update dockerfile

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

.github/workflows/docker-build-and-push-main-self-hosted.yaml

@@ -54,7 +54,6 @@ jobs:
             *.platform=linux/arm64
             *.args.ROS_DISTRO=${{ env.rosdistro }}
             *.args.BASE_IMAGE=${{ env[format('{0}', matrix.base_image_env)] }}
-            *.args.PREBUILT_BASE_IMAGE=${{ env.prebuilt_base_image }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
           tag-prefix: ${{ env.rosdistro }}-
           tag-suffix: ${{ matrix.additional-tag-suffix }}-arm64

.github/workflows/docker-build-and-push-main.yaml

@@ -49,7 +49,6 @@ jobs:
             *.platform=linux/amd64
             *.args.ROS_DISTRO=${{ env.rosdistro }}
             *.args.BASE_IMAGE=${{ env[format('{0}', matrix.base_image_env)] }}
-            *.args.PREBUILT_BASE_IMAGE=${{ env.prebuilt_base_image }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
           tag-prefix: ${{ env.rosdistro }}-
           tag-suffix: ${{ matrix.additional-tag-suffix }}-amd64

amd64.env

@@ -2,7 +2,6 @@ rosdistro=humble
 rmw_implementation=rmw_cyclonedds_cpp
 base_image=ubuntu:22.04
 cuda_base_image=ubuntu:22.04
-prebuilt_base_image=ubuntu:22.04
 cuda_version=11.6
 cudnn_version=8.4.1.50-1+cuda11.6
 tensorrt_version=8.4.2-1+cuda11.6

docker/autoware-universe/Dockerfile

@@ -1,128 +1,66 @@
-# Image args should come at the beginning.
+# hadolint global ignore=DL3006,DL3008
 ARG BASE_IMAGE
-ARG PREBUILT_BASE_IMAGE
-# hadolint ignore=DL3006
+
 FROM $BASE_IMAGE as devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
-
 ARG ROS_DISTRO
 ARG SETUP_ARGS
 
-## Install apt packages
-# hadolint ignore=DL3008
+# Install apt packages
 RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get -y install --no-install-recommends \
   git \
   ssh \
-  && apt-get clean \
-  && rm -rf /var/lib/apt/lists/*
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+
+# Add GitHub to known hosts for private repositories
+RUN mkdir -p ~/.ssh \
+  && ssh-keyscan github.com >> ~/.ssh/known_hosts
 
-## Copy files
+# Copy files
 COPY autoware.repos setup-dev-env.sh ansible-galaxy-requirements.yaml amd64.env arm64.env /autoware/
 COPY ansible/ /autoware/ansible/
 WORKDIR /autoware
-RUN ls /autoware
-
-## Add GitHub to known hosts for private repositories
-RUN mkdir -p ~/.ssh \
-  && ssh-keyscan github.com >> ~/.ssh/known_hosts
 
-## Set up development environment
+# Set up development environment
 RUN --mount=type=ssh \
   ./setup-dev-env.sh -y $SETUP_ARGS universe \
   && pip uninstall -y ansible ansible-core \
   && mkdir src \
   && vcs import src < autoware.repos \
   && rosdep update \
   && DEBIAN_FRONTEND=noninteractive rosdep install -y --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \
-  && apt-get clean \
-  && rm -rf /var/lib/apt/lists/*
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
 
-## Clean up unnecessary files
+# Clean up unnecessary files
 RUN rm -rf \
-  "$HOME"/.cache \
   /etc/apt/sources.list.d/cuda*.list \
   /etc/apt/sources.list.d/docker.list \
   /etc/apt/sources.list.d/nvidia-docker.list
 
-## Register Vulkan GPU vendors
-RUN curl https://gitlab.com/nvidia/container-images/vulkan/raw/dc389b0445c788901fda1d85be96fd1cb9410164/nvidia_icd.json -o /etc/vulkan/icd.d/nvidia_icd.json \
-  && chmod 644 /etc/vulkan/icd.d/nvidia_icd.json
-RUN curl https://gitlab.com/nvidia/container-images/opengl/raw/5191cf205d3e4bb1150091f9464499b076104354/glvnd/runtime/10_nvidia.json -o /etc/glvnd/egl_vendor.d/10_nvidia.json \
-  && chmod 644 /etc/glvnd/egl_vendor.d/10_nvidia.json
+# Register Vulkan GPU vendors
+ADD "https://gitlab.com/nvidia/container-images/vulkan/raw/dc389b0445c788901fda1d85be96fd1cb9410164/nvidia_icd.json" /etc/vulkan/icd.d/nvidia_icd.json
+RUN chmod 644 /etc/vulkan/icd.d/nvidia_icd.json
+ADD "https://gitlab.com/nvidia/container-images/opengl/raw/5191cf205d3e4bb1150091f9464499b076104354/glvnd/runtime/10_nvidia.json" /etc/glvnd/egl_vendor.d/10_nvidia.json
+RUN chmod 644 /etc/glvnd/egl_vendor.d/10_nvidia.json
 
-## Register OpenCL GPU vendors
+# Register OpenCL GPU vendors
 RUN mkdir -p /etc/OpenCL/vendors \
   && echo "libnvidia-opencl.so.1" > /etc/OpenCL/vendors/nvidia.icd \
   && chmod 644 /etc/OpenCL/vendors/nvidia.icd
 
-## Create entrypoint
-# hadolint ignore=DL3059
+# Create entrypoint
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" > /etc/bash.bashrc
 CMD ["/bin/bash"]
 
-FROM devel as builder
+FROM devel as prebuilt
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
-## Build and change permission for runtime data conversion
+# Build and change permission for runtime data conversion
 RUN source /opt/ros/"$ROS_DISTRO"/setup.bash \
   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release \
-  && find /autoware/install -type d -exec chmod 777 {} \;
-
-# hadolint ignore=DL3006
-FROM $PREBUILT_BASE_IMAGE as prebuilt
-
-SHELL ["/bin/bash", "-o", "pipefail", "-c"]
-
-ARG ROS_DISTRO
-ARG SETUP_ARGS
-
-## Install apt packages
-# hadolint ignore=DL3008
-RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get -y install --no-install-recommends \
-  git \
-  ssh \
-  && apt-get clean \
-  && rm -rf /var/lib/apt/lists/*
-
-## Copy files
-COPY autoware.repos setup-dev-env.sh ansible-galaxy-requirements.yaml amd64.env arm64.env /autoware/
-COPY ansible/ /autoware/ansible/
-WORKDIR /autoware
-RUN ls /autoware
-
-## Add GitHub to known hosts for private repositories
-RUN mkdir -p ~/.ssh \
-  && ssh-keyscan github.com >> ~/.ssh/known_hosts
-
-## Set up runtime environment
-RUN --mount=type=ssh \
-  ./setup-dev-env.sh -y $SETUP_ARGS --no-cuda-drivers --runtime universe \
-  && pip uninstall -y ansible ansible-core \
-  && mkdir src \
-  && vcs import src < autoware.repos \
-  && rosdep update \
-  && DEBIAN_FRONTEND=noninteractive rosdep install -y --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \
-  && rm -rf src \
-  && apt-get clean \
-  && rm -rf /var/lib/apt/lists/*
-
-## Copy install folder from builder
-COPY --from=builder /autoware/install/ /autoware/install/
-
-## Clean up unnecessary files
-RUN rm -rf \
-  "$HOME"/.cache \
-  /etc/apt/sources.list.d/cuda*.list \
-  /etc/apt/sources.list.d/docker.list \
-  /etc/apt/sources.list.d/nvidia-docker.list
-
-## Register Vulkan GPU vendors
-ADD "https://gitlab.com/nvidia/container-images/vulkan/raw/dc389b0445c788901fda1d85be96fd1cb9410164/nvidia_icd.json" /etc/vulkan/icd.d/nvidia_icd.json
-RUN chmod 644 /etc/vulkan/icd.d/nvidia_icd.json
-ADD "https://gitlab.com/nvidia/container-images/opengl/raw/5191cf205d3e4bb1150091f9464499b076104354/glvnd/runtime/10_nvidia.json" /etc/glvnd/egl_vendor.d/10_nvidia.json
-RUN chmod 644 /etc/glvnd/egl_vendor.d/10_nvidia.json
+  && find /autoware/install -type d -exec chmod 777 {} \; \
+  && rm -rf /autoware/build /autoware/src
 
-## Create entrypoint
-# hadolint ignore=DL3059
+# Create entrypoint
 RUN echo "source /autoware/install/setup.bash" > /etc/bash.bashrc
 CMD ["/bin/bash"]

docker/autoware-universe/docker-bake.hcl

@@ -6,12 +6,14 @@ group "default" {
 target "docker-metadata-action-devel" {}
 target "docker-metadata-action-prebuilt" {}
 
+// For source image
 target "devel" {
   inherits = ["docker-metadata-action-devel"]
   dockerfile = "docker/autoware-universe/Dockerfile"
   target = "devel"
 }
 
+// For install image
 target "prebuilt" {
   inherits = ["docker-metadata-action-prebuilt"]
   dockerfile = "docker/autoware-universe/Dockerfile"

docker/build.sh

@@ -69,7 +69,6 @@ docker buildx bake --no-cache --load --progress=plain -f "$SCRIPT_DIR/autoware-u
     --set "*.platform=$platform" \
     --set "*.args.ROS_DISTRO=$rosdistro" \
     --set "*.args.BASE_IMAGE=$base_image" \
-    --set "*.args.PREBUILT_BASE_IMAGE=$prebuilt_base_image" \
     --set "*.args.SETUP_ARGS=$setup_args" \
     --set "devel.tags=ghcr.io/autowarefoundation/autoware-universe:$rosdistro-latest$image_name_suffix" \
     --set "prebuilt.tags=ghcr.io/autowarefoundation/autoware-universe:$rosdistro-latest-prebuilt$image_name_suffix" \