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feat(docker): add vehicle/system launch files to autoware:universe-vehicle-system images #5588

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Merged
youtalk merged 4 commits into from
Mar 17, 2025
Merged

feat(docker): add vehicle/system launch files to autoware:universe-vehicle-system images #5588

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6ebd49e
add vehicle & system launch
youtalk Dec 19, 2024
b41e037
Merge branch 'main' into feat/vs-launch
youtalk Jan 21, 2025
e443c67
Merge branch 'main' into feat/vs-launch
youtalk Mar 12, 2025
a19e93e
Merge branch 'main' into feat/vs-launch
youtalk Mar 16, 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 @@ -113,6 +113,8 @@
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

COPY src/universe/autoware.universe/launch/tier4_vehicle_launch /autoware/src/universe/autoware.universe/launch/tier4_vehicle_launch
COPY src/universe/autoware.universe/launch/tier4_system_launch /autoware/src/universe/autoware.universe/launch/tier4_system_launch
COPY src/universe/autoware.universe/vehicle /autoware/src/universe/autoware.universe/vehicle
COPY src/universe/autoware.universe/system /autoware/src/universe/autoware.universe/system
COPY src/universe/autoware.universe/map/autoware_map_height_fitter /autoware/src/universe/autoware.universe/map/autoware_map_height_fitter
Expand Down Expand Up @@ -143,7 +145,7 @@
&& 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 @@ -368,6 +370,8 @@

# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,source=src/universe/autoware.universe/launch/tier4_vehicle_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_vehicle_launch \
--mount=type=bind,source=src/universe/autoware.universe/launch/tier4_system_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_system_launch \
--mount=type=bind,source=src/universe/autoware.universe/vehicle,target=/autoware/src/universe/autoware.universe/vehicle \
--mount=type=bind,source=src/universe/autoware.universe/system,target=/autoware/src/universe/autoware.universe/system \
--mount=type=bind,source=src/universe/autoware.universe/map/autoware_map_height_fitter,target=/autoware/src/universe/autoware.universe/map/autoware_map_height_fitter \
Expand Down Expand Up @@ -459,7 +463,7 @@
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 @@ -485,7 +489,7 @@
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 @@ -511,7 +515,7 @@
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 @@ -533,7 +537,7 @@
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 @@ -559,7 +563,7 @@
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 @@ -585,7 +589,7 @@
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 @@ -611,7 +615,7 @@
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 @@ -637,7 +641,7 @@
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
Expand All @@ -663,7 +667,7 @@
CMD ["/bin/bash"]

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

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