switch nocuda to cuda

Signed-off-by: oguzkaganozt <oguzkaganozt@gmail.com>
autowarefoundation · Feb 21, 2024 · 21fb7c3 · 21fb7c3
1 parent 6efc27d
commit 21fb7c3
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Showing 5 changed files with 48 additions and 46 deletions.
diff --git a/.github/workflows/docker-build-and-push-main-self-hosted.yaml b/.github/workflows/docker-build-and-push-main-self-hosted.yaml
@@ -16,11 +16,13 @@ on:
     - cron: 0 0 1,15 * *
   workflow_dispatch:
     inputs:
-      save-artifacts:
-        description: Save artifacts to Github Actions
-        required: true
-        default: true
-        type: boolean
+      artifacts-destination:
+        type: choice
+        description: Destination for the artifacts
+        options: 
+        - registry
+        - tarball
+        default: tarball
 
 jobs:
   docker-build-and-push-main-self-hosted:
@@ -36,11 +38,11 @@ jobs:
             base_image_env: base_image
             lib_dir: aarch64
             setup-args: --no-nvidia
-            additional-tag-suffix: -nocuda
+            additional-tag-suffix: ""
           - name: cuda
             base_image_env: base_image
             lib_dir: aarch64
-            additional-tag-suffix: ""
+            additional-tag-suffix: -cuda
     steps:
       # https://github.com/actions/checkout/issues/211
       - name: Change permission of workspace

diff --git a/.github/workflows/docker-build-and-push-main.yaml b/.github/workflows/docker-build-and-push-main.yaml
@@ -36,11 +36,11 @@ jobs:
             base_image_env: base_image
             lib_dir: x86_64
             setup-args: --no-nvidia
-            additional-tag-suffix: -nocuda
+            additional-tag-suffix: ""
           - name: cuda
             base_image_env: base_image
             lib_dir: x86_64
-            additional-tag-suffix: ""
+            additional-tag-suffix: -cuda
     steps:
       - name: Check out repository
         uses: actions/checkout@v4

diff --git a/docker/autoware-openadk/Dockerfile b/docker/autoware-openadk/Dockerfile
@@ -13,6 +13,7 @@ RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get -y install --no-ins
   wget \
   cmake \
   curl \
+  gosu \
   ccache \
   gnupg \
   vim \
@@ -45,9 +46,10 @@ FROM base as prebuilt
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG SETUP_ARGS
-ENV CMAKE_GENERATOR=Ninja
-ENV CCACHE_DIR=/ccache
 ARG ROS_DISTRO
+ENV CCACHE_DIR=/ccache
+ENV CC="/usr/lib/ccache/gcc"
+ENV CXX="/usr/lib/ccache/g++"
 
 # Set up development environment
 RUN --mount=type=ssh \
@@ -73,8 +75,6 @@ RUN --mount=type=ssh \
     " --no-warn-unused-cli" \
     -DCMAKE_BUILD_TYPE=Release \
     -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
-    -DCMAKE_C_COMPILER_LAUNCHER=ccache \
-    -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
   && find /autoware/install -type d -exec chmod 777 {} \; \
   && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache \
   && rm -rf /autoware/build /autoware/src
@@ -90,11 +90,6 @@ RUN --mount=type=ssh \
   && pip uninstall -y ansible ansible-core \
   && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
 
-# Instal gosu for switching to local user in entrypoint
-RUN --mount=type=ssh \
-  apt-get update && apt-get install --no-install-recommends -y gosu \
-  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
-
 # Change working directory to workspace
 WORKDIR /workspace
 

diff --git a/docker/build.sh b/docker/build.sh
@@ -50,9 +50,9 @@ parse_arguments() {
 set_cuda_options() {
     if [ "$option_no_cuda" = "true" ]; then
         setup_args="--no-nvidia"
-        image_name_suffix="-nocuda"
-    else
         image_name_suffix=""
+    else
+        image_name_suffix="-cuda"
     fi
 }
 
@@ -119,9 +119,9 @@ build_images() {
         --set "*.args.BASE_IMAGE=$base_image" \
         --set "*.args.SETUP_ARGS=$setup_args" \
         --set "*.args.LIB_DIR=$lib_dir" \
-        --set "devel.tags=ghcr.io/autowarefoundation/autoware-openadk:latest-devel-$image_name_suffix" \
-        --set "prebuilt.tags=ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt-$image_name_suffix" \
-        --set "runtime.tags=ghcr.io/autowarefoundation/autoware-openadk:latest-runtime-$image_name_suffix" \
+        --set "devel.tags=ghcr.io/autowarefoundation/autoware-openadk:latest-devel$image_name_suffix" \
+        --set "prebuilt.tags=ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt$image_name_suffix" \
+        --set "runtime.tags=ghcr.io/autowarefoundation/autoware-openadk:latest-runtime$image_name_suffix" \
         "${targets[@]}"
     set +x
 }

diff --git a/docker/run.sh b/docker/run.sh
@@ -3,6 +3,12 @@
 
 set -e
 
+# Define terminal colors
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+BLUE='\033[0;34m'
+NC='\033[0m' # No Color
+
 SCRIPT_DIR=$(readlink -f "$(dirname "$0")")
 WORKSPACE_ROOT="$SCRIPT_DIR/../"
 source "$WORKSPACE_ROOT/amd64.env"
@@ -23,18 +29,17 @@ DEFAULT_LAUNCH_CMD="ros2 launch autoware_launch autoware.launch.xml map_path:=/a
 # Function to print help message
 print_help() {
     echo -e "\n------------------------------------------------------------"
-    echo "Note: The --map-path option is mandatory for default launch command. Please provide exact path to the map files."
-    echo "      Default launch command: ${DEFAULT_LAUNCH_CMD}"
-    echo "------------------------------------------------------------"
-    echo "Usage: run.sh [OPTIONS] [LAUNCH_CMD](optional)"
-    echo "Options:"
-    echo "  --help          Display this help message"
-    echo "  -h              Display this help message"
-    echo "  --map-path      Specify the path to the map files (mandatory if no custom launch command is provided)"
-    echo "  --no-nvidia     Disable NVIDIA GPU support"
-    echo "  --devel         Use the latest development version of Autoware"
-    echo "  --headless      Run Autoware in headless mode (default: false)"
-    echo "  --workspace     Specify the workspace path to mount into container(default: current directory)"
+    echo -e "${RED}Note:${NC} The --map-path option is mandatory if not custom launch command given. Please provide exact path to the map files."
+    echo -e "      Default launch command: ${GREEN}${DEFAULT_LAUNCH_CMD}${NC}"
+    echo -e "------------------------------------------------------------"
+    echo -e "${RED}Usage:${NC} run.sh [OPTIONS] [LAUNCH_CMD](optional)"
+    echo -e "Options:"
+    echo -e "  ${GREEN}--help/-h${NC}       Display this help message"
+    echo -e "  ${GREEN}--map-path${NC}      Specify the path to the map files (mandatory if no custom launch command is provided)"
+    echo -e "  ${GREEN}--no-nvidia${NC}     Disable NVIDIA GPU support"
+    echo -e "  ${GREEN}--devel${NC}         Use the latest development version of Autoware"
+    echo -e "  ${GREEN}--headless${NC}      Run Autoware in headless mode (default: false)"
+    echo -e "  ${GREEN}--workspace${NC}     Specify the workspace path to mount into container"
     echo ""
 }
 
@@ -106,19 +111,19 @@ set_variables() {
 
     # Set image based on option
     if [ "$option_devel" == "true" ]; then
-        IMAGE="ghcr.io/autowarefoundation/autoware-openadk:devel-humble-latest-cuda"
+        IMAGE="ghcr.io/autowarefoundation/autoware-openadk:latest-devel"
     else
-        IMAGE="ghcr.io/autowarefoundation/autoware-openadk:runtime-humble-latest-cuda"
+        IMAGE="ghcr.io/autowarefoundation/autoware-openadk:latest-runtime"
     fi
 }
 
 # Set GPU flag based on option
 set_gpu_flag() {
     if [ "$option_no_nvidia" = "true" ]; then
-        IMAGE=${IMAGE}-nocuda
         GPU_FLAG=""
     else
         GPU_FLAG="--gpus all"
+        IMAGE=${IMAGE}-cuda
     fi
 }
 
@@ -139,18 +144,18 @@ main() {
     set_gpu_flag
     set_x_display
 
-    echo -e "\n-----------------------LAUNCHING CONTAINER-----------------------"
-    echo "IMAGE: ${IMAGE}"
-    echo "MAP PATH: ${MAP_PATH}"
-    echo "LAUNCH CMD: ${LAUNCH_CMD}"
-    echo "WORKSPACE(to mount): ${WORKSPACE_PATH}"
-    echo "-----------------------------------------------------------------"
+    echo -e "${GREEN}\n-----------------------LAUNCHING CONTAINER-----------------------"
+    echo -e "${GREEN}IMAGE:${NC} ${IMAGE}"
+    echo -e "${GREEN}MAP PATH(mounted):${NC} ${MAP_PATH}:/autoware_map"
+    echo -e "${GREEN}WORKSPACE(mounted):${NC} ${WORKSPACE_PATH}:/workspace"
+    echo -e "${GREEN}LAUNCH CMD:${NC} ${LAUNCH_CMD}"
+    echo -e "${GREEN}-----------------------------------------------------------------${NC}"
 
     # Launch the container
     set -x
-    docker run -it --rm --net=host ${GPU_FLAG} ${USER_ID} ${MOUNT_X} \
+    docker run -it --rm --net=host --cpu-period="100000" --cpu-quota="2000000" -e ROS_DOMAIN_ID=28 ${GPU_FLAG} ${USER_ID} ${MOUNT_X} \
         ${WORKSPACE} ${MAP} ${IMAGE} \
-        ${LAUNCH_CMD}
+        /usr/bin/bash -c "${LAUNCH_CMD}"
 }
 
 # Execute the main script