fix:(ansible) add missing dependencies

amd64.env

@@ -1,8 +1,9 @@
 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=12.5
+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

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"
+```

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'

ansible/playbooks/download_artifacts.yaml

@@ -0,0 +1,4 @@
+- name: Download Autoware artifacts
+  hosts: localhost
+  roles:
+    - autoware.dev_env.artifacts

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

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'

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

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'

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.