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feat(docker): separation from autoware-universe stage to autoware-universe-sensing-perception stage #5164

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merged 8 commits into from
Sep 4, 2024
Merged

feat(docker): separation from autoware-universe stage to autoware-universe-sensing-perception stage #5164

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bbe441c
split depend stage
youtalk Sep 3, 2024
0f21eb1
add s/p stage
youtalk Sep 3, 2024
334dd4a
fix
youtalk Sep 3, 2024
0be97ab
rename
youtalk Sep 3, 2024
a575df0
fix
youtalk Sep 3, 2024
e642a78
revert rename
youtalk Sep 3, 2024
52e534f
Revert "revert rename"
youtalk Sep 4, 2024
7be2a6f
simplify rosdep-depend
youtalk Sep 4, 2024
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47 changes: 45 additions & 2 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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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 @@ -34,7 +34,7 @@
CMD ["/bin/bash"]

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

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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 37 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 All @@ -59,6 +59,7 @@
| sort \
> /rosdep-core-depend-packages.txt \
&& cat /rosdep-core-depend-packages.txt

COPY src/universe/external /autoware/src/universe/external
COPY src/universe/autoware.universe/common /autoware/src/universe/autoware.universe/common
# TODO(youtalk): Remove COPYs when https://github.com/autowarefoundation/autoware.universe/issues/8695 is resolved
Expand All @@ -71,6 +72,17 @@
| sort \
> /rosdep-universe-common-depend-packages.txt \
&& cat /rosdep-universe-common-depend-packages.txt

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 \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
> /rosdep-universe-sensing-perception-depend-packages.txt \
&& cat /rosdep-universe-sensing-perception-depend-packages.txt

COPY src/launcher /autoware/src/launcher
COPY src/param /autoware/src/param
COPY src/sensor_component /autoware/src/sensor_component
Expand All @@ -84,6 +96,7 @@
| sort \
> /rosdep-universe-depend-packages.txt \
&& cat /rosdep-universe-depend-packages.txt

RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
Expand Down Expand Up @@ -157,6 +170,37 @@
&& du -sh ${CCACHE_DIR} && ccache -s \
&& rm -rf /autoware/build

FROM autoware-universe-common AS autoware-universe-sensing-perception
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
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
# hadolint ignore=SC2002
RUN --mount=type=ssh \
apt-get update \
&& cat /tmp/rosdep-universe-sensing-perception-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=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/perception,target=/autoware/src/universe/autoware.universe/perception \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/sensing,target=/autoware/src/universe/autoware.universe/sensing \
source /opt/ros/"$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

CMD ["/bin/bash"]

FROM autoware-universe-common AS autoware-universe
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
Expand All @@ -170,6 +214,7 @@
&& 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=autoware-universe-sensing-perception /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 \
Expand All @@ -181,9 +226,7 @@
--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/perception,target=/autoware/src/universe/autoware.universe/perception \
--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/sensing,target=/autoware/src/universe/autoware.universe/sensing \
--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 \
Expand Down
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