Feat/update docker

.ansible-lint

@@ -1,8 +1,11 @@
 exclude_paths:
   - src/
+  - build/
+  - install/
+  - log/
 
 skip_list:
-  - meta-no-info # We don't publish to Ansible Galaxy.
+  - galaxy # We don't publish to Ansible Galaxy.
   - package-latest # Since this is a development environment, we allow the latest versions.
 
 warn_list: []

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

@@ -1,10 +1,6 @@
 name: docker-build-and-push-main
 
 on:
-  push:
-    tags:
-      - v*
-      - "[0-9]+.[0-9]+*"
   schedule:
     - cron: 0 0 1,15 * *
   workflow_dispatch:
@@ -17,16 +13,11 @@ jobs:
       matrix:
         name:
           - no-cuda
-          - cuda
         include:
           - name: no-cuda
             base_image_env: base_image
             setup-args: --no-nvidia
             additional-tag-suffix: ""
-          - name: cuda
-            base_image_env: cuda_base_image
-            setup-args: --no-cuda-drivers
-            additional-tag-suffix: -cuda
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
@@ -49,7 +40,6 @@ 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

.pre-commit-config-ansible.yaml

@@ -1,5 +1,7 @@
 repos:
   - repo: https://github.com/ansible/ansible-lint.git
-    rev: v6.9.0
+    rev: v6.16.1
     hooks:
       - id: ansible-lint
+        additional_dependencies:
+          - ansible

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

ansible/playbooks/core.yaml

@@ -1,4 +1,5 @@
-- hosts: localhost
+- name: Set up source development environments for Autoware Core
+  hosts: localhost
   connection: local
   pre_tasks:
     - name: Verify OS

ansible/playbooks/docker.yaml

@@ -1,4 +1,5 @@
-- hosts: localhost
+- name: Set up Docker development environments for Autoware
+  hosts: localhost
   connection: local
   vars_prompt:
     - name: prompt_install_nvidia

ansible/playbooks/universe.yaml

@@ -1,4 +1,5 @@
-- hosts: localhost
+- name: Set up source development environments for Autoware Universe
+  hosts: localhost
   connection: local
   vars_prompt:
     - name: prompt_install_nvidia

ansible/roles/cuda/tasks/main.yaml

@@ -38,22 +38,22 @@
 
 - name: Get dash-case name of cuda_version
   ansible.builtin.shell: bash -c 'sed -e "s/\./-/g" <<< $(echo {{ cuda_version }})'
-  register: dash_case_cuda_version
+  register: cuda__dash_case_cuda_version
   changed_when: false
 
 - name: Install CUDA libraries except for cuda-drivers
   become: true
   ansible.builtin.apt:
     name:
-      - cuda-cudart-dev-{{ dash_case_cuda_version.stdout }}
-      - cuda-command-line-tools-{{ dash_case_cuda_version.stdout }}
-      - cuda-minimal-build-{{ dash_case_cuda_version.stdout }}
-      - cuda-libraries-dev-{{ dash_case_cuda_version.stdout }}
-      - cuda-nvml-dev-{{ dash_case_cuda_version.stdout }}
-      - cuda-nvprof-{{ dash_case_cuda_version.stdout }}
-      - libnpp-dev-{{ dash_case_cuda_version.stdout }}
-      - libcusparse-dev-{{ dash_case_cuda_version.stdout }}
-      - libcublas-dev-{{ dash_case_cuda_version.stdout }}
+      - cuda-cudart-dev-{{ cuda__dash_case_cuda_version.stdout }}
+      - cuda-command-line-tools-{{ cuda__dash_case_cuda_version.stdout }}
+      - cuda-minimal-build-{{ cuda__dash_case_cuda_version.stdout }}
+      - cuda-libraries-dev-{{ cuda__dash_case_cuda_version.stdout }}
+      - cuda-nvml-dev-{{ cuda__dash_case_cuda_version.stdout }}
+      - cuda-nvprof-{{ cuda__dash_case_cuda_version.stdout }}
+      - libnpp-dev-{{ cuda__dash_case_cuda_version.stdout }}
+      - libcusparse-dev-{{ cuda__dash_case_cuda_version.stdout }}
+      - libcublas-dev-{{ cuda__dash_case_cuda_version.stdout }}
       - libnccl-dev
     update_cache: true
 

ansible/roles/docker_engine/tasks/main.yaml

@@ -37,24 +37,24 @@
 
 - name: Save result of 'dpkg --print-architecture'
   ansible.builtin.command: dpkg --print-architecture
-  register: deb_architecture
+  register: docker_engine__deb_architecture
   changed_when: false
 
 - name: Save result of 'lsb_release -cs'
   ansible.builtin.command: lsb_release -cs
-  register: lsb_release_cs
+  register: docker_engine__lsb_release_cs
   changed_when: false
 
 - name: Save result of 'lsb_release -is'
   ansible.builtin.command: lsb_release -is
-  register: lsb_release_is
+  register: docker_engine__lsb_release_is
   changed_when: false
 
 # echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/$(lsb_release -is | tr '[:upper:]' '[:lower:]') $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
 - name: Add Docker apt repository to source list
   become: true
   ansible.builtin.apt_repository:
-    repo: deb [arch={{ deb_architecture.stdout }} signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/{{ lsb_release_is.stdout | lower }} {{ lsb_release_cs.stdout }} stable
+    repo: deb [arch={{ docker_engine__deb_architecture.stdout }} signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/{{ docker_engine__lsb_release_is.stdout | lower }} {{ docker_engine__lsb_release_cs.stdout }} stable
     filename: docker
     state: present
     update_cache: true

ansible/roles/git_lfs/tasks/main.yaml

@@ -8,11 +8,12 @@
 
 # ref: https://github.com/ansible/ansible-lint/issues/1780
 - name: Check if git lfs is installed # https://github.com/git-lfs/git-lfs/issues/901
-  git_config:
+  community.general.git_config:
     list_all: true
     scope: global
-  register: git_global_config
+  register: git_lfs__git_global_config
 
 - name: Setup Git LFS
-  command: git lfs install
-  when: "'filter.lfs.required' not in git_global_config.config_values"
+  ansible.builtin.command: git lfs install
+  when: "'filter.lfs.required' not in git_lfs__git_global_config.config_values"
+  changed_when: true

ansible/roles/nvidia_docker/tasks/main.yaml

@@ -5,12 +5,12 @@
 
 - name: Save result of '. /etc/os-release;echo $ID$VERSION_ID'
   ansible.builtin.shell: . /etc/os-release;echo $ID$VERSION_ID
-  register: distribution
+  register: nvidia_docker__distribution
   changed_when: false
 
 - name: Save result of 'curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list'
   ansible.builtin.uri:
-    url: https://nvidia.github.io/nvidia-docker/{{ distribution.stdout }}/nvidia-docker.list
+    url: https://nvidia.github.io/nvidia-docker/{{ nvidia_docker__distribution.stdout }}/nvidia-docker.list
     return_content: true
   register: nvidia_docker_list
 

ansible/roles/pacmod/tasks/main.yaml

@@ -6,14 +6,14 @@
 
 - name: Save result of 'lsb_release -sc'
   ansible.builtin.command: lsb_release -sc
-  register: lsb_release
+  register: pacmod__lsb_release
   changed_when: false
 
 # echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list
 - name: Add AutonomouStuff apt repository to source list
   become: true
   ansible.builtin.apt_repository:
-    repo: deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ {{ lsb_release.stdout }} main
+    repo: deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ {{ pacmod__lsb_release.stdout }} main
     filename: autonomoustuff-public
     state: present
     update_cache: true

ansible/roles/rmw_implementation/tasks/main.yaml

@@ -1,12 +1,12 @@
 - name: Get dash-case name of rmw_implementation
   ansible.builtin.shell: bash -c 'sed -e "s/_/-/g" <<< $(echo {{ rmw_implementation }})'
-  register: dash_case_rmw_implementation
+  register: rmw_implementation__dash_case_rmw_implementation
   changed_when: false
 
-- name: Install ros-{{ rosdistro }}-{{ dash_case_rmw_implementation.stdout }}
+- name: Install ros-{{ rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout }}
   become: true
   ansible.builtin.apt:
-    name: ros-{{ rosdistro }}-{{ dash_case_rmw_implementation.stdout }}
+    name: ros-{{ rosdistro }}-{{ rmw_implementation__dash_case_rmw_implementation.stdout }}
     state: latest
     update_cache: true
 

ansible/roles/rocker/tasks/main.yaml

@@ -4,22 +4,23 @@
   ansible.builtin.get_url:
     url: https://raw.githubusercontent.com/ros/rosdistro/master/ros.key
     dest: /usr/share/keyrings/ros-archive-keyring.gpg
+    mode: 644
 
 - name: Save result of 'dpkg --print-architecture'
   ansible.builtin.command: dpkg --print-architecture
-  register: deb_architecture
+  register: rocker__deb_architecture
   changed_when: false
 
 - name: Save result of 'lsb_release -cs'
   ansible.builtin.command: lsb_release -cs
-  register: lsb_release_cs
+  register: rocker__lsb_release_cs
   changed_when: false
 
 # echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 - name: Add ROS 2 apt repository to source list
   become: true
   ansible.builtin.apt_repository:
-    repo: deb [arch={{ deb_architecture.stdout }} signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu {{ lsb_release_cs.stdout }} main
+    repo: deb [arch={{ rocker__deb_architecture.stdout }} signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu {{ rocker__lsb_release_cs.stdout }} main
     filename: ros2
     state: present
     update_cache: true

ansible/roles/ros2/tasks/main.yaml

@@ -13,27 +13,28 @@
   ansible.builtin.get_url:
     url: https://raw.githubusercontent.com/ros/rosdistro/master/ros.key
     dest: /usr/share/keyrings/ros-archive-keyring.gpg
+    mode: 644
 
 - name: Save result of 'dpkg --print-architecture'
   ansible.builtin.command: dpkg --print-architecture
-  register: deb_architecture
+  register: ros2__deb_architecture
   changed_when: false
 
 - name: Save result of 'source /etc/os-release && echo $UBUNTU_CODENAME'
   ansible.builtin.shell: bash -c 'source /etc/os-release && echo $UBUNTU_CODENAME'
-  register: ubuntu_codename
+  register: ros2__ubuntu_codename
   changed_when: false
 
 # echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 - name: Add ROS 2 apt repository to source list
   become: true
   ansible.builtin.apt_repository:
-    repo: deb [arch={{ deb_architecture.stdout }} signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu {{ ubuntu_codename.stdout }} main
+    repo: deb [arch={{ ros2__deb_architecture.stdout }} signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu {{ ros2__ubuntu_codename.stdout }} main
     filename: ros2
     state: present
     update_cache: true
 
-- name: Install ros-{{ rosdistro }}-{{ installation_type }}
+- name: Install ros-{{ rosdistro + '-' + installation_type }}
   become: true
   ansible.builtin.apt:
     name: ros-{{ rosdistro }}-{{ installation_type }}