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feat(repos): re-introduce agnocast (#6049)
* feat(repos): add agnocast (true zero-copy middleware) (#5917) * add agnocast Signed-off-by: sykwer <sykwer@gmail.com> * style(pre-commit): autofix Signed-off-by: sykwer <sykwer@gmail.com> * fix Signed-off-by: sykwer <sykwer@gmail.com> * Update docker/Dockerfile Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> Signed-off-by: sykwer <sykwer@gmail.com> --------- Signed-off-by: sykwer <sykwer@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * fix(ansible): install linux kernel header before dkms installation (#5930) * install linux kernel header Signed-off-by: sykwer <sykwer@gmail.com> * fix Signed-off-by: sykwer <sykwer@gmail.com> --------- Signed-off-by: sykwer <sykwer@gmail.com> * upgrade and fix to agnocast v2.1 Signed-off-by: sykwer <sykwer@gmail.com> * style fix Signed-off-by: sykwer <sykwer@gmail.com> * patch level ppa package Signed-off-by: sykwer <sykwer@gmail.com> --------- Signed-off-by: sykwer <sykwer@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
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‎ansible/playbooks/universe.yaml‎

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- role: autoware.dev_env.rmw_implementation
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- role: autoware.dev_env.gdown
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- role: autoware.dev_env.build_tools
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- role: autoware.dev_env.agnocast
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# Autoware module dependencies
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- role: autoware.dev_env.geographiclib

‎ansible/roles/agnocast/README.md‎

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# agnocast
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This role installs [Agnocast](https://github.com/tier4/agnocast), true zero-copy communication middleware for all ROS 2 message types.
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## Inputs
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None.
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## Manual Installation
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```bash
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agnocast_version="2.1.0"
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agnocast_heaphook_package="agnocast-heaphook-v${agnocast_version}"
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agnocast_kmod_package="agnocast-kmod-v${agnocast_version}"
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sudo add-apt-repository -y ppa:t4-system-software/agnocast
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sudo apt update
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sudo apt install -y "${agnocast_heaphook_package}"
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if dkms status | grep agnocast | grep -q "{agnocast_version}"; then
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echo "agnocast-kmod-v${agnocast_version} is already registered in dkms. Skipping purge and install."
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else
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sudo apt purge -y "${agnocast_kmod_package}"
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sudo apt install -y "${agnocast_kmod_package}"
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fi
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```

‎ansible/roles/agnocast/defaults/main.yaml‎

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agnocast_version: 2.1.0
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agnocast_heaphook_package: agnocast-heaphook-v{{ agnocast_version }}
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agnocast_kmod_package: agnocast-kmod-v{{ agnocast_version }}

‎ansible/roles/agnocast/meta/main.yaml‎

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‎ansible/roles/agnocast/tasks/main.yaml‎

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- name: Install linux headers for the running kernel
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ansible.builtin.apt:
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name: linux-headers-{{ ansible_kernel }}
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state: present
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become: true
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- name: Add agnocast PPA repository
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ansible.builtin.apt_repository:
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repo: ppa:t4-system-software/agnocast
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state: present
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become: true
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- name: Update apt cache
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ansible.builtin.apt:
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update_cache: true
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become: true
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- name: Install {{ agnocast_heaphook_package }}
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ansible.builtin.apt:
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name: "{{ agnocast_heaphook_package }}"
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state: present
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become: true
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- name: Check if agnocast-kmod is installed in dkms with version v{{ agnocast_version }}
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ansible.builtin.shell: dkms status | grep agnocast | grep {{ agnocast_version }} # noqa: risky-shell-pipe
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register: dkms_status
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failed_when: false
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changed_when: false
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- name: Purge agnocast-kmod if not found in dkms for version v{{ agnocast_version }}
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ansible.builtin.apt:
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name: "{{ agnocast_kmod_package }}"
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state: absent
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become: true
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when: dkms_status.rc != 0
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- name: Install agnocast-kmod if not found in dkms for version v{{ agnocast_version }}
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ansible.builtin.apt:
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name: "{{ agnocast_kmod_package }}"
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state: present
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become: true
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when: dkms_status.rc != 0

‎autoware.repos‎

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type: git
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url: https://github.com/autowarefoundation/autoware_individual_params.git
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version: 70000825155182d9261ce0980076b0e2c6dc3f51
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# middleware
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# TODO(TIER IV): During the transition period of Agnocast introduction,
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# the Agnocast ROS packages are provided as a source build.
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# Once the transition stabilizes, use the packages released from the official ROS repository.
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# Issue: https://github.com/autowarefoundation/autoware/issues/5968
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middleware/external/agnocast:
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type: git
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url: https://github.com/tier4/agnocast.git
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version: 2.1.0

‎docker/Dockerfile‎

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# trt_batched_nms depends on autoware_tensorrt_common and autoware_cuda_utils, which are not available in universe-common-devel stage
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RUN rm -rf /autoware/src/universe/external/trt_batched_nms
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COPY src/universe/autoware_universe/common /autoware/src/universe/autoware_universe/common
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COPY src/middleware/external /autoware/src/middleware/external
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RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
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> /rosdep-universe-common-depend-packages.txt \
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&& cat /rosdep-universe-common-depend-packages.txt
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--mount=type=bind,source=src/universe/external/rtklib_ros_bridge,target=/autoware/src/universe/external/rtklib_ros_bridge \
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--mount=type=bind,source=src/universe/external/tier4_ad_api_adaptor,target=/autoware/src/universe/external/tier4_ad_api_adaptor \
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--mount=type=bind,source=src/universe/external/tier4_autoware_msgs,target=/autoware/src/universe/external/tier4_autoware_msgs \
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--mount=type=bind,source=src/middleware/external,target=/autoware/src/middleware/external \
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source /opt/ros/"$ROS_DISTRO"/setup.bash \
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&& source /opt/autoware/setup.bash \
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&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware

‎docker/README.md‎

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- `universe/external`
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- `universe/autoware_universe/common`
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- `middleware/external`
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### `universe-common-devel-cuda`
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