ansible/roles/ros2/tasks/main.yaml b/ansible/roles/ros2/tasks/main.yaml index 9ad8bb165f9..c9027fbc393 100644 --- a/ansible/roles/ros2/tasks/main.yaml +++ b/ansible/roles/ros2/tasks/main.yaml @@ -52,7 +52,7 @@ - name: Display warning if ROS 2 package is held ansible.builtin.debug: msg: ROS package 'ros-{{ rosdistro + '-' + ros2_installation_type }}' is apt-mark hold. Skipping installation. - when: not install_result.changed + when: "'ros-' + rosdistro + '-' + ros2_installation_type in held_ros_packages.stdout" - name: Add PATH to .bashrc ansible.builtin.lineinfile: diff --git a/setup-dev-env.sh b/setup-dev-env.sh index a77232a08ab..eaeebb27a04 100755 --- a/setup-dev-env.sh +++ b/setup-dev-env.sh @@ -9,6 +9,7 @@ SCRIPT_DIR=$(readlink -f "$(dirname "$0")") # Parse arguments args=() +option_data_dir="$HOME/autoware_data" while [ "$1" != "" ]; do case "$1" in -y) @@ -31,6 +32,11 @@ while [ "$1" != "" ]; do # Disable installation dev package of role 'cuda' and 'tensorrt'. option_runtime=true ;; + --data-dir) + # Set data directory + option_data_dir="$2" + shift + ;; *) args+=("$1") ;; @@ -90,6 +96,8 @@ else ansible_args+=("--extra-vars" "install_devel=true") fi +ansible_args+=("--extra-vars" "data_dir=$option_data_dir") + # Load env source "$SCRIPT_DIR/amd64.env" if [ "$(uname -m)" = "aarch64" ]; then @@ -126,6 +134,9 @@ if ! (python3 -m pipx --version >/dev/null 2>&1); then python3 -m pip install --user pipx fi +# Upgrade apt packages +sudo apt-get upgrade -y + # Install ansible python3 -m pipx ensurepath export PATH="${PIPX_BIN_DIR:=$HOME/.local/bin}:$PATH" From 4687a3e1bed5e9711120c84336f5a8896984b2dc Mon Sep 17 00:00:00 2001 From: Yuri Guimaraes Date: Wed, 31 Jul 2024 18:26:23 +0900 Subject: [PATCH 5/8] Fix installation of CUDA development libraries --- amd64.env | 3 ++- setup-dev-env.sh | 4 ++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/amd64.env b/amd64.env index 34f87a6a031..c130c639a43 100644 --- a/amd64.env +++ b/amd64.env @@ -3,6 +3,7 @@ rmw_implementation=rmw_cyclonedds_cpp base_image=ros:humble-ros-base-jammy cuda_base_image=ros:humble-ros-base-jammy prebuilt_base_image=ros:humble-ros-base-jammy -cuda_version=12.3 +cuda_version=12.5 cudnn_version=8.9.5.29-1+cuda12.2 tensorrt_version=8.6.1.6-1+cuda12.0 +pre_commit_clang_format_version=17.0.5 diff --git a/setup-dev-env.sh b/setup-dev-env.sh index eaeebb27a04..eb75a646f5e 100755 --- a/setup-dev-env.sh +++ b/setup-dev-env.sh @@ -89,11 +89,11 @@ fi # Check installation of dev package if [ "$option_runtime" = "true" ]; then - ansible_args+=("--extra-vars" "install_devel=false") + ansible_args+=("--extra-vars" "install_devel=n") # ROS installation type, default "desktop" ansible_args+=("--extra-vars" "installation_type=ros-base") else - ansible_args+=("--extra-vars" "install_devel=true") + ansible_args+=("--extra-vars" "install_devel=y") fi ansible_args+=("--extra-vars" "data_dir=$option_data_dir") From 7020671f27bef04e3bacf8a8421c32abbda79dbf Mon Sep 17 00:00:00 2001 From: amc-nu Date: Thu, 1 Aug 2024 21:43:40 +0900 Subject: [PATCH 6/8] autoware.repos. update commits to match 2024.07 tag plus CUDA fixes for lidar_centerpoint Signed-off-by: amc-nu --- autoware.repos | 117 ++++++++++++++++++++++++++++++++++++++----------- 1 file changed, 92 insertions(+), 25 deletions(-) diff --git a/autoware.repos b/autoware.repos index 9ce6e2a06fc..d7bbdb0c87d 100644 --- a/autoware.repos +++ b/autoware.repos @@ -1,48 +1,117 @@ repositories: - autoware.universe: + launcher: type: git - url: https://github.com/autowarefoundation/autoware.universe.git - version: 250562d8bc5234296f6a0eae0d48392b86167b4e - autoware_common: + url: https://github.com/tier4/edge_auto_launch.git + version: main + individual_params: type: git - url: https://github.com/autowarefoundation/autoware_common.git - version: 6752ca71a985c3bd39ab9cc23a3695930f0a6e29 - autoware_msgs: + url: https://github.com/tier4/edge_auto_individual_params.git + version: main + calibration_tools: + type: git + url: https://github.com/tier4/CalibrationTools.git + version: tier4/universe + core/autoware_msgs: type: git url: https://github.com/autowarefoundation/autoware_msgs.git version: 4c3a1939520cd8ac9d05b0addf7286a0534de024 - autoware_adapi_msgs: + core/autoware_adapi_msgs: type: git url: https://github.com/autowarefoundation/autoware_adapi_msgs.git version: 9bb74bd5006f7e3901ecd0368c19c30d047482f4 - autoware_auto_msgs: + core/autoware_internal_msgs: + type: git + url: https://github.com/autowarefoundation/autoware_internal_msgs.git + version: 4537a08fdb679bc5f0f1b7fd0f5e54ca5bd3f029 + core/autoware_common: + type: git + url: https://github.com/autowarefoundation/autoware_common.git + version: 6752ca71a985c3bd39ab9cc23a3695930f0a6e29 + core/autoware_cmake: + type: git + url: https://github.com/autowarefoundation/autoware_cmake.git + version: 43935be10fac9a6eb08ceaee661794d2c24cfb61 + core/autoware_utils: + type: git + url: https://github.com/autowarefoundation/autoware_utils.git + version: 7add7cefacf3f6c1d609b30ac10a2c3f7c36b8dc + core/autoware_lanelet2_extension: + type: git + url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git + version: 68cfa3053a16a81ab7352acae5414698150ac56e + core/autoware.core: + type: git + url: https://github.com/autowarefoundation/autoware.core.git + version: 99891401473b5740e640f5a0cc0412c0984b8e0b + core/external/autoware_auto_msgs: type: git url: https://github.com/tier4/autoware_auto_msgs.git version: 1e8b6d234e2690c9da386f006bb60835cdccddfd - tier4_autoware_msgs: + universe/autoware.universe: + type: git + url: https://github.com/autowarefoundation/autoware.universe.git + version: aa2de285f053946c57560728e87b196787687de4 + universe/external/tier4_ad_api_adaptor: + type: git + url: https://github.com/tier4/tier4_ad_api_adaptor.git + version: c2f6a89413feb8e57581b96220655ce29c0bb34b + universe/external/tier4_autoware_msgs: type: git url: https://github.com/tier4/tier4_autoware_msgs.git version: 5cf56e7c1f1156c0067108a83806a22e42120d1b - launcher: + universe/external/morai_msgs: type: git - url: https://github.com/tier4/edge_auto_launch.git - version: main - individual_params: + url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git + version: 860aaadea5dcaabd5a2272c244eea51265363740 + universe/external/muSSP: type: git - url: https://github.com/tier4/edge_auto_individual_params.git - version: main - calibration_tools: + url: https://github.com/tier4/muSSP.git + version: c79e98fd5e658f4f90c06d93472faa977bc873b9 + universe/external/ndt_omp: type: git - url: https://github.com/tier4/CalibrationTools.git - version: tier4/universe - nebula: + url: https://github.com/tier4/ndt_omp.git + version: ef654bdb1a3fe0bae6f3247b4959e230e63ba429 + universe/external/pointcloud_to_laserscan: + type: git + url: https://github.com/tier4/pointcloud_to_laserscan.git + version: d969ec699f84fad827fbadfa3001c9c657482fbe + universe/external/eagleye: + type: git + url: https://github.com/MapIV/eagleye.git + version: be15339c3100f631d6650f09f1cadea02ae78905 + universe/external/rtklib_ros_bridge: + type: git + url: https://github.com/MapIV/rtklib_ros_bridge.git + version: ef094407bba4f475a8032972e0c60cbb939b51b8 + universe/external/llh_converter: + type: git + url: https://github.com/MapIV/llh_converter.git + version: 07ad112b4f6b83eccd3a5f777bbe40ff01c67382 + universe/external/ament_cmake: + type: git + url: https://github.com/autowarefoundation/ament_cmake.git + version: aa498007d47198815fa7cba25f9dfeac77e09ca3 + universe/external/glog: + type: git + url: https://github.com/tier4/glog.git + version: ea36766fdc2ac8e8c8e3ac988ae69acd6d09bb30 + sensor_component/external/sensor_component_description: + type: git + url: https://github.com/tier4/sensor_component_description.git + version: cf6acf3c03ed9ae633048e5eec3c6fc1ac660946 + sensor_component/external/tamagawa_imu_driver: + type: git + url: https://github.com/tier4/tamagawa_imu_driver.git + version: de4bf6be79aa2968cf2f62e0ebe1ff8a5797e6ad + sensor_component/external/nebula: type: git url: https://github.com/tier4/nebula.git version: d9aaefc9a4c06f6dae86cd7ef22f6353f1379e4f - transport_drivers: + sensor_component/external/transport_drivers: type: git url: https://github.com/MapIV/transport_drivers.git version: e7e25ed52b58b3556fa8b0f75a87f7c5d42fbef1 + lidartag: type: git url: https://github.com/tier4/LiDARTag.git @@ -63,7 +132,5 @@ repositories: type: git url: https://github.com/Box-Robotics/ros2_numpy.git version: humble - image_pipeline: - type: git - url: https://github.com/tier4/image_pipeline.git - version: 47964112293eb19f9f57254b2e6b68706954cc63 + + From fb7f3d30820f7c8b3a9b9b23ceda6585eac07250 Mon Sep 17 00:00:00 2001 From: Yuri Guimaraes Date: Wed, 28 Aug 2024 11:55:21 +0900 Subject: [PATCH 7/8] ansible.netplan update file permission Signed-off-by: Yuri Guimaraes --- ansible/roles/netplan/tasks/main.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ansible/roles/netplan/tasks/main.yaml b/ansible/roles/netplan/tasks/main.yaml index 0a09e88dd1e..fdbf6f90db6 100644 --- a/ansible/roles/netplan/tasks/main.yaml +++ b/ansible/roles/netplan/tasks/main.yaml @@ -8,7 +8,7 @@ ansible.builtin.template: src: 99-edge-auto.yaml.jinja2 dest: /etc/netplan/99-edge-auto-jetson.yaml - mode: 0644 + mode: 0600 become: true - name: Netplan apply From 0774829a1d9fa2ea7b603a3eb0c28da2be0e9c03 Mon Sep 17 00:00:00 2001 From: Yuri Guimaraes Date: Wed, 28 Aug 2024 12:12:26 +0900 Subject: [PATCH 8/8] autoware.repos. update commits to 2024.08 Signed-off-by: Yuri Guimaraes --- autoware.repos | 73 +++++++++++++++++++------------------------------- 1 file changed, 27 insertions(+), 46 deletions(-) diff --git a/autoware.repos b/autoware.repos index d7bbdb0c87d..109d4074eb6 100644 --- a/autoware.repos +++ b/autoware.repos @@ -1,8 +1,8 @@ repositories: launcher: type: git - url: https://github.com/tier4/edge_auto_launch.git - version: main + url: https://github.com/MapIV/edge_auto_launch.git + version: fix/autoware individual_params: type: git url: https://github.com/tier4/edge_auto_individual_params.git @@ -10,47 +10,47 @@ repositories: calibration_tools: type: git url: https://github.com/tier4/CalibrationTools.git - version: tier4/universe + version: feature/edge_auto core/autoware_msgs: type: git url: https://github.com/autowarefoundation/autoware_msgs.git - version: 4c3a1939520cd8ac9d05b0addf7286a0534de024 + version: 1.1.0 core/autoware_adapi_msgs: type: git url: https://github.com/autowarefoundation/autoware_adapi_msgs.git - version: 9bb74bd5006f7e3901ecd0368c19c30d047482f4 + version: 1.3.0 core/autoware_internal_msgs: type: git url: https://github.com/autowarefoundation/autoware_internal_msgs.git - version: 4537a08fdb679bc5f0f1b7fd0f5e54ca5bd3f029 + version: 1.1.0 core/autoware_common: type: git url: https://github.com/autowarefoundation/autoware_common.git - version: 6752ca71a985c3bd39ab9cc23a3695930f0a6e29 + version: remove-autoware-cmake-utils core/autoware_cmake: type: git url: https://github.com/autowarefoundation/autoware_cmake.git - version: 43935be10fac9a6eb08ceaee661794d2c24cfb61 + version: 1.0.0 core/autoware_utils: type: git url: https://github.com/autowarefoundation/autoware_utils.git - version: 7add7cefacf3f6c1d609b30ac10a2c3f7c36b8dc + version: 1.0.0 core/autoware_lanelet2_extension: type: git url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git - version: 68cfa3053a16a81ab7352acae5414698150ac56e + version: 0.5.0 core/autoware.core: type: git url: https://github.com/autowarefoundation/autoware.core.git - version: 99891401473b5740e640f5a0cc0412c0984b8e0b + version: main core/external/autoware_auto_msgs: type: git url: https://github.com/tier4/autoware_auto_msgs.git - version: 1e8b6d234e2690c9da386f006bb60835cdccddfd + version: tier4/main universe/autoware.universe: type: git - url: https://github.com/autowarefoundation/autoware.universe.git - version: aa2de285f053946c57560728e87b196787687de4 + url: https://github.com/MapIV/autowarefoundation.universe.git + version: fix/cpp17_namespaces universe/external/tier4_ad_api_adaptor: type: git url: https://github.com/tier4/tier4_ad_api_adaptor.git @@ -58,51 +58,27 @@ repositories: universe/external/tier4_autoware_msgs: type: git url: https://github.com/tier4/tier4_autoware_msgs.git - version: 5cf56e7c1f1156c0067108a83806a22e42120d1b + version: tier4/universe universe/external/morai_msgs: type: git url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git - version: 860aaadea5dcaabd5a2272c244eea51265363740 - universe/external/muSSP: + version: main + universe/external/mussp: type: git url: https://github.com/tier4/muSSP.git - version: c79e98fd5e658f4f90c06d93472faa977bc873b9 + version: tier4/main universe/external/ndt_omp: type: git url: https://github.com/tier4/ndt_omp.git - version: ef654bdb1a3fe0bae6f3247b4959e230e63ba429 - universe/external/pointcloud_to_laserscan: - type: git - url: https://github.com/tier4/pointcloud_to_laserscan.git - version: d969ec699f84fad827fbadfa3001c9c657482fbe - universe/external/eagleye: - type: git - url: https://github.com/MapIV/eagleye.git - version: be15339c3100f631d6650f09f1cadea02ae78905 - universe/external/rtklib_ros_bridge: - type: git - url: https://github.com/MapIV/rtklib_ros_bridge.git - version: ef094407bba4f475a8032972e0c60cbb939b51b8 - universe/external/llh_converter: - type: git - url: https://github.com/MapIV/llh_converter.git - version: 07ad112b4f6b83eccd3a5f777bbe40ff01c67382 - universe/external/ament_cmake: + version: tier4/main + universe/external/ament_cmake: # TODO(mitsudome-r): remove when https://github.com/ament/ament_cmake/pull/448 is merged type: git url: https://github.com/autowarefoundation/ament_cmake.git - version: aa498007d47198815fa7cba25f9dfeac77e09ca3 + version: feat/faster_ament_libraries_deduplicate universe/external/glog: type: git url: https://github.com/tier4/glog.git - version: ea36766fdc2ac8e8c8e3ac988ae69acd6d09bb30 - sensor_component/external/sensor_component_description: - type: git - url: https://github.com/tier4/sensor_component_description.git - version: cf6acf3c03ed9ae633048e5eec3c6fc1ac660946 - sensor_component/external/tamagawa_imu_driver: - type: git - url: https://github.com/tier4/tamagawa_imu_driver.git - version: de4bf6be79aa2968cf2f62e0ebe1ff8a5797e6ad + version: v0.6.0_t4-ros sensor_component/external/nebula: type: git url: https://github.com/tier4/nebula.git @@ -133,4 +109,9 @@ repositories: url: https://github.com/Box-Robotics/ros2_numpy.git version: humble + eagleye: + type: git + url: https://github.com/MapIV/eagleye/tree/autoware-main + version: autoware-main +