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refactor(docker): refine CUDA related packages build #5458

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merged 4 commits into from
Nov 20, 2024
Merged

refactor(docker): refine CUDA related packages build #5458

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3e3fcad
refine cuda related pkgs build
youtalk Nov 20, 2024
13f1f06
fix ''
youtalk Nov 20, 2024
81bece5
fix option
youtalk Nov 20, 2024
8f9e904
disable shellcheck
youtalk Nov 20, 2024
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16 changes: 3 additions & 13 deletions docker/Dockerfile
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
ARG BASE_IMAGE

# hadolint ignore=DL3006
FROM $BASE_IMAGE AS base

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GitHub Actions / docker-build

Default value for global ARG results in an empty or invalid base image name 

InvalidDefaultArgInFrom: Default value for ARG $BASE_IMAGE results in empty or invalid base image name
More info: https://docs.docker.com/go/dockerfile/rule/invalid-default-arg-in-from/

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GitHub Actions / docker-build-nightly

Default value for global ARG results in an empty or invalid base image name 

InvalidDefaultArgInFrom: Default value for ARG $BASE_IMAGE results in empty or invalid base image name
More info: https://docs.docker.com/go/dockerfile/rule/invalid-default-arg-in-from/
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

Expand Down Expand Up @@ -50,7 +50,7 @@
&& /autoware/cleanup_apt.sh true

# hadolint ignore=DL3006
FROM $BASE_IMAGE AS rosdep-depend

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Default value for global ARG results in an empty or invalid base image name 

InvalidDefaultArgInFrom: Default value for ARG $BASE_IMAGE results in empty or invalid base image name
More info: https://docs.docker.com/go/dockerfile/rule/invalid-default-arg-in-from/

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GitHub Actions / docker-build-nightly

Default value for global ARG results in an empty or invalid base image name 

InvalidDefaultArgInFrom: Default value for ARG $BASE_IMAGE results in empty or invalid base image name
More info: https://docs.docker.com/go/dockerfile/rule/invalid-default-arg-in-from/
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

Expand Down Expand Up @@ -272,21 +272,11 @@

# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
# TODO(youtalk): Move CUDA related packages into a dedicated directory
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_bytetrack,target=/autoware/src/universe/autoware.universe/perception/autoware_bytetrack \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_lidar_apollo_instance_segmentation,target=/autoware/src/universe/autoware.universe/perception/autoware_lidar_apollo_instance_segmentation \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_lidar_centerpoint,target=/autoware/src/universe/autoware.universe/perception/autoware_lidar_centerpoint \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_lidar_transfusion,target=/autoware/src/universe/autoware.universe/perception/autoware_lidar_transfusion \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_shape_estimation,target=/autoware/src/universe/autoware.universe/perception/autoware_shape_estimation \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_classifier,target=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_classifier \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_common,target=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_common \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_yolox,target=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_yolox \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_traffic_light_classifier,target=/autoware/src/universe/autoware.universe/perception/autoware_traffic_light_classifier \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_traffic_light_fine_detector,target=/autoware/src/universe/autoware.universe/perception/autoware_traffic_light_fine_detector \
--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 \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception,target=/autoware/src/universe/autoware.universe/perception \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/sensing,target=/autoware/src/universe/autoware.universe/sensing \
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 "--packages-above-and-dependencies autoware_tensorrt_common"

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["/bin/bash"]
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5 changes: 4 additions & 1 deletion docker/scripts/build_and_clean.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -3,14 +3,17 @@
function build_and_clean() {
local ccache_dir=$1
local install_base=$2
local colcon_build_args=$3

# shellcheck disable=SC2086
du -sh "$ccache_dir" && ccache -s &&
colcon build --cmake-args \
" -Wno-dev" \
" --no-warn-unused-cli" \
--merge-install \
--install-base "$install_base" \
--mixin release compile-commands ccache &&
--mixin release compile-commands ccache \
$colcon_build_args &&
du -sh "$ccache_dir" && ccache -s &&
rm -rf /autoware/build /autoware/log
}
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