Update Docker images and roles

.github/actions/docker-build-and-push/action.yaml

@@ -61,19 +61,31 @@ runs:
         flavor: |
           latest=false
           prefix=${{ inputs.tag-prefix }}
-          suffix=${{ inputs.tag-suffix }}
+          suffix=devel${{ inputs.tag-suffix }}
+    
+    - name: Docker meta for prebuilt
+      id: meta-prebuilt
+      uses: docker/metadata-action@v4
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        bake-target: docker-metadata-action-prebuilt
+        flavor: |
+          latest=false
+          prefix=${{ inputs.tag-prefix }}
+          suffix=prebuilt${{ inputs.tag-suffix }}
 
-    - name: Docker meta for monorun
-      id: meta-monorun
+    - name: Docker meta for runtime
+      id: meta-runtime
       uses: docker/metadata-action@v4
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-monorun
+        bake-target: docker-metadata-action-runtime
         flavor: |
           latest=false
           prefix=${{ inputs.tag-prefix }}
-          suffix=-monorun${{ inputs.tag-suffix }}
+          suffix=-runtime${{ inputs.tag-suffix }}
 
     - name: Login to GitHub Container Registry
       if: ${{ github.event_name != 'pull_request' }}
@@ -91,7 +103,8 @@ runs:
         files: |
           docker/${{ inputs.bake-target }}/docker-bake.hcl
           ${{ steps.meta-devel.outputs.bake-file }}
-          ${{ steps.meta-monorun.outputs.bake-file }}
+          ${{ steps.meta-prebuilt.outputs.bake-file }}
+          ${{ steps.meta-runtime.outputs.bake-file }}
         provenance: false
         set: |
           ${{ inputs.build-args }}

.github/workflows/update-docker-manifest.yaml

@@ -28,12 +28,12 @@ jobs:
           rosdistro: ${{ needs.load-env.outputs.rosdistro }}
           tag-name: latest
 
-      - name: Create alias from 'autoware-openadk:{rosdistro}-latest-monorun' to 'autoware-openadk:latest-monorun'
+      - name: Create alias from 'autoware-openadk:{rosdistro}-latest-runtime' to 'autoware-openadk:latest-runtime'
         uses: ./.github/actions/create-main-distro-alias
         with:
           package-name: autoware-openadk
           rosdistro: ${{ needs.load-env.outputs.rosdistro }}
-          tag-name: latest-monorun
+          tag-name: latest-runtime
 
       - name: Create alias from 'autoware-openadk:{rosdistro}-latest-cuda' to 'autoware-openadk:latest-cuda'
         uses: ./.github/actions/create-main-distro-alias
@@ -42,9 +42,9 @@ jobs:
           rosdistro: ${{ needs.load-env.outputs.rosdistro }}
           tag-name: latest-cuda
 
-      - name: Create alias from 'autoware-openadk:{rosdistro}-latest-monorun-cuda' to 'autoware-openadk:latest-monorun-cuda'
+      - name: Create alias from 'autoware-openadk:{rosdistro}-latest-runtime-cuda' to 'autoware-openadk:latest-runtime-cuda'
         uses: ./.github/actions/create-main-distro-alias
         with:
           package-name: autoware-openadk
           rosdistro: ${{ needs.load-env.outputs.rosdistro }}
-          tag-name: latest-monorun-cuda
+          tag-name: latest-runtime-cuda

ansible/playbooks/openadk.yaml

@@ -5,7 +5,7 @@
     - name: Verify OS
       ansible.builtin.fail:
         msg: Only Ubuntu 22.04 is supported for this branch. Please refer to https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/.
-      when: ansible_distribution_version != '22.04'
+      when: ansible_distribution == 'Ubuntu' and ansible_distribution_version != '22.04'
 
     - name: Print args
       ansible.builtin.debug:
@@ -34,13 +34,13 @@
       when: (module == 'perception-localization' or module == 'all') and prompt_install_nvidia=='y'
     - role: autoware.dev_env.pacmod
       when: module == 'planning-control' or module == 'perception-localization' or module == 'all'
-
-    # ONNX files and other artifacts
-    - role: autoware.dev_env.artifacts
-      when: module == 'perception-localization' or module == 'all'
-
+
     # Development environment
     - role: autoware.dev_env.devel
-      when: install_devel == 'true'
+      when: module == 'dev-tools' 
     - role: autoware.dev_env.ros2_dev_tools
-      when: install_devel == 'true'
+      when: module == 'dev-tools' 
+
+    # ONNX files and other artifacts
+    - role: autoware.dev_env.artifacts
+      when: module == 'dev-tools' or (module == 'all' and install_devel == 'false')

ansible/roles/devel/tasks/main.yaml

@@ -1,11 +1,3 @@
-- name: Install ccache
-  become: true
-  ansible.builtin.apt:
-    name:
-      - ccache
-    state: latest
-    update_cache: true
-
 # https://github.com/git-lfs/git-lfs/wiki/Installation#debian-and-ubuntu
 - name: Install Git LFS
   become: true

ansible/roles/geographiclib/defaults/main.yaml

@@ -0,0 +1 @@
+module: dev-tools

ansible/roles/geographiclib/tasks/main.yaml

@@ -10,4 +10,4 @@
   ansible.builtin.command:
     cmd: geographiclib-get-geoids egm2008-1
     creates: /usr/share/GeographicLib/geoids/egm2008-1.pgm
-  when: install_devel != 'true'
+  when: module == 'dev-tools' or install_devel== 'false'

docker/README.md

@@ -1,9 +1,9 @@
 # Open AD Kit: Containerized Workloads for the Autoware
 
-Open AD Kit offers two types of Docker image to let you get started with the Autoware quickly: `devel` and `monorun`.
+Open AD Kit offers two types of Docker image to let you get started with the Autoware quickly: `devel` and `runtime`.
 
 1. The `devel` image enables you to develop Autoware without setting up the local development environment.
-2. The `monorun` image contains only runtime executables and enables you to try out Autoware quickly.
+2. The `runtime` image contains only runtime executables and enables you to try out Autoware quickly.
 
 **Note**: Before proceeding, confirm and agree with the [NVIDIA Deep Learning Container license](https://developer.nvidia.com/ngc/nvidia-deep-learning-container-license). By pulling and using the Autoware Open AD Kit images, you accept the terms and conditions of the license.
 

docker/autoware-openadk/Dockerfile

@@ -11,6 +11,7 @@ RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get -y install --no-ins
   wget \
   cmake \
   curl \
+  ccache \
   gnupg \
   vim \
   unzip \
@@ -38,10 +39,13 @@ RUN --mount=type=ssh \
 # Create entrypoint
 CMD ["/bin/bash"]
 
-FROM base as devel
+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
 
 # Set up development environment
 RUN --mount=type=ssh \
@@ -61,8 +65,28 @@ RUN --mount=type=ssh \
   && apt update \
   && rosdep update \
   && DEBIAN_FRONTEND=noninteractive rosdep install -y --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \
+  && source /opt/ros/"$ROS_DISTRO"/setup.bash \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --cmake-args \
+    " -Wno-dev" \
+    " --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/* "$HOME"/.cache \
-  && rm -rf /autoware
+  && rm -rf /autoware/build /autoware/src
+
+CMD ["/bin/bash"]
+
+FROM prebuilt as devel
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+# Install development tools and artifacts
+RUN --mount=type=ssh \
+  ./setup-dev-env.sh -y --module dev-tools openadk \
+  && pip uninstall -y ansible ansible-core \
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
 
 # Instal gosu for switching to local user in entrypoint
 RUN --mount=type=ssh \
@@ -78,32 +102,7 @@ RUN chmod +x /dev_entrypoint.sh
 ENTRYPOINT ["/dev_entrypoint.sh"]
 CMD ["/bin/bash"]
 
-FROM devel as prebuilt
-ENV CMAKE_GENERATOR=Ninja
-ENV CCACHE_DIR=/ccache
-ARG ROS_DISTRO
-WORKDIR /autoware
-
-# Build and change permission for runtime data conversion
-COPY autoware.repos /autoware/
-RUN --mount=type=ssh \
-  mkdir src \
-  && vcs import src < autoware.repos \
-  && source /opt/ros/"$ROS_DISTRO"/setup.bash \
-  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --cmake-args \
-    " -Wno-dev" \
-    " --no-warn-unused-cli" \
-    -DCMAKE_BUILD_TYPE=Release \
-    -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
-    -DCMAKE_C_COMPILER_LAUNCHER=ccache \
-    -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
-  && find /autoware/install -type d -exec chmod 777 {} \; \
-  && echo "source /autoware/install/setup.bash" > /etc/bash.bashrc \
-  && rm -rf /autoware/src /autoware/build
-
-CMD ["/bin/bash"]
-
-FROM base as monorun
+FROM base as runtime
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
@@ -117,7 +116,7 @@ RUN --mount=type=ssh \
   && mkdir src \
   && vcs import src < autoware.repos \
   && rosdep update \
-  && DEBIAN_FRONTEND=noninteractive rosdep install -y --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \
+  && DEBIAN_FRONTEND=noninteractive rosdep install -y --dependency-types=exec --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \
   && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache \
   && find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
   && find / -name "*.o" -type f -delete \

docker/autoware-openadk/docker-bake.hcl

@@ -1,19 +1,26 @@
 group "default" {
-  targets = ["devel", "monorun"]
+  targets = ["prebuilt", "devel", "runtime"]
 }
 
 // For docker/metadata-action
 target "docker-metadata-action-devel" {}
-target "docker-metadata-action-monorun" {}
+target "docker-metadata-action-prebuilt" {}
+target "docker-metadata-action-runtime" {}
 
 target "devel" {
   inherits = ["docker-metadata-action-devel"]
   dockerfile = "docker/autoware-openadk/Dockerfile"
   target = "devel"
 }
 
-target "monorun" {
-  inherits = ["docker-metadata-action-monorun"]
+target "prebuilt" {
+  inherits = ["docker-metadata-action-prebuilt"]
   dockerfile = "docker/autoware-openadk/Dockerfile"
-  target = "monorun"
+  target = "prebuilt"
+}
+
+target "runtime" {
+  inherits = ["docker-metadata-action-runtime"]
+  dockerfile = "docker/autoware-openadk/Dockerfile"
+  target = "runtime"
 }

docker/build.sh

@@ -36,6 +36,11 @@ parse_arguments() {
         --devel-only)
             option_devel_only=true
             ;;
+        *)
+            echo "Unknown option: $1"
+            print_help
+            exit 1
+            ;;
         esac
         shift
     done
@@ -115,7 +120,8 @@ build_images() {
         --set "*.args.SETUP_ARGS=$setup_args" \
         --set "*.args.LIB_DIR=$lib_dir" \
         --set "devel.tags=ghcr.io/autowarefoundation/autoware-openadk:devel-$rosdistro-latest$image_name_suffix" \
-        --set "monorun.tags=ghcr.io/autowarefoundation/autoware-openadk:monorun-$rosdistro-latest$image_name_suffix" \
+        --set "prebuilt.tags=ghcr.io/autowarefoundation/autoware-openadk:prebuilt-$rosdistro-latest$image_name_suffix" \
+        --set "runtime.tags=ghcr.io/autowarefoundation/autoware-openadk:runtime-$rosdistro-latest$image_name_suffix" \
         "${targets[@]}"
     set +x
 }

docker/run.sh

@@ -63,6 +63,11 @@ parse_arguments() {
             LAUNCH_CMD="$2"
             shift
             ;;
+        *)
+            echo "Unknown option: $1"
+            print_help
+            exit 1
+            ;;
         esac
         shift
     done
@@ -81,7 +86,7 @@ set_variables() {
             exit 1
         fi
         MAP="-v ${MAP_PATH}:/${MAP_PATH}"
-        IMAGE="ghcr.io/autowarefoundation/autoware-openadk:monorun-$rosdistro-latest"
+        IMAGE="ghcr.io/autowarefoundation/autoware-openadk:runtime-$rosdistro-latest"
         WORKSPACE=""
     fi
 }