ci: use underlay workspace for build-and-test workflows

[mitsudome-r]

Description

Resolves issue #12535

Related links

Parent Issue:

• build-and-test-differential-above fails do to missing dependency to autoware_system_designer #12535

How was this PR tested?

I added a test commit temporarily to trigger the build of autoware_system_designs.

Without underlay workspace it fails:
https://github.com/autowarefoundation/autoware_universe/actions/runs/25227669086/job/73975189683?pr=12536

With underlay workspace sourced:
https://github.com/autowarefoundation/autoware_universe/actions/runs/25226017986/job/73969661204?pr=12536

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 13.60%. Comparing base (2ad15b1) to head (49a4eaf).

Additional details and impacted files

@@             Coverage Diff             @@
##             main   #12536       +/-   ##
===========================================
- Coverage   18.64%   13.60%    -5.05%     
===========================================
  Files        1917      184     -1733     
  Lines      131368    12169   -119199     
  Branches    44506     4484    -40022     
===========================================
- Hits        24494     1655    -22839     
+ Misses      86757     9260    -77497     
+ Partials    20117     1254    -18863     

Flag	Coverage Δ
full-suite	13.60% <ø> (-5.05%)	⬇️

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[xmfcx]

autoware_core's latest pinned version (from autoware.repos) is in the underlay workspaces due to way our docker build and push workflow works, it imports autoware.repos only.

autoware_universe/build_depends_nightly.repos

Lines 9 to 12 in 2ad15b1

	core/autoware_core:
	type: git
	url: https://github.com/autowarefoundation/autoware_core.git
	version: main

But this repo depends on main branch of autoware_core.

Adding it as an underlay workspace would cause conflicts.

• To resolve build-and-test-differential-above fails do to missing dependency to autoware_system_designer #12535 we could update https://github.com/autowarefoundation/autoware_universe/blob/main/build_depends_stable.repos since autoware_system_designer is an autoware core package.

[xmfcx]

Of course, we can go with underlay_ws option too.

But to do that, we should remove all mentions of core folder references from:

autoware_universe/build_depends_stable.repos

Lines 2 to 31 in 2ad15b1

	# core
	core/autoware_msgs:
	type: git
	url: https://github.com/autowarefoundation/autoware_msgs.git
	version: 1.12.0
	# TODO (isamu-takagi): Use a released version when autoware_universe uses a released version.
	core/autoware_adapi_msgs:
	type: git
	url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
	version: 1.9.1
	core/autoware_internal_msgs:
	type: git
	url: https://github.com/autowarefoundation/autoware_internal_msgs.git
	version: 1.12.1
	core/autoware_cmake:
	type: git
	url: https://github.com/autowarefoundation/autoware_cmake.git
	version: 1.2.0
	core/autoware_utils:
	type: git
	url: https://github.com/autowarefoundation/autoware_utils.git
	version: 1.7.1
	core/autoware_lanelet2_extension:
	type: git
	url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git
	version: 1.0.0
	core/autoware_core:
	type: git
	url: https://github.com/autowarefoundation/autoware_core.git
	version: 1.7.2

And also remove the concept of https://github.com/autowarefoundation/autoware_universe/blob/main/build_depends_nightly.repos altogether (from this repository).

It'll work. It will reduce the flexibility and will require either having to make non-breaking changes as we develop. But it will work.

---

Thinking more on this:

If we remove https://github.com/autowarefoundation/autoware_universe/blob/main/build_depends_nightly.repos then it also means that
autoware-nightly.repos from the main repository might be left untested and unreliable.

So I'm conflicted about this, needs further discussion.

Only way I can see this working is that if we leave only autoware_universe as main branch in autoware-nightly and remove all else. This is the only way we can promise autoware-nightly will work if we do this modification.

[mitsudome-r]

@xmfcx I also mentioned the approach in the "How to fix" section in the linked issue.

At least, autoware_core main branch is always tested with /opt/autoware workspace so it should be always compatible, but I agree that we should remove all core dependencies if we are making this change.

I will create another PR for now to just update the repos files instead. I will change this PR to draft and maybe bring it as a discussion topic in the next Software WG call.