Merge branch 'main' into feat/pc-launch

autowarefoundation · Jan 21, 2025 · eb9164a · eb9164a
2 parents 05433ce + 7e68dc8
commit eb9164a
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diff --git a/.github/workflows/create-prs-to-update-vcs-repositories.yaml b/.github/workflows/create-prs-to-update-vcs-repositories.yaml
@@ -18,7 +18,7 @@ jobs:
           app_id: ${{ secrets.APP_ID }}
           private_key: ${{ secrets.PRIVATE_KEY }}
 
-      - name: Create PRs to update VCS repositories
+      - name: Create PRs to update VCS repositories for autoware.repos
         uses: autowarefoundation/autoware-github-actions/create-prs-to-update-vcs-repositories@v1
         with:
           token: ${{ steps.generate-token.outputs.token }}
@@ -29,3 +29,15 @@ jobs:
           new_branch_prefix: feat/update-
           autoware_repos_file_name: autoware.repos
           verbosity: 0
+
+      - name: Create PRs to update VCS repositories for simulator.repos
+        uses: autowarefoundation/autoware-github-actions/create-prs-to-update-vcs-repositories@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          repo_name: autowarefoundation/autoware
+          parent_dir: .
+          targets: major minor patch
+          base_branch: main
+          new_branch_prefix: feat/update-
+          autoware_repos_file_name: simulator.repos
+          verbosity: 0
diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml
@@ -4,7 +4,7 @@
 
 repos:
   - repo: https://github.com/tcort/markdown-link-check
-    rev: v3.13.6
+    rev: v3.12.2
     hooks:
       - id: markdown-link-check
         args: [--quiet, --config=.markdown-link-check.json]
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -74,7 +74,7 @@ repos:
         args: [--line-length=100]
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v19.1.5
+    rev: v19.1.6
     hooks:
       - id: clang-format
         types_or: [c++, c, cuda]

diff --git a/autoware-nightly.repos b/autoware-nightly.repos
@@ -3,6 +3,10 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
     version: main
+  core/autoware_internal_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_internal_msgs.git
+    version: main
   core/autoware.core:
     type: git
     url: https://github.com/autowarefoundation/autoware.core.git

diff --git a/autoware.repos b/autoware.repos
@@ -12,7 +12,7 @@ repositories:
   core/autoware_internal_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_internal_msgs.git
-    version: 1.1.0
+    version: 1.4.0
   core/autoware_cmake:
     type: git
     url: https://github.com/autowarefoundation/autoware_cmake.git
@@ -28,12 +28,12 @@ repositories:
   core/autoware.core:
     type: git
     url: https://github.com/autowarefoundation/autoware.core.git
-    version: 0.0.0
+    version: 0.1.0
   # universe
   universe/autoware.universe:
     type: git
     url: https://github.com/autowarefoundation/autoware.universe.git
-    version: 0.39.0
+    version: 0.40.0
   universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Migrate to AD API and remove this repository entry.
     type: git
     url: https://github.com/tier4/tier4_ad_api_adaptor.git
@@ -75,7 +75,7 @@ repositories:
   launcher/autoware_launch:
     type: git
     url: https://github.com/autowarefoundation/autoware_launch.git
-    version: 0.39.0
+    version: 0.40.0
   # sensor_component
   sensor_component/external/sensor_component_description:
     type: git
@@ -107,15 +107,15 @@ repositories:
   sensor_kit/external/awsim_sensor_kit_launch: # TODO: Integrate into sample_sensor_kit_launch
     type: git
     url: https://github.com/tier4/awsim_sensor_kit_launch.git
-    version: 0.39.0
+    version: 0.40.0
   sensor_kit/awsim_labs_sensor_kit_launch:
     type: git
     url: https://github.com/autowarefoundation/awsim_labs_sensor_kit_launch.git
-    version: main
+    version: 0.39.0
   sensor_kit/single_lidar_sensor_kit_launch:
     type: git
     url: https://github.com/autowarefoundation/single_lidar_sensor_kit_launch.git
-    version: main
+    version: 0.39.0
   # vehicle
   vehicle/sample_vehicle_launch:
     type: git

diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -35,6 +35,18 @@ RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
   > /rosdep-universe-common-depend-packages.txt \
   && cat /rosdep-universe-common-depend-packages.txt
 
+FROM rosdep-depend AS rosdep-universe-visualization-depend
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+
+COPY src/universe/autoware.universe/visualization /autoware/src/universe/autoware.universe/visualization
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
+  > /rosdep-universe-visualization-depend-packages.txt \
+  && cat /rosdep-universe-visualization-depend-packages.txt
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
+  > /rosdep-universe-visualization-exec-depend-packages.txt \
+  && cat /rosdep-universe-visualization-exec-depend-packages.txt
+
 FROM rosdep-depend AS rosdep-universe-sensing-perception-depend
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
@@ -44,7 +56,7 @@ COPY src/universe/autoware.universe/sensing /autoware/src/universe/autoware.univ
 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 /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-types=exec \
   > /rosdep-universe-sensing-perception-exec-depend-packages.txt \
   && cat /rosdep-universe-sensing-perception-exec-depend-packages.txt
 
@@ -57,7 +69,7 @@ COPY src/universe/autoware.universe/map /autoware/src/universe/autoware.universe
 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 /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-types=exec \
   > /rosdep-universe-localization-mapping-exec-depend-packages.txt \
   && cat /rosdep-universe-localization-mapping-exec-depend-packages.txt
 
@@ -77,7 +89,7 @@ COPY src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor /au
 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 /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-types=exec \
   > /rosdep-universe-planning-control-exec-depend-packages.txt \
   && cat /rosdep-universe-planning-control-exec-depend-packages.txt
 
@@ -92,7 +104,7 @@ COPY src/universe/autoware.universe/localization/autoware_pose2twist /autoware/s
 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 /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-types=exec \
   > /rosdep-universe-vehicle-system-exec-depend-packages.txt \
   && cat /rosdep-universe-vehicle-system-exec-depend-packages.txt
 
@@ -110,7 +122,7 @@ RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
   > /rosdep-universe-depend-packages.txt \
   && cat /rosdep-universe-depend-packages.txt
 
-RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-types=exec \
   > /rosdep-exec-depend-packages.txt \
   && cat /rosdep-exec-depend-packages.txt
 
@@ -318,6 +330,30 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
+FROM universe-common-devel AS universe-visualization-devel
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ENV CCACHE_DIR="/root/.ccache"
+
+# Install rosdep dependencies
+COPY --from=rosdep-universe-visualization-depend /rosdep-universe-visualization-depend-packages.txt /tmp/rosdep-universe-visualization-depend-packages.txt
+# hadolint ignore=SC2002
+RUN --mount=type=ssh \
+  --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  apt-get update \
+  && cat /tmp/rosdep-universe-visualization-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && /autoware/cleanup_apt.sh
+
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=${CCACHE_DIR} \
+  --mount=type=bind,from=rosdep-universe-visualization-depend,source=/autoware/src/universe/autoware.universe/visualization,target=/autoware/src/universe/autoware.universe/visualization \
+  source /opt/ros/"$ROS_DISTRO"/setup.bash \
+  && source /opt/autoware/setup.bash \
+  && /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["/bin/bash"]
+
 FROM universe-common-devel AS universe-devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
@@ -336,6 +372,7 @@ COPY --from=universe-sensing-perception-devel /opt/autoware /opt/autoware
 COPY --from=universe-localization-mapping-devel /opt/autoware /opt/autoware
 COPY --from=universe-planning-control-devel /opt/autoware /opt/autoware
 COPY --from=universe-vehicle-system-devel /opt/autoware /opt/autoware
+COPY --from=universe-visualization-devel /opt/autoware /opt/autoware
 # hadolint ignore=SC1091
 RUN --mount=type=cache,target=${CCACHE_DIR} \
   --mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/launcher,target=/autoware/src/launcher \
@@ -498,6 +535,32 @@ RUN echo "source /opt/autoware/setup.bash" > /etc/bash.bashrc
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
+# hadolint ignore=DL3006
+FROM $AUTOWARE_BASE_IMAGE AS universe-visualization
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ARG LIB_DIR
+
+# Set up runtime environment
+COPY --from=rosdep-universe-visualization-depend /rosdep-universe-visualization-exec-depend-packages.txt /tmp/rosdep-universe-visualization-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 --no-nvidia --no-cuda-drivers --runtime openadkit \
+  && pip uninstall -y ansible ansible-core \
+  && apt-get update \
+  && cat /tmp/rosdep-universe-visualization-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO
+
+COPY --from=universe-visualization-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"]
+
 # hadolint ignore=DL3006
 FROM $AUTOWARE_BASE_IMAGE AS universe
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]

diff --git a/docker/README.md b/docker/README.md
@@ -76,10 +76,14 @@ The suffix `-devel` (e.g. `universe-devel`) is intended for use as a [developmen
 
 This is a base image of this Dockerfile. [`ros:humble-ros-base-jammy`](https://hub.docker.com/_/ros/tags?page=&page_size=&ordering=&name=humble-ros-base-jammy) will be given.
 
-### `base`
+### `base` (from Dockerfile.base)
 
 This stage performs only the basic setup required for all Autoware images.
 
+### `base-cuda` (from Dockerfile.base)
+
+This stage is built on top of `base` and adds the CUDA runtime environment and artifacts.
+
 ### `rosdep-depend`
 
 The ROS dependency package list files will be generated.
@@ -96,62 +100,88 @@ By generating only the package list files and copying them to the subsequent sta
 
 ### `core-devel`
 
-This stage installs the dependency packages based on `/rosdep-core-depend-packages.txt` and build the packages under the `core` directory of `autoware.repos`.
+This stage installs the dependency packages based on `/rosdep-core-depend-packages.txt` and builds the packages under the `core` directory of `autoware.repos`.
 
 ### `universe-common-devel`
 
-This stage installs the dependency packages based on `/rosdep-universe-common-depend-packages.txt` and build the packages under the following directories of `autoware.repos`.
+This stage installs the dependency packages based on `/rosdep-universe-common-depend-packages.txt` and builds the packages under the following directories of `autoware.repos`:
 
 - `universe/external`
 - `universe/autoware.universe/common`
 
+### `universe-common-devel-cuda`
+
+This stage is build on top of `universe-common-devel` and installs the CUDA development environment.
+
 ### `universe-sensing-perception-devel`
 
-This stage installs the dependency packages based on `/rosdep-universe-sensing-perception-depend-packages.txt` and build the packages under the following directories of `autoware.repos`.
+This stage installs the dependency packages based on `/rosdep-universe-sensing-perception-depend-packages.txt` and builds the non-CUDA related packages under the following directories of `autoware.repos`:
+
+- `universe/autoware.universe/perception`
+- `universe/autoware.universe/sensing`
+
+### `universe-sensing-perception-devel-cuda`
+
+This stage copies the non-CUDA related binaries built in the `universe-sensing-perception-devel` stage and builds the CUDA related packages under the following directories of `autoware.repos`:
 
 - `universe/autoware.universe/perception`
 - `universe/autoware.universe/sensing`
 
 ### `universe-sensing-perception`
 
-This stage is a Autoware Universe Sensing/Perception runtime container. It only includes the dependencies given by `/rosdep-universe-sensing-perception-exec-depend-packages.txt` and the binaries built in the `universe-sensing-perception-devel` stage.
+This stage is an Autoware Universe Sensing/Perception runtime container. It only includes the dependencies given by `/rosdep-universe-sensing-perception-exec-depend-packages.txt` and the binaries built in the `universe-sensing-perception-devel` stage.
+
+### `universe-sensing-perception-cuda`
+
+This stage installs the CUDA runtime environment and copies the binaries built in the `universe-sensing-perception-devel-cuda` stage.
+
+### `universe-visualization`
+
+This stage is a Autoware Universe Visualization runtime container. It only includes the dependencies given by `/rosdep-universe-visualization-exec-depend-packages.txt` and the binaries built in the `universe-visualization-devel` stage.
 
 ### `universe-localization-mapping-devel`
 
-This stage installs the dependency packages based on `/rosdep-universe-localization-mapping-depend-packages.txt` and build the packages under the following directories of `autoware.repos`.
+This stage installs the dependency packages based on `/rosdep-universe-localization-mapping-depend-packages.txt` and builds the packages under the following directories of `autoware.repos`:
 
 - `universe/autoware.universe/localization`
 - `universe/autoware.universe/map`
 
 ### `universe-localization-mapping`
 
-This stage is a Autoware Universe Localization/Mapping runtime container. It only includes the dependencies given by `/rosdep-universe-localization-mapping-exec-depend-packages.txt` and the binaries built in the `universe-localization-mapping-devel` stage.
+This stage is an Autoware Universe Localization/Mapping runtime container. It only includes the dependencies given by `/rosdep-universe-localization-mapping-exec-depend-packages.txt` and the binaries built in the `universe-localization-mapping-devel` stage.
 
 ### `universe-planning-control-devel`
 
-This stage installs the dependency packages based on `/rosdep-universe-planning-control-depend-packages.txt` and build the packages under the following directories of `autoware.repos`.
+This stage installs the dependency packages based on `/rosdep-universe-planning-control-depend-packages.txt` and builds the packages under the following directories of `autoware.repos`:
 
 - `universe/autoware.universe/control`
 - `universe/autoware.universe/planning`
 
 ### `universe-planning-control`
 
-This stage is a Autoware Universe Planning/Control runtime container. It only includes the dependencies given by `/rosdep-universe-planning-control-exec-depend-packages.txt` and the binaries built in the `universe-planning-control-devel` stage.
+This stage is an Autoware Universe Planning/Control runtime container. It only includes the dependencies given by `/rosdep-universe-planning-control-exec-depend-packages.txt` and the binaries built in the `universe-planning-control-devel` stage.
 
 ### `universe-vehicle-system-devel`
 
-This stage installs the dependency packages based on `/rosdep-universe-vehicle-system-depend-packages.txt` and build the packages under the following directories of `autoware.repos`.
+This stage installs the dependency packages based on `/rosdep-universe-vehicle-system-depend-packages.txt` and builds the packages under the following directories of `autoware.repos`:
 
 - `universe/autoware.universe/vehicle`
 - `universe/autoware.universe/system`
 
 ### `universe-vehicle-system`
 
-This stage is a Autoware Universe Vehicle/System runtime container. It only includes the dependencies given by `/rosdep-universe-vehicle-system-exec-depend-packages.txt` and the binaries built in the `universe-vehicle-system-devel` stage.
+This stage is an Autoware Universe Vehicle/System runtime container. It only includes the dependencies given by `/rosdep-universe-vehicle-system-exec-depend-packages.txt` and the binaries built in the `universe-vehicle-system-devel` stage.
 
 ### `universe-devel`
 
-This stage installs the dependency packages based on `/rosdep-universe-depend-packages.txt` and build the remaining packages of `autoware.repos`:
+This stage installs the dependency packages based on `/rosdep-universe-depend-packages.txt` and copies the binaries built in the following stages:
+
+- `universe-sensing-perception-devel`
+- `universe-localization-mapping-devel`
+- `universe-planning-control-devel`
+- `universe-vehicle-system-devel`
+
+Then it builds the remaining packages of `autoware.repos`:
 
 - `launcher`
 - `param`
@@ -160,13 +190,20 @@ This stage installs the dependency packages based on `/rosdep-universe-depend-pa
 - `universe/autoware.universe/evaluator`
 - `universe/autoware.universe/launch`
 - `universe/autoware.universe/simulator`
-- `universe/autoware.universe/system`
 - `universe/autoware.universe/tools`
-- `universe/autoware.universe/vehicle`
+- `universe/autoware.universe/visualization`
 - `vehicle`
 
 This stage provides an all-in-one development container to Autoware developers. By running the host's source code with volume mounting, it allows for easy building and debugging of Autoware.
 
+### `universe-devel-cuda`
+
+This stage installs the CUDA development environment and copies the binaries built in the `universe-sensing-perception-devel-cuda` stage to the `universe-devel` stage.
+
 ### `universe`
 
-This stage is an Autoware Universe runtime container. It only includes the dependencies given by `/rosdep-exec-depend-packages.txt`, the binaries built in the `universe-devel` stage, and artifacts.
+This stage is an Autoware Universe runtime container. It only includes the dependencies given by `/rosdep-exec-depend-packages.txt` and the binaries built in the `universe-devel` stage.
+
+### `universe-cuda`
+
+This stage installs the CUDA runtime environment and copies the binaries built in the `universe-devel-cuda` stage.