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feat(docker): add sensing/perception launch files to autoware:universe-sensing-perception images #5582

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Merged
youtalk merged 6 commits into from
Mar 21, 2025
Merged

feat(docker): add sensing/perception launch files to autoware:universe-sensing-perception images #5582

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7376540
add sensing & perception launch
youtalk Dec 19, 2024
e5c91b2
Merge branch 'main' into feat/sp-launch
youtalk Jan 21, 2025
2eb3151
Merge branch 'main' into feat/sp-launch
youtalk Mar 12, 2025
c07099b
Merge branch 'main' into feat/sp-launch
youtalk Mar 16, 2025
5ee35c6
Merge branch 'main' into feat/sp-launch
youtalk Mar 19, 2025
40c56e5
rename autoware_universe
youtalk Mar 19, 2025
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4 changes: 4 additions & 0 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 @@ -69,6 +69,8 @@
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

COPY src/universe/autoware_universe/launch/tier4_perception_launch /autoware/src/universe/autoware_universe/launch/tier4_perception_launch
COPY src/universe/autoware_universe/launch/tier4_sensing_launch /autoware/src/universe/autoware_universe/launch/tier4_sensing_launch
COPY src/universe/autoware_universe/perception /autoware/src/universe/autoware_universe/perception
COPY src/universe/autoware_universe/sensing /autoware/src/universe/autoware_universe/sensing
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
Expand Down Expand Up @@ -149,7 +151,7 @@
&& cat /rosdep-exec-depend-packages.txt

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS core-common-devel

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ENV CCACHE_DIR="/root/.ccache"
Expand Down Expand Up @@ -269,6 +271,8 @@

# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,source=src/universe/autoware_universe/launch/tier4_perception_launch,target=/autoware/src/universe/autoware_universe/launch/tier4_perception_launch \
--mount=type=bind,source=src/universe/autoware_universe/launch/tier4_sensing_launch,target=/autoware/src/universe/autoware_universe/launch/tier4_sensing_launch \
--mount=type=bind,source=src/universe/external/trt_batched_nms,target=/autoware/src/universe/external/trt_batched_nms \
--mount=type=bind,source=src/universe/autoware_universe/perception,target=/autoware/src/universe/autoware_universe/perception \
--mount=type=bind,source=src/universe/autoware_universe/sensing,target=/autoware/src/universe/autoware_universe/sensing \
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CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS core

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
Expand All @@ -497,7 +501,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-sensing-perception

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
Expand All @@ -523,7 +527,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_CUDA_IMAGE AS universe-sensing-perception-cuda

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
Expand All @@ -545,7 +549,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-localization-mapping

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
Expand All @@ -571,7 +575,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-planning-control

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
Expand All @@ -597,7 +601,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-vehicle-system

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
Expand All @@ -623,7 +627,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-visualization

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
Expand All @@ -649,7 +653,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
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