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feat(docker): add planning/control launch files to autoware:universe-planning-control images #5587

Merged
merged 14 commits into from
Mar 17, 2025
Merged

feat(docker): add planning/control launch files to autoware:universe-planning-control images #5587

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1af97ee
remove todo
youtalk Oct 11, 2024
05433ce
add planning & control launch
youtalk Dec 19, 2024
e497c0f
Merge branch 'main' into remove-pc-todo-comments
youtalk Jan 9, 2025
eb9164a
Merge branch 'main' into feat/pc-launch
youtalk Jan 21, 2025
9f83cdb
Merge branch 'main' into feat/pc-launch
youtalk Mar 12, 2025
7c8be2d
Merge branch 'main' into remove-pc-todo-comments
youtalk Mar 14, 2025
69ec161
Merge branch 'main' into remove-pc-todo-comments
youtalk Mar 14, 2025
6abe560
revert pointcloud_preprocessor
youtalk Mar 17, 2025
a2dc2e8
revert pcl_extensions
youtalk Mar 17, 2025
cda1402
reorder
youtalk Mar 17, 2025
b2c6a23
Merge branch 'remove-pc-todo-comments' into feat/pc-launch
youtalk Mar 17, 2025
a4304a8
copy outside packages
youtalk Mar 17, 2025
44bd22c
copy raw_vehicle_cmd_converter
youtalk Mar 17, 2025
c90ca19
Merge remote-tracking branch 'upstream/main' into feat/pc-launch
youtalk Mar 17, 2025
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16 changes: 12 additions & 4 deletions docker/Dockerfile
View file
Original file line number Diff line number Diff line change
@@ -3,7 +3,7 @@
ARG AUTOWARE_BASE_CUDA_IMAGE

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

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

@@ -95,13 +95,17 @@
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

COPY src/universe/autoware.universe/launch/tier4_control_launch /autoware/src/universe/autoware.universe/launch/tier4_control_launch
COPY src/universe/autoware.universe/launch/tier4_planning_launch /autoware/src/universe/autoware.universe/launch/tier4_planning_launch
COPY src/universe/autoware.universe/control /autoware/src/universe/autoware.universe/control
COPY src/universe/autoware.universe/planning /autoware/src/universe/autoware.universe/planning
# TODO(youtalk): Remove COPYs when https://github.com/autowarefoundation/autoware.universe/issues/8805 is resolved
COPY src/universe/autoware.universe/map/autoware_map_loader /autoware/src/universe/autoware.universe/map/autoware_map_loader
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/evaluator/autoware_control_evaluator /autoware/src/universe/autoware.universe/evaluator/autoware_control_evaluator
COPY src/universe/autoware.universe/evaluator/autoware_planning_evaluator /autoware/src/universe/autoware.universe/evaluator/autoware_planning_evaluator
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
COPY src/universe/autoware.universe/vehicle/autoware_external_cmd_converter /autoware/src/universe/autoware.universe/vehicle/autoware_external_cmd_converter
COPY src/universe/autoware.universe/vehicle/autoware_raw_vehicle_cmd_converter /autoware/src/universe/autoware.universe/vehicle/autoware_raw_vehicle_cmd_converter
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
@@ -145,7 +149,7 @@
&& cat /rosdep-exec-depend-packages.txt

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS core-common-devel

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ENV CCACHE_DIR="/root/.ccache"
@@ -340,13 +344,17 @@

# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,source=src/universe/autoware.universe/launch/tier4_control_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_control_launch \
--mount=type=bind,source=src/universe/autoware.universe/launch/tier4_planning_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_planning_launch \
--mount=type=bind,source=src/universe/autoware.universe/control,target=/autoware/src/universe/autoware.universe/control \
--mount=type=bind,source=src/universe/autoware.universe/planning,target=/autoware/src/universe/autoware.universe/planning \
# TODO(youtalk): Remove --mount options when https://github.com/autowarefoundation/autoware.universe/issues/8805 is resolved
--mount=type=bind,source=src/universe/autoware.universe/map/autoware_map_loader,target=/autoware/src/universe/autoware.universe/map/autoware_map_loader \
--mount=type=bind,source=src/universe/autoware.universe/map/autoware_map_projection_loader,target=/autoware/src/universe/autoware.universe/map/autoware_map_projection_loader \
--mount=type=bind,source=src/universe/autoware.universe/evaluator/autoware_control_evaluator,target=/autoware/src/universe/autoware.universe/evaluator/autoware_control_evaluator \
--mount=type=bind,source=src/universe/autoware.universe/evaluator/autoware_planning_evaluator,target=/autoware/src/universe/autoware.universe/evaluator/autoware_planning_evaluator \
--mount=type=bind,source=src/universe/autoware.universe/sensing/autoware_pcl_extensions,target=/autoware/src/universe/autoware.universe/sensing/autoware_pcl_extensions \
--mount=type=bind,source=src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor,target=/autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor \
--mount=type=bind,source=src/universe/autoware.universe/vehicle/autoware_external_cmd_converter,target=/autoware/src/universe/autoware.universe/vehicle/autoware_external_cmd_converter \
--mount=type=bind,source=src/universe/autoware.universe/vehicle/autoware_raw_vehicle_cmd_converter,target=/autoware/src/universe/autoware.universe/vehicle/autoware_raw_vehicle_cmd_converter \
source /opt/ros/"$ROS_DISTRO"/setup.bash \
&& source /opt/autoware/setup.bash \
&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware
@@ -463,7 +471,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS core

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
@@ -489,7 +497,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-sensing-perception

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
@@ -515,7 +523,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_CUDA_IMAGE AS universe-sensing-perception-cuda

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
@@ -537,7 +545,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-localization-mapping

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
@@ -563,7 +571,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-planning-control

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
@@ -589,7 +597,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-vehicle-system

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
@@ -641,7 +649,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
@@ -667,7 +675,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_CUDA_IMAGE AS universe-cuda

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR