Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

refactor(docker): replace the multiple colcon commands with build_and_clean.sh. #5425

Merged
merged 9 commits into from
Nov 12, 2024
Merged

refactor(docker): replace the multiple colcon commands with build_and_clean.sh. #5425

Show file tree
Hide file tree
Changes from 8 commits
Commits
Show all changes
9 commits
Select commit Hold shift + click to select a range
e5518da
run resolve_rosdep_keys.sh
youtalk Nov 12, 2024
ce7ff36
style(pre-commit): autofix
pre-commit-ci[bot] Nov 12, 2024
5c44436
update .dockerignore
youtalk Nov 12, 2024
8c4b1d5
chmod +x
youtalk Nov 12, 2024
ea76f69
fix location
youtalk Nov 12, 2024
6264cde
remove rosdep update
youtalk Nov 12, 2024
01356bc
run build_and_clean.sh
youtalk Nov 12, 2024
290c1e2
style(pre-commit): autofix
pre-commit-ci[bot] Nov 12, 2024
a01be85
Merge branch 'main' into build-and-clean
youtalk Nov 12, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions .dockerignore
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@
# Ignore Docker files
docker
!docker/etc
!docker/scripts

# Ignore a part of files under src
src/**/.*
Expand Down
157 changes: 25 additions & 132 deletions docker/Dockerfile
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -52,6 +52,8 @@ ARG ROS_DISTRO

COPY setup-dev-env.sh ansible-galaxy-requirements.yaml amd64.env arm64.env /autoware/
COPY ansible/ /autoware/ansible/
COPY docker/scripts/resolve_rosdep_keys.sh /autoware/resolve_rosdep_keys.sh
RUN chmod +x /autoware/resolve_rosdep_keys.sh
WORKDIR /autoware

RUN rm -f /etc/apt/apt.conf.d/docker-clean \
Expand All @@ -64,21 +66,13 @@ RUN --mount=type=ssh \

# Generate install package lists
COPY src/core /autoware/src/core
RUN rosdep update && rosdep keys --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
RUN rosdep update && /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /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
RUN rosdep keys --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-universe-common-depend-packages.txt \
&& cat /rosdep-universe-common-depend-packages.txt

Expand All @@ -88,18 +82,10 @@ 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 \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-universe-sensing-perception-depend-packages.txt \
&& cat /rosdep-universe-sensing-perception-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 \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-universe-sensing-perception-exec-depend-packages.txt \
&& cat /rosdep-universe-sensing-perception-exec-depend-packages.txt

Expand All @@ -109,18 +95,10 @@ 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 \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-universe-localization-mapping-depend-packages.txt \
&& cat /rosdep-universe-localization-mapping-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 \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-universe-localization-mapping-exec-depend-packages.txt \
&& cat /rosdep-universe-localization-mapping-exec-depend-packages.txt

Expand All @@ -135,18 +113,10 @@ COPY src/universe/autoware.universe/map/map_loader /autoware/src/universe/autowa
COPY src/universe/autoware.universe/map/autoware_map_projection_loader /autoware/src/universe/autoware.universe/map/autoware_map_projection_loader
COPY src/universe/autoware.universe/sensing/autoware_pcl_extensions /autoware/src/universe/autoware.universe/sensing/autoware_pcl_extensions
COPY src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor /autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor
RUN rosdep keys --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /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 \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-universe-planning-control-exec-depend-packages.txt \
&& cat /rosdep-universe-planning-control-exec-depend-packages.txt

Expand All @@ -158,18 +128,10 @@ COPY src/universe/autoware.universe/vehicle /autoware/src/universe/autoware.univ
COPY src/universe/autoware.universe/system /autoware/src/universe/autoware.universe/system
COPY src/universe/autoware.universe/map/autoware_map_height_fitter /autoware/src/universe/autoware.universe/map/autoware_map_height_fitter
COPY src/universe/autoware.universe/localization/autoware_pose2twist /autoware/src/universe/autoware.universe/localization/autoware_pose2twist
RUN rosdep keys --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-universe-vehicle-system-depend-packages.txt \
&& cat /rosdep-universe-vehicle-system-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 \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-universe-vehicle-system-exec-depend-packages.txt \
&& cat /rosdep-universe-vehicle-system-exec-depend-packages.txt

Expand All @@ -183,19 +145,11 @@ COPY src/sensor_component /autoware/src/sensor_component
COPY src/sensor_kit /autoware/src/sensor_kit
COPY src/universe /autoware/src/universe
COPY src/vehicle /autoware/src/vehicle
RUN rosdep keys --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
| sed 's/ \+/\n/g'\
| sort \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /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 '^#' \
| sed 's/ \+/\n/g'\
| sort \
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
> /rosdep-exec-depend-packages.txt \
&& cat /rosdep-exec-depend-packages.txt

Expand All @@ -204,6 +158,9 @@ SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ENV CCACHE_DIR="/root/.ccache"

COPY docker/scripts/build_and_clean.sh /autoware/build_and_clean.sh
RUN chmod +x /autoware/build_and_clean.sh

# Set up development environment and tools
RUN --mount=type=ssh \
--mount=type=cache,target=/var/cache/apt,sharing=locked \
Expand All @@ -223,15 +180,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/core,target=/autoware/src/core \
source /opt/ros/"$ROS_DISTRO"/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 /autoware/log
&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["/bin/bash"]
Expand All @@ -255,15 +204,7 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/external,target=/autoware/src/universe/external \
source /opt/ros/"$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 /autoware/log
&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["/bin/bash"]
Expand Down Expand Up @@ -300,15 +241,7 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/sensing,target=/autoware/src/universe/autoware.universe/sensing \
source /opt/ros/"$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 /autoware/log
&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["/bin/bash"]
Expand Down Expand Up @@ -342,15 +275,7 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/sensing/autoware_cuda_utils,target=/autoware/src/universe/autoware.universe/sensing/autoware_cuda_utils \
source /opt/ros/"$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
&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware

COPY --from=universe-sensing-perception-devel /opt/autoware /opt/autoware

Expand All @@ -376,15 +301,7 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/map,target=/autoware/src/universe/autoware.universe/map \
source /opt/ros/"$ROS_DISTRO"/setup.bash \
&& source /opt/autoware/setup.bash \
&& du -sh ${CCACHE_DIR} && ccache -s \
&& 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 /autoware/log
&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware

FROM universe-common-devel AS universe-planning-control-devel
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
Expand All @@ -410,15 +327,7 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor,target=/autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor \
source /opt/ros/"$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 /autoware/log
&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["/bin/bash"]
Expand All @@ -444,15 +353,7 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-universe-vehicle-system-depend,source=/autoware/src/universe/autoware.universe/localization/autoware_pose2twist,target=/autoware/src/universe/autoware.universe/localization/autoware_pose2twist \
source /opt/ros/"$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 /autoware/log
&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["/bin/bash"]
Expand Down Expand Up @@ -487,15 +388,7 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/vehicle,target=/autoware/src/vehicle \
source /opt/ros/"$ROS_DISTRO"/setup.bash \
&& source /opt/autoware/setup.bash \
&& du -sh ${CCACHE_DIR} && ccache -s \
&& 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 /autoware/log
&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["/bin/bash"]
Expand Down
18 changes: 18 additions & 0 deletions docker/scripts/build_and_clean.sh
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
#!/bin/bash

function build_and_clean() {
local ccache_dir=$1
local install_base=$2

du -sh "$ccache_dir" && ccache -s &&
colcon build --cmake-args \
" -Wno-dev" \
" --no-warn-unused-cli" \
--merge-install \
--install-base "$install_base" \
--mixin release compile-commands ccache &&
du -sh "$ccache_dir" && ccache -s &&
rm -rf /autoware/build /autoware/log
}

build_and_clean "$@"
14 changes: 14 additions & 0 deletions docker/scripts/resolve_rosdep_keys.sh
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@
#!/bin/bash

function resolve_rosdep_keys() {
local src_path=$1
local ros_distro=$2

rosdep keys --ignore-src --from-paths "$src_path" |
xargs rosdep resolve --rosdistro "$ros_distro" |
grep -v '^#' |
sed 's/ \+/\n/g' |
sort
}

resolve_rosdep_keys "$@"
Loading