Merge branch 'main' into feat/update-tier4/awsim_sensor_kit_launch/0.…

…40.0

.pre-commit-config-optional.yaml

@@ -4,7 +4,7 @@
 
 repos:
   - repo: https://github.com/tcort/markdown-link-check
-    rev: v3.13.6
+    rev: v3.12.2
     hooks:
       - id: markdown-link-check
         args: [--quiet, --config=.markdown-link-check.json]

autoware-nightly.repos

@@ -3,6 +3,10 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
     version: main
+  core/autoware_internal_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_internal_msgs.git
+    version: main
   core/autoware.core:
     type: git
     url: https://github.com/autowarefoundation/autoware.core.git

autoware.repos

@@ -12,7 +12,7 @@ repositories:
   core/autoware_internal_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_internal_msgs.git
-    version: 1.2.0
+    version: 1.3.0
   core/autoware_cmake:
     type: git
     url: https://github.com/autowarefoundation/autoware_cmake.git
@@ -28,12 +28,12 @@ repositories:
   core/autoware.core:
     type: git
     url: https://github.com/autowarefoundation/autoware.core.git
-    version: 0.0.0
+    version: 0.1.0
   # universe
   universe/autoware.universe:
     type: git
     url: https://github.com/autowarefoundation/autoware.universe.git
-    version: 0.39.0
+    version: 0.40.0
   universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Migrate to AD API and remove this repository entry.
     type: git
     url: https://github.com/tier4/tier4_ad_api_adaptor.git
@@ -75,7 +75,7 @@ repositories:
   launcher/autoware_launch:
     type: git
     url: https://github.com/autowarefoundation/autoware_launch.git
-    version: 0.39.0
+    version: 0.40.0
   # sensor_component
   sensor_component/external/sensor_component_description:
     type: git
@@ -111,11 +111,11 @@ repositories:
   sensor_kit/awsim_labs_sensor_kit_launch:
     type: git
     url: https://github.com/autowarefoundation/awsim_labs_sensor_kit_launch.git
-    version: main
+    version: 0.39.0
   sensor_kit/single_lidar_sensor_kit_launch:
     type: git
     url: https://github.com/autowarefoundation/single_lidar_sensor_kit_launch.git
-    version: main
+    version: 0.39.0
   # vehicle
   vehicle/sample_vehicle_launch:
     type: git

docker/build.sh

@@ -59,9 +59,9 @@ set_cuda_options() {
 # Set build options
 set_build_options() {
     if [ "$option_devel_only" = "true" ]; then
-        targets=("universe-devel")
+        target="universe-devel"
     else
-        targets=()
+        target="universe"
     fi
 }
 
@@ -121,21 +121,34 @@ build_images() {
     echo "Setup args: $setup_args"
     echo "Lib dir: $lib_dir"
     echo "Image name suffix: $image_name_suffix"
-    echo "Targets: ${targets[*]}"
+    echo "Target: $target"
 
     set -x
-    docker buildx bake --load --progress=plain -f "$SCRIPT_DIR/docker-bake.hcl" \
+    docker buildx bake --load --progress=plain -f "$SCRIPT_DIR/docker-bake-base.hcl" \
         --set "*.context=$WORKSPACE_ROOT" \
         --set "*.ssh=default" \
         --set "*.platform=$platform" \
         --set "*.args.ROS_DISTRO=$rosdistro" \
         --set "*.args.BASE_IMAGE=$base_image" \
         --set "*.args.SETUP_ARGS=$setup_args" \
         --set "*.args.LIB_DIR=$lib_dir" \
-        --set "base.tags=ghcr.io/autowarefoundation/autoware:base" \
-        --set "universe-devel.tags=ghcr.io/autowarefoundation/autoware:universe-devel$image_name_suffix" \
-        --set "universe.tags=ghcr.io/autowarefoundation/autoware:universe$image_name_suffix" \
-        "${targets[@]}"
+        --set "base.tags=ghcr.io/autowarefoundation/autoware-base:latest" \
+        --set "base-cuda.tags=ghcr.io/autowarefoundation/autoware-base:cuda-latest"
+    docker buildx bake --load --progress=plain -f "$SCRIPT_DIR/docker-bake.hcl" -f "$SCRIPT_DIR/docker-bake-cuda.hcl" \
+        --set "*.context=$WORKSPACE_ROOT" \
+        --set "*.ssh=default" \
+        --set "*.platform=$platform" \
+        --set "*.args.ROS_DISTRO=$rosdistro" \
+        --set "*.args.BASE_IMAGE=$base_image" \
+        --set "*.args.AUTOWARE_BASE_IMAGE=$autoware_base_image" \
+        --set "*.args.AUTOWARE_BASE_CUDA_IMAGE=$autoware_base_cuda_image" \
+        --set "*.args.SETUP_ARGS=$setup_args" \
+        --set "*.args.LIB_DIR=$lib_dir" \
+        --set "universe-devel.tags=ghcr.io/autowarefoundation/autoware:universe-devel" \
+        --set "universe-devel-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-devel-cuda" \
+        --set "universe.tags=ghcr.io/autowarefoundation/autoware:universe" \
+        --set "universe-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-cuda" \
+        "$target$image_name_suffix"
     set +x
 }
 

simulator.repos

@@ -2,4 +2,4 @@ repositories:
   simulator/scenario_simulator:
     type: git
     url: https://github.com/tier4/scenario_simulator_v2.git
-    version: 7.3.1
+    version: 7.3.5