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feat: new docker
Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
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‎ansible/playbooks/autoware_requirements.yaml‎

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- name: Autoware development environment
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hosts: localhost
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connection: local
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vars:
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rosdistro:
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rmw_implementation:
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cuda_version:
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tensorrt_version:
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install_devel:
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cuda_install_drivers:
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spconv_version:
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cumm_version:
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pre_tasks:
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- name: Print configuration
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ansible.builtin.debug:
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msg:
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- rosdistro: "{{ rosdistro }}"
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- rmw_implementation: "{{ rmw_implementation }}"
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- cuda_version: "{{ cuda_version }}"
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- tensorrt_version: "{{ tensorrt_version }}"
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- install_devel: "{{ install_devel }}"
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- cuda_install_drivers: "{{ cuda_install_drivers }}"
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- spconv_version: "{{ spconv_version }}"
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- cumm_version: "{{ cumm_version }}"
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tags: [always]
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roles:
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- role: autoware.dev_env.rmw_implementation
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tags: [base, core, universe, rmw]
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vars:
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rmw_implementation__rosdistro: "{{ rosdistro }}"
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rmw_implementation__name: "{{ rmw_implementation }}"
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- role: autoware.dev_env.build_tools
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tags: [core, universe, ccache]
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- role: autoware.dev_env.dev_tools
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tags: [core, universe, dev_tools]
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- role: autoware.dev_env.ros2_dev_tools
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tags: [core, universe, ros2_dev_tools]
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- role: autoware.dev_env.acados
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tags: [universe, acados]
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- role: autoware.dev_env.geographiclib
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tags: [universe, geographiclib]
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- role: autoware.dev_env.qt5ct_setup
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tags: [universe, qt5ct_setup]
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- role: autoware.dev_env.cuda
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tags: [universe, nvidia, cuda]
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- role: autoware.dev_env.tensorrt
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tags: [universe, nvidia, tensorrt]
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- role: autoware.dev_env.spconv
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tags: [universe, nvidia, spconv]
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- role: autoware.dev_env.artifacts
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tags: [universe, artifacts]

‎docker-new/README.md‎

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# Run Autoware in Docker
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## Image Graph
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```mermaid
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graph TD
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base(["base"])
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base --> core-dependencies(["core-dependencies"])
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core-dependencies --> core-devel(["core-devel"])
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core-devel --> universe-dependencies(["universe-dependencies"])
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universe-dependencies --> universe-dependencies-cuda(["universe-dependencies-cuda"])
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universe-dependencies --> universe-devel(["universe-devel"])
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universe-dependencies-cuda --> universe-devel-cuda(["universe-devel-cuda"])
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base --> core(["core"])
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core-devel -- " COPY /opt/autoware " --> core
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core --> universe-runtime-dependencies(["universe-runtime-dependencies"])
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universe-runtime-dependencies --> universe(["universe"])
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universe-runtime-dependencies --> universe-cuda(["universe-cuda"])
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universe-devel -- " COPY /opt/autoware " --> universe
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universe-devel-cuda -- " COPY /opt/autoware " --> universe-cuda
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classDef base fill: #e8e8e8, color: #333
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classDef devel fill: #bbdefb, color: #333
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classDef runtime fill: #c8e6c9, color: #333
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classDef cuda fill: #e1bee7, color: #333
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class base base
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class core-dependencies,core-devel,universe-dependencies,universe-devel devel
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class core,universe-runtime-dependencies,universe runtime
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class universe-dependencies-cuda,universe-devel-cuda,universe-cuda cuda
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```
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## Images
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| Image | Description | Use case |
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| ------------------------------- | -------------------------------------------------------------- | ---------------------------------------------------------- |
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| `base` | ROS base, sudo, pipx, ansible, RMW, user `aw` | Foundation for all other images |
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| `core-dependencies` | Build deps + compiled core packages (except autoware_core) | CI for autoware_core |
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| `core-devel` | Adds autoware_core build on top of core-dependencies | Development and CI for packages depending on autoware_core |
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| `core` | Runtime-only: rosdep exec deps + compiled core from core-devel | Lightweight core runtime |
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| `universe-dependencies` | Ansible universe roles + rosdep build deps for all of autoware | CI for autoware_universe |
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| `universe-dependencies-cuda` | Adds CUDA, TensorRT, spconv dev libs | CI for CUDA-dependent packages |
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| `universe-devel` | Builds all universe sources (no CUDA) | Development without GPU |
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| `universe-devel-cuda` | Builds all universe sources with CUDA | Development with GPU |
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| `universe-runtime-dependencies` | Runtime ansible roles + rosdep exec deps | Foundation for final runtime images |
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| `universe` | Runtime image with compiled autoware (no CUDA) | Deployment without GPU |
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| `universe-cuda` | Runtime image with compiled autoware + CUDA runtime libs | Deployment with GPU |
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## Build
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From the repository root:
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```bash
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# Build all default targets (universe + universe-cuda)
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docker buildx bake -f docker-new/docker-bake.hcl
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# Build a specific target (dependencies are resolved automatically)
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docker buildx bake -f docker-new/docker-bake.hcl core-dependencies
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docker buildx bake -f docker-new/docker-bake.hcl core-devel
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docker buildx bake -f docker-new/docker-bake.hcl universe-dependencies
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docker buildx bake -f docker-new/docker-bake.hcl universe-dependencies-cuda
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docker buildx bake -f docker-new/docker-bake.hcl universe-devel
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docker buildx bake -f docker-new/docker-bake.hcl universe-devel-cuda
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docker buildx bake -f docker-new/docker-bake.hcl core
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docker buildx bake -f docker-new/docker-bake.hcl universe-runtime-dependencies
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docker buildx bake -f docker-new/docker-bake.hcl universe
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docker buildx bake -f docker-new/docker-bake.hcl universe-cuda
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# Override variables
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docker buildx bake -f docker-new/docker-bake.hcl --set *.args.ROS_DISTRO=humble
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```
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## Usage
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```bash
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xhost +local:docker
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docker run --rm -it \
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--net host \
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--privileged \
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--gpus all \
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-e DISPLAY=$DISPLAY \
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-e NVIDIA_DRIVER_CAPABILITIES=all \
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-e NVIDIA_VISIBLE_DEVICES=all \
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-e HOST_UID=$(id -u) \
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-e HOST_GID=$(id -g) \
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-e QT_X11_NO_MITSHM=1 \
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-v /tmp/.X11-unix:/tmp/.X11-unix:rw \
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-v $HOME/autoware_map:/home/aw/autoware_map \
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-v $HOME/autoware_data:/home/aw/autoware_data \
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-v $HOME/projects/autoware:/home/aw/autoware \
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-w /home/aw/autoware \
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--runtime=nvidia \
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autoware:universe-jazzy-cuda \
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bash -c "source /opt/autoware/setup.bash && exec bash"
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```
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Or run without volume mounting (the `autoware` folder is not present in the container):
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```bash
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docker run --rm -it \
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--net host \
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autoware:core-jazzy
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```

‎docker-new/base.Dockerfile‎

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# check=skip=InvalidDefaultArgInFrom
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ARG ROS_DISTRO
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FROM ros:${ROS_DISTRO}-ros-base AS base
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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
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ARG ROS_DISTRO
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ARG RMW_IMPLEMENTATION
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ARG USERNAME=aw
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RUN rm -f /etc/apt/apt.conf.d/docker-clean && \
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echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/keep-cache
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt/lists,sharing=locked \
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apt-get update && \
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apt-get install -y --no-install-recommends \
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sudo \
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pipx \
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bash-completion \
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gosu
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RUN userdel -r ubuntu 2>/dev/null || true
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RUN useradd -m -s /bin/bash -U ${USERNAME} && \
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echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" >/etc/sudoers.d/90-user-nopasswd && \
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chmod 0440 /etc/sudoers.d/90-user-nopasswd && \
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sed -i 's/^#force_color_prompt=yes/force_color_prompt=yes/' /home/${USERNAME}/.bashrc
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USER ${USERNAME}
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WORKDIR /home/${USERNAME}
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# Make pipx shims visible during build steps and at runtime
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ENV PATH="/home/${USERNAME}/.local/bin:${PATH}"
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# Ansible via pipx
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RUN --mount=type=cache,target=/home/aw/.cache/pip,uid=1000,gid=1000 \
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--mount=type=cache,target=/home/aw/.cache/pipx,uid=1000,gid=1000 \
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python3 -m pipx ensurepath && \
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pipx install --include-deps --force "ansible==10.*"
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COPY --chown=${USERNAME}:${USERNAME} ansible-galaxy-requirements.yaml /tmp/ansible/
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COPY --chown=${USERNAME}:${USERNAME} ansible/ /tmp/ansible/ansible/
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WORKDIR /tmp/ansible
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RUN ansible-galaxy collection install -f -r ansible-galaxy-requirements.yaml && \
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ansible-playbook autoware.dev_env.autoware_requirements \
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--tags rmw \
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-e rosdistro=${ROS_DISTRO} \
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-e rmw_implementation=${RMW_IMPLEMENTATION}
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COPY docker-new/files/cyclonedds.xml /home/${USERNAME}/cyclonedds.xml
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ENV CYCLONEDDS_URI=file:///home/${USERNAME}/cyclonedds.xml
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WORKDIR /home/${USERNAME}
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RUN rm -rf /tmp/ansible
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# Entrypoint runs as root so it can adjust UID/GID, then drops to user
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# hadolint ignore=DL3002
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USER root
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COPY --chmod=755 docker-new/docker-entrypoint.sh /docker-entrypoint.sh
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ENV ROS_DISTRO=${ROS_DISTRO}
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ENV USERNAME=${USERNAME}
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ENTRYPOINT ["/docker-entrypoint.sh"]
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CMD ["/bin/bash"]

‎docker-new/core.Dockerfile‎

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# check=skip=InvalidDefaultArgInFrom
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ARG BASE_IMAGE
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FROM ${BASE_IMAGE} AS core-dependencies
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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
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COPY --chown=${USERNAME}:${USERNAME} ansible-galaxy-requirements.yaml /tmp/ansible/
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COPY --chown=${USERNAME}:${USERNAME} ansible/ /tmp/ansible/ansible/
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WORKDIR /tmp/ansible
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RUN ansible-galaxy collection install -f -r ansible-galaxy-requirements.yaml && \
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ansible-playbook autoware.dev_env.autoware_requirements \
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--tags core \
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--skip-tags base \
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-e "rosdistro=${ROS_DISTRO}"
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WORKDIR /home/${USERNAME}
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RUN rm -rf /tmp/ansible
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ENV CC="/usr/lib/ccache/gcc"
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ENV CXX="/usr/lib/ccache/g++"
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ENV CCACHE_DIR="/home/aw/.ccache"
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COPY --chown=${USERNAME}:${USERNAME} src/core/ /tmp/autoware/src/core/
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RUN rm -rf /tmp/autoware/src/core/autoware_core /tmp/autoware/src/core/autoware_rviz_plugins
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt/lists,sharing=locked \
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apt-get update && \
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. "/opt/ros/${ROS_DISTRO}/setup.sh" && \
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rosdep install -y --from-paths /tmp/autoware/src/core \
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--ignore-src \
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--rosdistro "${ROS_DISTRO}" \
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--dependency-types=build \
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--dependency-types=build_export \
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--dependency-types=buildtool \
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--dependency-types=buildtool_export \
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--dependency-types=test
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RUN --mount=type=cache,target=/home/aw/.ccache,uid=1000,gid=1000 \
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. "/opt/ros/${ROS_DISTRO}/setup.sh" && \
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colcon build \
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--base-paths /tmp/autoware/src/core \
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--install-base /opt/autoware \
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--cmake-args -DCMAKE_BUILD_TYPE=Release && \
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rm -rf /tmp/autoware
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FROM core-dependencies AS core-devel
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COPY --chown=${USERNAME}:${USERNAME} src/core/autoware_core /tmp/autoware/src/core/autoware_core
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COPY --chown=${USERNAME}:${USERNAME} src/core/autoware_rviz_plugins /tmp/autoware/src/core/autoware_rviz_plugins
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt/lists,sharing=locked \
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apt-get update && \
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. "/opt/ros/${ROS_DISTRO}/setup.sh" && \
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. /opt/autoware/setup.sh && \
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rosdep install -y --from-paths /tmp/autoware/src/core \
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--ignore-src \
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--rosdistro "${ROS_DISTRO}" \
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--dependency-types=build \
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--dependency-types=build_export \
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--dependency-types=buildtool \
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--dependency-types=buildtool_export \
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--dependency-types=test
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RUN --mount=type=cache,target=/home/aw/.ccache,uid=1000,gid=1000 \
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. "/opt/ros/${ROS_DISTRO}/setup.sh" && \
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. /opt/autoware/setup.sh && \
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colcon build \
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--base-paths /tmp/autoware/src/core/autoware_core \
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--install-base /opt/autoware \
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--cmake-args -DCMAKE_BUILD_TYPE=Release && \
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rm -rf /tmp/autoware
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FROM ${BASE_IMAGE} AS core
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COPY --from=core-devel /opt/autoware /opt/autoware
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COPY src/core/ /tmp/src/core/
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt/lists,sharing=locked \
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apt-get update && \
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. "/opt/ros/${ROS_DISTRO}/setup.sh" && \
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rosdep install -y --from-paths /tmp/src/core \
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--dependency-types=exec \
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--ignore-src \
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--rosdistro "${ROS_DISTRO}" && \
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rm -rf /tmp/src

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