feat(docker): install CUDA drivers in autoware:base image (#5159)

* install cuda on base

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* change suffix

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

---------

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

.github/actions/docker-build-and-push/action.yaml

@@ -98,7 +98,7 @@ runs:
         bake-target: docker-metadata-action-base
         flavor: |
           latest=false
-          suffix=-base
+          suffix=-base${{ inputs.tag-suffix }}
 
     - name: Docker meta for autoware-core
       id: meta-autoware-core

ansible/playbooks/openadkit.yaml

@@ -26,16 +26,16 @@
       when: module == 'base'
     - role: autoware.dev_env.pacmod
       when: module == 'base'
+    - role: autoware.dev_env.cuda
+      when: module == 'base' and prompt_install_nvidia=='y'
+    - role: autoware.dev_env.tensorrt
+      when: module == 'base' and prompt_install_nvidia=='y'
     - 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'
 
     # Development environment
     - role: autoware.dev_env.dev_tools

docker/Dockerfile

@@ -4,6 +4,7 @@ ARG BASE_IMAGE
 FROM $BASE_IMAGE AS base
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
+ARG SETUP_ARGS
 
 # Install apt packages and add GitHub to known hosts for private repositories
 RUN rm -f /etc/apt/apt.conf.d/docker-clean \
@@ -24,7 +25,7 @@ WORKDIR /autoware
 # Set up base environment
 RUN --mount=type=ssh \
   --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  ./setup-dev-env.sh -y --module base --runtime openadkit \
+  ./setup-dev-env.sh -y --module base ${SETUP_ARGS} --no-cuda-drivers --runtime openadkit \
   && pip uninstall -y ansible ansible-core \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache \
   && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" > /etc/bash.bashrc
@@ -94,13 +95,12 @@ RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
 FROM base AS autoware-core
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
-ARG SETUP_ARGS
 ENV CCACHE_DIR="/root/.ccache"
 
 # Set up development environment
 RUN --mount=type=ssh \
   --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  ./setup-dev-env.sh -y --module all ${SETUP_ARGS} --no-cuda-drivers openadkit \
+  ./setup-dev-env.sh -y --module all openadkit \
   && pip uninstall -y ansible ansible-core \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache