update github actions, scripts and readmes (with few exceptions: search for .repos and vcs)

Signed-off-by: Taeseung Sohn <taeseung.sohn@tier4.jp>

Author: paulsohn

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

@@ -19,7 +19,7 @@ inputs:
 runs:
   using: composite
   steps:
-    - name: Install jq and vcs2l
+    - name: Install jq
       run: |
         sudo apt-get -y update
         sudo apt-get -y install curl gnupg lsb-release
@@ -30,13 +30,12 @@ runs:
           sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
         sudo apt-get update
-        sudo apt-get install -y jq python3-pip python3-vcs2l
+        sudo apt-get install -y jq
       shell: bash
 
-    - name: Run vcs import
+    - name: Initialize submodules
       run: |
-        mkdir -p src
-        vcs import --shallow src < repositories/autoware.repos
+        git submodule update --init --checkout src/autoware
       shell: bash
 
     - name: Setup Docker Buildx

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

@@ -19,17 +19,15 @@ inputs:
 runs:
   using: composite
   steps:
-    - name: Install jq and vcs2l
+    - name: Install jq
       run: |
         sudo apt-get -y update
-        sudo apt-get -y install jq python3-pip
-        pip install --no-cache-dir vcs2l
+        sudo apt-get -y install jq
       shell: bash
 
-    - name: Run vcs import
+    - name: Initialize submodules
       run: |
-        mkdir -p src
-        vcs import --shallow src < repositories/simulator.repos
+        git submodule update --init --checkout src/simulator
       shell: bash
 
     - name: Setup Docker Buildx

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

@@ -32,17 +32,15 @@ inputs:
 runs:
   using: composite
   steps:
-    - name: Install jq and vcs2l
+    - name: Install jq
       run: |
         sudo apt-get -y update
-        sudo apt-get -y install jq python3-pip
-        pip install --no-cache-dir vcs2l
+        sudo apt-get -y install jq
       shell: bash
 
-    - name: Run vcs import
+    - name: Initialize submodules
       run: |
-        mkdir -p src
-        vcs import --shallow src < repositories/autoware.repos
+        git submodule update --init --checkout src/autoware
       shell: bash
 
     - name: Setup Docker Buildx

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

@@ -8,9 +8,9 @@ inputs:
   cache-tag-suffix:
     description: Suffix of the target cache tag.
     required: true
-  additional-repos:
-    description: Additional target .repos file.
-    default: ""
+  use-nightly:
+    description: Whether to use nightly submodules.
+    default: false
     required: false
   build-args:
     description: Additional build args.
@@ -22,23 +22,15 @@ runs:
     - name: Setup Docker Buildx
       uses: docker/setup-buildx-action@v3
 
-    - name: Install vcs2l
+    - name: Initialize submodules
       run: |
-        sudo apt-get -y update
-        sudo apt-get -y install python3-pip
-        pipx install vcs2l
+        git submodule update --init --checkout src/autoware
       shell: bash
 
-    - name: Run vcs import
+    - name: Initialize submodules to nightly
+      if: ${{ inputs.use-nightly }}
       run: |
-        mkdir -p src
-        vcs import --shallow src < repositories/autoware.repos
-      shell: bash
-
-    - name: Import additional repositories
-      if: ${{ inputs.additional-repos != '' }}
-      run: |
-        vcs import --shallow --force src < ${{ inputs.additional-repos }}
+        git submodule update --remote src/autoware
       shell: bash
 
     - name: Cache ccache

.github/workflows/docker-build-and-push.yaml

@@ -53,13 +53,13 @@ jobs:
         with:
           files: |
             *.env
-            *.repos
             .github/actions/combine-multi-arch-images/action.yaml
             .github/actions/docker-build-and-push*/action.yaml
             .github/workflows/docker-build-and-push.yaml
             ansible-galaxy-requirements.yaml
             ansible/**
             docker/**
+            src/**
 
       - name: Free disk space
         if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
@@ -120,13 +120,13 @@ jobs:
         with:
           files: |
             *.env
-            *.repos
             .github/actions/combine-multi-arch-images/action.yaml
             .github/actions/docker-build-and-push*/action.yaml
             .github/workflows/docker-build-and-push.yaml
             ansible-galaxy-requirements.yaml
             ansible/**
             docker/**
+            src/**
 
       - name: Free disk space
         if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
@@ -190,13 +190,13 @@ jobs:
         with:
           files: |
             *.env
-            *.repos
             .github/actions/combine-multi-arch-images/action.yaml
             .github/actions/docker-build-and-push*/action.yaml
             .github/workflows/docker-build-and-push.yaml
             ansible-galaxy-requirements.yaml
             ansible/**
             docker/**
+            src/**
 
       - name: Free disk space
         if: ${{ runner.environment == 'github-hosted' &&
@@ -301,13 +301,13 @@ jobs:
         with:
           files: |
             *.env
-            *.repos
             .github/actions/combine-multi-arch-images/action.yaml
             .github/actions/docker-build-and-push*/action.yaml
             .github/workflows/docker-build-and-push.yaml
             ansible-galaxy-requirements.yaml
             ansible/**
             docker/**
+            src/**
 
       - name: Free disk space
         if: ${{ steps.changed-files.outputs.any_changed == 'true' ||

.github/workflows/health-check.yaml

@@ -64,12 +64,12 @@ jobs:
         with:
           files: |
             *.env
-            *.repos
             .github/actions/docker-build/action.yaml
             .github/workflows/health-check.yaml
             ansible-galaxy-requirements.yaml
             ansible/**
             docker/**
+            src/**
             setup-dev-env.sh
 
       - name: Show disk space
@@ -90,7 +90,7 @@ jobs:
         with:
           platform: ${{ matrix.platform }}
           cache-tag-suffix: ${{ matrix.build-type }}
-          additional-repos: ${{ matrix.build-type == 'nightly' && 'repositories/autoware-nightly.repos' || '' }}
+          use-nightly: ${{ matrix.build-type == 'nightly' }}
           build-args: |
             ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             AUTOWARE_BASE_IMAGE=${{ needs.load-env.outputs.autoware_base_image }}

.github/workflows/scenario-test.yaml

@@ -30,17 +30,16 @@ jobs:
             lsb-release \
             python3-pip \
             git
-          pip install --upgrade gdown vcs2l
+          pip install --upgrade gdown
       - name: Show memory info
         shell: bash
         run: free -h
-      - name: Clone Autoware and Import simulator.repos
+      - name: Clone Autoware and Initialize Simulator
         shell: bash
         run: |
           git clone https://github.com/autowarefoundation/autoware.git ~/autoware_ws
           cd ~/autoware_ws
-          mkdir -p src
-          vcs import src < repositories/simulator.repos
+          git submodule update --init --checkout src/simulator
       - name: Install ROS dependencies
         shell: bash
         run: |

README.md

@@ -63,7 +63,7 @@ To learn more about using or developing Autoware, refer to the [Autoware documen
 ## Repository overview
 
 - [autowarefoundation/autoware](https://github.com/autowarefoundation/autoware)
-  - Meta-repository containing `.repos` files to construct an Autoware workspace.
+  - Meta-repository containing Autoware components as git submodules.
   - It is anticipated that this repository will be frequently forked by users, and so it contains minimal information to avoid unnecessary differences.
 - [autowarefoundation/autoware_core](https://github.com/autowarefoundation/autoware_core)
   - Main repository for high-quality, stable ROS packages for Autonomous Driving.

docker/README.md

@@ -12,7 +12,7 @@ If you do not need the CUDA drivers, you can also use the smaller image `ghcr.io
 ```shell
 $ git clone git@github.com:autowarefoundation/autoware.git
 $ cd autoware
-$ vcs import src < repositories/autoware.repos
+$ git submodule update --init --checkout src/autoware
 $ docker run -it --rm \
   –v $PWD/src/universe/autoware_universe/XXX/autoware_YYY:/autoware/src/autoware_YYY \
   ghcr.io/autowarefoundation/autoware:universe-devel-cuda

docker/build.sh

@@ -131,14 +131,11 @@ load_env() {
 # Clone repositories
 clone_repositories() {
     cd "$WORKSPACE_ROOT"
-    if [ ! -d "src" ]; then
-        mkdir -p src
-        vcs import src <repositories/autoware.repos
-    else
-        echo "Source directory already exists. Updating repositories..."
-        vcs import src <repositories/autoware.repos
-        vcs pull src
+    if [ -d "src" ]; then
+        rm -rf src
     fi
+    git submodule update --init --checkout src/autoware
+    git submodule update --init --checkout src/extra-packages
 }
 
 # Build images