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feat(Docker): partially remove dependent packages outside of planning/control #5331

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1af97ee
remove todo
youtalk Oct 11, 2024
e497c0f
Merge branch 'main' into remove-pc-todo-comments
youtalk Jan 9, 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
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4 changes: 0 additions & 4 deletions docker/Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -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

Expand Down Expand Up @@ -98,8 +98,6 @@
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/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
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
Expand Down Expand Up @@ -145,7 +143,7 @@
# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS core-common-devel
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

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InvalidDefaultArgInFrom: Default value for ARG $AUTOWARE_BASE_IMAGE results in empty or invalid base image name
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ENV CCACHE_DIR="/root/.ccache"

COPY docker/scripts/build_and_clean.sh /autoware/build_and_clean.sh
Expand Down Expand Up @@ -341,8 +339,6 @@
--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/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 \
source /opt/ros/"$ROS_DISTRO"/setup.bash \
Expand Down Expand Up @@ -463,7 +459,7 @@
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR

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InvalidDefaultArgInFrom: Default value for ARG $AUTOWARE_BASE_IMAGE results in empty or invalid base image name
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# Set up runtime environment
COPY --from=rosdep-depend /rosdep-core-exec-depend-packages.txt /tmp/rosdep-core-exec-depend-packages.txt
# hadolint ignore=SC2002
Expand All @@ -489,7 +485,7 @@
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR

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# Set up runtime environment
COPY --from=rosdep-universe-sensing-perception-depend /rosdep-universe-sensing-perception-exec-depend-packages.txt /tmp/rosdep-universe-sensing-perception-exec-depend-packages.txt
# hadolint ignore=SC2002
Expand All @@ -515,7 +511,7 @@
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR

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# Set up runtime environment
COPY --from=rosdep-universe-sensing-perception-depend /rosdep-universe-sensing-perception-exec-depend-packages.txt /tmp/rosdep-universe-sensing-perception-exec-depend-packages.txt
# hadolint ignore=SC2002
Expand All @@ -537,7 +533,7 @@
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR

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# Set up runtime environment
COPY --from=rosdep-universe-localization-mapping-depend /rosdep-universe-localization-mapping-exec-depend-packages.txt /tmp/rosdep-universe-localization-mapping-exec-depend-packages.txt
# hadolint ignore=SC2002
Expand All @@ -563,7 +559,7 @@
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR

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# Set up runtime environment
COPY --from=rosdep-universe-planning-control-depend /rosdep-universe-planning-control-exec-depend-packages.txt /tmp/rosdep-universe-planning-control-exec-depend-packages.txt
# hadolint ignore=SC2002
Expand All @@ -589,7 +585,7 @@
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR

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# Set up runtime environment
COPY --from=rosdep-universe-vehicle-system-depend /rosdep-universe-vehicle-system-exec-depend-packages.txt /tmp/rosdep-universe-vehicle-system-exec-depend-packages.txt
# hadolint ignore=SC2002
Expand All @@ -615,7 +611,7 @@
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR

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# 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
Expand All @@ -641,7 +637,7 @@
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR

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# Set up runtime environment
COPY --from=rosdep-universe-depend /rosdep-exec-depend-packages.txt /tmp/rosdep-exec-depend-packages.txt
# hadolint ignore=SC2002
Expand All @@ -667,7 +663,7 @@
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR

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# Set up runtime environment
COPY --from=rosdep-universe-depend /rosdep-exec-depend-packages.txt /tmp/rosdep-exec-depend-packages.txt
# hadolint ignore=SC2002
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