add force_cuda option

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

Author: youtalk

docker/Dockerfile

@@ -277,7 +277,7 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
   --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/sensing/autoware_cuda_utils,target=/autoware/src/universe/autoware.universe/sensing/autoware_cuda_utils \
   source /opt/ros/"$ROS_DISTRO"/setup.bash \
   && source /opt/autoware/setup.bash \
-  && /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware
+  && /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware true
 
 COPY --from=universe-sensing-perception-devel /opt/autoware /opt/autoware
 

docker/scripts/build_and_clean.sh

@@ -3,11 +3,15 @@
 function build_and_clean() {
     local ccache_dir=$1
     local install_base=$2
+    local cuda_image=$3
+
+    local cmake_args=" -Wno-dev --no-warn-unused-cli"
+    if [ "$cuda_image" = true ]; then
+        cmake_args="$cmake_args -DFORCE_CUDA=1"
+    fi
 
     du -sh "$ccache_dir" && ccache -s &&
-        colcon build --cmake-args \
-            " -Wno-dev" \
-            " --no-warn-unused-cli" \
+        colcon build --cmake-args "$cmake_args" \
             --merge-install \
             --install-base "$install_base" \
             --mixin release compile-commands ccache &&