feat(docker): add universe-planning-control runtime image (#5195)

* update docker Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * update action Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * update readme Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * fix images Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * not download artifacts Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * add universe-planning-control-devel Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * fix copy Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * add copy Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * fix copy Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * add linefeed Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * add pcl Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * update svg Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * update readme Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * add planning-control image Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * update svg Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * use ghcr.io Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * update readme Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * not download artifacts Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * chore(docker): remove ansible config files from runtime images (#5192) * remove ansible files from runtime images Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * update rm -rf Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> --------- Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> --------- Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
autowarefoundation · Sep 9, 2024 · bd793d2 · bd793d2
1 parent de26d57
commit bd793d2
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Showing 5 changed files with 262 additions and 152 deletions.
diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
@@ -155,6 +155,28 @@ runs:
           latest=false
           suffix=-universe-localization-mapping${{ inputs.tag-suffix }}
 
+    - name: Docker meta for autoware:universe-planning-control-devel
+      id: meta-universe-planning-control-devel
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        bake-target: docker-metadata-action-universe-planning-control-devel
+        flavor: |
+          latest=false
+          suffix=-universe-planning-control-devel${{ inputs.tag-suffix }}
+
+    - name: Docker meta for autoware:universe-planning-control
+      id: meta-universe-planning-control
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        bake-target: docker-metadata-action-universe-planning-control
+        flavor: |
+          latest=false
+          suffix=-universe-planning-control${{ inputs.tag-suffix }}
+
     - name: Docker meta for autoware:universe-devel
       id: meta-universe-devel
       uses: docker/metadata-action@v5
@@ -196,6 +218,8 @@ runs:
           ${{ steps.meta-universe-sensing-perception.outputs.bake-file }}
           ${{ steps.meta-universe-localization-mapping-devel.outputs.bake-file }}
           ${{ steps.meta-universe-localization-mapping.outputs.bake-file }}
+          ${{ steps.meta-universe-planning-control-devel.outputs.bake-file }}
+          ${{ steps.meta-universe-planning-control.outputs.bake-file }}
           ${{ steps.meta-universe-devel.outputs.bake-file }}
           ${{ steps.meta-universe.outputs.bake-file }}
         provenance: false

diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -136,6 +136,13 @@ RUN rosdep keys --ignore-src --from-paths src \
     | sort \
     > /rosdep-universe-planning-control-depend-packages.txt \
     && cat /rosdep-universe-planning-control-depend-packages.txt
+RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
+    | xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
+    | grep -v '^#' \
+    | sed 's/ \+/\n/g'\
+    | sort \
+    > /rosdep-universe-planning-control-exec-depend-packages.txt \
+    && cat /rosdep-universe-planning-control-exec-depend-packages.txt
 
 FROM rosdep-depend AS rosdep-universe-depend
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
@@ -397,7 +404,7 @@ RUN --mount=type=ssh \
   && find / -name "*.o" -type f -delete \
   && find / -name "*.h" -type f -delete \
   && find / -name "*.hpp" -type f -delete \
-  && rm -rf /autoware/ansible \
+  && rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
     /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
     /etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
     /usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
@@ -431,7 +438,7 @@ RUN --mount=type=ssh \
   && find / -name "*.o" -type f -delete \
   && find / -name "*.h" -type f -delete \
   && find / -name "*.hpp" -type f -delete \
-  && rm -rf /autoware/ansible \
+  && rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
     /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
     /etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
     /usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
@@ -445,6 +452,40 @@ RUN echo "source /opt/autoware/setup.bash" > /etc/bash.bashrc
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
+FROM base AS universe-planning-control
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ARG LIB_DIR
+ARG SETUP_ARGS
+
+# Set up runtime environment and artifacts
+COPY --from=rosdep-universe-planning-control-depend /rosdep-universe-planning-control-exec-depend-packages.txt /tmp/rosdep-universe-planning-control-exec-depend-packages.txt
+# hadolint ignore=SC2002
+RUN --mount=type=ssh \
+  --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  ./setup-dev-env.sh -y --module all ${SETUP_ARGS} --no-cuda-drivers --runtime openadkit \
+  && pip uninstall -y ansible ansible-core \
+  && apt-get update \
+  && cat /tmp/rosdep-universe-planning-control-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && apt-get autoremove -y && rm -rf "$HOME"/.cache \
+  && find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
+  && find / -name "*.o" -type f -delete \
+  && find / -name "*.h" -type f -delete \
+  && find / -name "*.hpp" -type f -delete \
+  && rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
+    /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
+    /etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
+    /usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
+
+COPY --from=universe-planning-control-devel /opt/autoware /opt/autoware
+
+# Copy bash aliases
+COPY docker/etc/.bash_aliases /root/.bash_aliases
+RUN echo "source /opt/autoware/setup.bash" > /etc/bash.bashrc
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["/bin/bash"]
+
 FROM base AS universe
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
@@ -465,7 +506,7 @@ RUN --mount=type=ssh \
   && find / -name "*.o" -type f -delete \
   && find / -name "*.h" -type f -delete \
   && find / -name "*.hpp" -type f -delete \
-  && rm -rf /autoware/ansible \
+  && rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
     /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
     /etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
     /usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*