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feat(docker): separation from universe-devel stage to universe-localization-mapping-devel stage #5186

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merged 7 commits into from
Sep 6, 2024
Merged

feat(docker): separation from universe-devel stage to universe-localization-mapping-devel stage #5186

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4a900ee
update rosdep
youtalk Sep 6, 2024
9e732a6
update build
youtalk Sep 6, 2024
ec9d1b3
fix
youtalk Sep 6, 2024
5ecc4cc
fix action
youtalk Sep 6, 2024
5d5c877
update svg
youtalk Sep 6, 2024
9daa1e0
update readme
youtalk Sep 6, 2024
edacbd4
Revert "fix action"
youtalk Sep 6, 2024
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97 changes: 75 additions & 22 deletions docker/Dockerfile
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
ARG BASE_IMAGE

# hadolint ignore=DL3006
FROM $BASE_IMAGE AS base

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GitHub Actions / docker-build (no-cuda)

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

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

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GitHub Actions / docker-build (cuda)

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

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

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

Check warning on line 40 in docker/Dockerfile

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GitHub Actions / docker-build (no-cuda)

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

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

Check warning on line 40 in docker/Dockerfile

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GitHub Actions / docker-build (cuda)

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

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

Expand Down Expand Up @@ -76,6 +76,10 @@
> /rosdep-universe-common-depend-packages.txt \
&& cat /rosdep-universe-common-depend-packages.txt

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

COPY src/universe/autoware.universe/perception /autoware/src/universe/autoware.universe/perception
COPY src/universe/autoware.universe/sensing /autoware/src/universe/autoware.universe/sensing
RUN rosdep keys --ignore-src --from-paths src \
Expand All @@ -93,6 +97,24 @@
> /rosdep-universe-sensing-perception-exec-depend-packages.txt \
&& cat /rosdep-universe-sensing-perception-exec-depend-packages.txt

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

COPY src/universe/autoware.universe/localization /autoware/src/universe/autoware.universe/localization
COPY src/universe/autoware.universe/map /autoware/src/universe/autoware.universe/map
RUN rosdep keys --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
> /rosdep-universe-localization-mapping-depend-packages.txt \
&& cat /rosdep-universe-localization-mapping-depend-packages.txt

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

COPY src/launcher /autoware/src/launcher
COPY src/param /autoware/src/param
COPY src/sensor_component /autoware/src/sensor_component
Expand Down Expand Up @@ -165,10 +187,10 @@
&& cat /tmp/rosdep-universe-common-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
&& apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache

# TODO(youtalk): Remove COPYs when https://github.com/autowarefoundation/autoware.universe/issues/8695 is resolved
# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/common,target=/autoware/src/universe/autoware.universe/common \
# TODO(youtalk): Remove --mount options when https://github.com/autowarefoundation/autoware.universe/issues/8695 is resolved
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/simulator/dummy_perception_publisher,target=/autoware/src/universe/autoware.universe/simulator/dummy_perception_publisher \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/vehicle/autoware_vehicle_info_utils,target=/autoware/src/universe/autoware.universe/vehicle/autoware_vehicle_info_utils \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/external,target=/autoware/src/universe/external \
Expand All @@ -193,7 +215,7 @@
ENV CCACHE_DIR="/root/.ccache"

# Install rosdep dependencies
COPY --from=rosdep-depend /rosdep-universe-sensing-perception-depend-packages.txt /tmp/rosdep-universe-sensing-perception-depend-packages.txt
COPY --from=rosdep-universe-sensing-perception-depend /rosdep-universe-sensing-perception-depend-packages.txt /tmp/rosdep-universe-sensing-perception-depend-packages.txt
# hadolint ignore=SC2002
RUN --mount=type=ssh \
apt-get update \
Expand All @@ -202,8 +224,40 @@

# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/perception,target=/autoware/src/universe/autoware.universe/perception \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/sensing,target=/autoware/src/universe/autoware.universe/sensing \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception,target=/autoware/src/universe/autoware.universe/perception \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/sensing,target=/autoware/src/universe/autoware.universe/sensing \
source /opt/ros/"$ROS_DISTRO"/setup.bash \
&& source /opt/autoware/setup.bash \
&& du -sh ${CCACHE_DIR} && ccache -s \
&& colcon build --cmake-args \
" -Wno-dev" \
" --no-warn-unused-cli" \
--merge-install \
--install-base /opt/autoware \
--mixin release compile-commands ccache \
&& du -sh ${CCACHE_DIR} && ccache -s \
&& rm -rf /autoware/build

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

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

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

# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/localization,target=/autoware/src/universe/autoware.universe/localization \
--mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/map,target=/autoware/src/universe/autoware.universe/map \
source /opt/ros/"$ROS_DISTRO"/setup.bash \
&& source /opt/autoware/setup.bash \
&& du -sh ${CCACHE_DIR} && ccache -s \
Expand All @@ -225,31 +279,30 @@
ENV CCACHE_DIR="/root/.ccache"

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

COPY --from=universe-sensing-perception-devel /opt/autoware /opt/autoware
COPY --from=universe-localization-mapping-devel /opt/autoware /opt/autoware
# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/launcher,target=/autoware/src/launcher \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/param,target=/autoware/src/param \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/sensor_component,target=/autoware/src/sensor_component \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/sensor_kit,target=/autoware/src/sensor_kit \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/control,target=/autoware/src/universe/autoware.universe/control \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/evaluator,target=/autoware/src/universe/autoware.universe/evaluator \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/launch,target=/autoware/src/universe/autoware.universe/launch \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/localization,target=/autoware/src/universe/autoware.universe/localization \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/map,target=/autoware/src/universe/autoware.universe/map \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/planning,target=/autoware/src/universe/autoware.universe/planning \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/simulator,target=/autoware/src/universe/autoware.universe/simulator \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/system,target=/autoware/src/universe/autoware.universe/system \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/tools,target=/autoware/src/universe/autoware.universe/tools \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/vehicle,target=/autoware/src/universe/autoware.universe/vehicle \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/vehicle,target=/autoware/src/vehicle \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/launcher,target=/autoware/src/launcher \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/param,target=/autoware/src/param \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/sensor_component,target=/autoware/src/sensor_component \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/sensor_kit,target=/autoware/src/sensor_kit \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/control,target=/autoware/src/universe/autoware.universe/control \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/evaluator,target=/autoware/src/universe/autoware.universe/evaluator \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/launch,target=/autoware/src/universe/autoware.universe/launch \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/planning,target=/autoware/src/universe/autoware.universe/planning \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/simulator,target=/autoware/src/universe/autoware.universe/simulator \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/system,target=/autoware/src/universe/autoware.universe/system \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/tools,target=/autoware/src/universe/autoware.universe/tools \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/universe/autoware.universe/vehicle,target=/autoware/src/universe/autoware.universe/vehicle \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/vehicle,target=/autoware/src/vehicle \
source /opt/ros/"$ROS_DISTRO"/setup.bash \
&& source /opt/autoware/setup.bash \
&& du -sh ${CCACHE_DIR} && ccache -s \
Expand All @@ -272,7 +325,7 @@
ARG SETUP_ARGS

# Set up runtime environment and artifacts
COPY --from=rosdep-depend /rosdep-universe-sensing-perception-exec-depend-packages.txt /tmp/rosdep-universe-sensing-perception-exec-depend-packages.txt
COPY --from=rosdep-universe-sensing-perception-depend /rosdep-universe-sensing-perception-exec-depend-packages.txt /tmp/rosdep-universe-sensing-perception-exec-depend-packages.txt
# hadolint ignore=SC2002
RUN --mount=type=ssh \
--mount=type=cache,target=/var/cache/apt,sharing=locked \
Expand Down Expand Up @@ -306,7 +359,7 @@
ARG SETUP_ARGS

# Set up runtime environment and artifacts
COPY --from=rosdep-depend /rosdep-exec-depend-packages.txt /tmp/rosdep-exec-depend-packages.txt
COPY --from=rosdep-universe-depend /rosdep-exec-depend-packages.txt /tmp/rosdep-exec-depend-packages.txt
# hadolint ignore=SC2002
RUN --mount=type=ssh \
--mount=type=cache,target=/var/cache/apt,sharing=locked \
Expand Down
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