feat: add repos file for autoware_core

[isamu-takagi]

Description

I noticed that there was a build error in the Autoware Core source installation guide. This is because the Autoware Core source code does not match the ROS buildfarm version.

Therefore, I will change the guide to clone the dependent repository into workspace, just like Autoware Universe.

How was this PR tested?

Check that the build succeeds with the new guide.
autowarefoundation/autoware-documentation#775

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[xmfcx]

• We used to have this file but it was removed with revert: "revert: "feat: no longer use build_depends.repos"" autoware_core#335

[isamu-takagi]

We used to have this file but it was removed with autowarefoundation/autoware_core#335

@xmfcx I know that file has been removed. The cause of this PR was lanelet_extension 0.12.0. For autoware_core CI, the docker image has been updated with lanelet_extension 0.12.0, so build_depend.repos is not necessary.

However, since source installation does not use docker image, it requires a lanelet_extension version that autoware_core main depends on. This is specified in the core.repos of this PR.

[xmfcx]

I'm sorry at first I thought this PR was made in the autoware_core repository, now I see it is in the main autoware repo 😅 let me re-evaluate the PR.

We also had discussions about having separate core.repos and universe.repos and how to manage pinned vs nightly versions so the situation is a bit complicated ☹️

[xmfcx]

One thing that could work is to not have this file in the autoware repository. And bring back the build_depends.repos there.

mkdir -P autoware_core_ws/src
cd autoware_core_ws/src
git clone https://github.com/autowarefoundation/autoware_core.git
vcs import . < autoware_core/build_depends.repos
cd ..
colcon build

I will also discuss it further with @mitsudome-r -san today.

[isamu-takagi]

Thank you for your review. In my opinion, there are currently four source installation environments for Autoware. And each environment may optionally have tools and simulator repos files.

autoware.repos	tools.repos	simulator.repos
core.repos	core-tools.repos	core-simulator.repos
core-nightly.repos	core-tools-nightly.repos	core-simulator-nightly.repos
universe.repos	universe-tools.repos	universe-simulator.repos
universe-nightly.repos	universe-tools-nightly.repos	universe-simulator-nightly.repos

My idea was to put these in the autoware repository, but as you say, another option is to put them in autoware_core/build_depends.repos.
In this case, to make core and universe symmetrical, remove autoware/repositories/autoware.repos and use autoware_universe/build_depends.repos instead.

[xmfcx]

.repos explosion!

[mitsudome-r]

@isamu-takagi -san
Did you also consider modifying the documentation to build only autoware_core with packages-up-to option?

[xmfcx]

rosdep install -y --from-paths src/core --ignore-src --rosdistro $ROS_DISTRO -r 
colcon build --symlink-install --event-handlers=console_cohesion+ --cmake-args -DCMAKE_BUILD_TYPE=Release  --packages-up-to $(colcon list --base-paths src/core -n | awk '{printf "%s ", $1}') --continue-on-error

Something like this without core.repos file for now?

[isamu-takagi]

@xmfcx The stable version management depends on the universe, but other parts, including nightly, seem to work pretty well. I'll try it this way.

[isamu-takagi]

I have confirmed that autoware_core can be built using autoware.repos and referencing only the src/core directory, so I will close this PR as it is no longer necessary.

If the packages are stored in a mixed location, there is a problem because rosdep does not have a function equivalent to --packages-up-to, but if the packages are stored in subdirectories, rosdep install --from-paths and colcon build --base-paths options can be used.