diff --git a/README.md b/README.md index af125d7015..6bbacb252c 100644 --- a/README.md +++ b/README.md @@ -4,8 +4,8 @@

- - + Autoware Universe Contributors

- - + Autoware Universe Activity health-check CI - - + Code Coverage

@@ -68,10 +68,10 @@ To learn more about using or developing Autoware, refer to the [Autoware documen - [autowarefoundation/autoware_common](https://github.com/autowarefoundation/autoware_common) - Library/utility type repository containing commonly referenced ROS packages. - These packages were moved to a separate repository in order to reduce CI execution time -- [autowarefoundation/autoware.core](https://github.com/autowarefoundation/autoware.core) +- [autowarefoundation/autoware_core](https://github.com/autowarefoundation/autoware_core) - Main repository for high-quality, stable ROS packages for Autonomous Driving. - - Based on [Autoware.Auto](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto) and [Autoware.Universe](https://github.com/autowarefoundation/autoware.universe). -- [autowarefoundation/autoware.universe](https://github.com/autowarefoundation/autoware.universe) + - Based on [Autoware.Auto](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto) and [Autoware.Universe](https://github.com/autowarefoundation/autoware_universe). +- [autowarefoundation/autoware_universe](https://github.com/autowarefoundation/autoware_universe) - Repository for experimental, cutting-edge ROS packages for Autonomous Driving. - Autoware Universe was created to make it easier for researchers and developers to extend the functionality of Autoware Core - [autowarefoundation/autoware_launch](https://github.com/autowarefoundation/autoware_launch) @@ -89,7 +89,7 @@ If you wish to use Autoware.AI, the previous version of Autoware based on ROS 1, ## Contributing -- [There is no formal process to become a contributor](https://github.com/autowarefoundation/autoware-projects/wiki#contributors) - you can comment on any [existing issues](https://github.com/autowarefoundation/autoware.universe/issues) or make a pull request on any Autoware repository! +- [There is no formal process to become a contributor](https://github.com/autowarefoundation/autoware-projects/wiki#contributors) - you can comment on any [existing issues](https://github.com/autowarefoundation/autoware_universe/issues) or make a pull request on any Autoware repository! - Make sure to follow the [Contribution Guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/). - Take a look at Autoware's [various working groups](https://github.com/autowarefoundation/autoware-projects/wiki#working-group-list) to gain an understanding of any work in progress and to see how projects are managed. - If you have any technical questions, you can start a discussion in the [Q&A category](https://github.com/autowarefoundation/autoware/discussions/categories/q-a) to request help and confirm if a potential issue is a bug or not. diff --git a/autoware-nightly.repos b/autoware-nightly.repos index 59b72dd66b..74206e68ba 100644 --- a/autoware-nightly.repos +++ b/autoware-nightly.repos @@ -7,17 +7,17 @@ repositories: type: git url: https://github.com/autowarefoundation/autoware_internal_msgs.git version: main - core/autoware.core: + core/autoware_core: type: git - url: https://github.com/autowarefoundation/autoware.core.git + url: https://github.com/autowarefoundation/autoware_core.git version: main core/autoware_utils: # TODO(mitsudome-r): Remove this repository entry when https://github.com/autowarefoundation/autoware/pull/5700 is merged. type: git url: https://github.com/autowarefoundation/autoware_utils.git version: main - universe/autoware.universe: + universe/autoware_universe: type: git - url: https://github.com/autowarefoundation/autoware.universe.git + url: https://github.com/autowarefoundation/autoware_universe.git version: main universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Migrate to AD API and remove this repository entry. type: git diff --git a/autoware.repos b/autoware.repos index c876a4b635..8ea1bc7e4f 100644 --- a/autoware.repos +++ b/autoware.repos @@ -4,7 +4,7 @@ repositories: type: git url: https://github.com/autowarefoundation/autoware_msgs.git version: 1.4.0 - # TODO (isamu-takagi): Use a released version when autoware.universe uses a released version. + # TODO (isamu-takagi): Use a released version when autoware_universe uses a released version. core/autoware_adapi_msgs: type: git url: https://github.com/autowarefoundation/autoware_adapi_msgs.git @@ -25,14 +25,14 @@ repositories: type: git url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git version: 0.6.3 - core/autoware.core: + core/autoware_core: type: git - url: https://github.com/autowarefoundation/autoware.core.git + url: https://github.com/autowarefoundation/autoware_core.git version: 0.2.0 # universe - universe/autoware.universe: + universe/autoware_universe: type: git - url: https://github.com/autowarefoundation/autoware.universe.git + url: https://github.com/autowarefoundation/autoware_universe.git version: 0.41.2 universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Migrate to AD API and remove this repository entry. type: git diff --git a/docker/Dockerfile b/docker/Dockerfile index 3b36097548..275d21a541 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -37,7 +37,7 @@ RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-ty > /rosdep-core-common-exec-depend-packages.txt \ && cat /rosdep-core-common-exec-depend-packages.txt -COPY src/core/autoware.core /autoware/src/core/autoware.core +COPY src/core/autoware_core /autoware/src/core/autoware_core RUN rosdep update && /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \ > /rosdep-core-depend-packages.txt \ && cat /rosdep-core-depend-packages.txt @@ -48,7 +48,7 @@ RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-ty COPY src/universe/external /autoware/src/universe/external # trt_batched_nms depends on autoware_tensorrt_common and autoware_cuda_utils, which are not available in universe-common-devel stage RUN rm -rf /autoware/src/universe/external/trt_batched_nms -COPY src/universe/autoware.universe/common /autoware/src/universe/autoware.universe/common +COPY src/universe/autoware_universe/common /autoware/src/universe/autoware_universe/common RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \ > /rosdep-universe-common-depend-packages.txt \ && cat /rosdep-universe-common-depend-packages.txt @@ -57,7 +57,7 @@ FROM rosdep-depend AS rosdep-universe-visualization-depend SHELL ["/bin/bash", "-o", "pipefail", "-c"] ARG ROS_DISTRO -COPY src/universe/autoware.universe/visualization /autoware/src/universe/autoware.universe/visualization +COPY src/universe/autoware_universe/visualization /autoware/src/universe/autoware_universe/visualization RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \ > /rosdep-universe-visualization-depend-packages.txt \ && cat /rosdep-universe-visualization-depend-packages.txt @@ -69,8 +69,8 @@ FROM rosdep-depend AS rosdep-universe-sensing-perception-depend SHELL ["/bin/bash", "-o", "pipefail", "-c"] ARG ROS_DISTRO -COPY src/universe/autoware.universe/perception /autoware/src/universe/autoware.universe/perception -COPY src/universe/autoware.universe/sensing /autoware/src/universe/autoware.universe/sensing +COPY src/universe/autoware_universe/perception /autoware/src/universe/autoware_universe/perception +COPY src/universe/autoware_universe/sensing /autoware/src/universe/autoware_universe/sensing RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \ > /rosdep-universe-sensing-perception-depend-packages.txt \ && cat /rosdep-universe-sensing-perception-depend-packages.txt @@ -82,8 +82,8 @@ FROM rosdep-depend AS rosdep-universe-localization-mapping-depend SHELL ["/bin/bash", "-o", "pipefail", "-c"] ARG ROS_DISTRO -COPY src/universe/autoware.universe/localization /autoware/src/universe/autoware.universe/localization -COPY src/universe/autoware.universe/map /autoware/src/universe/autoware.universe/map +COPY src/universe/autoware_universe/localization /autoware/src/universe/autoware_universe/localization +COPY src/universe/autoware_universe/map /autoware/src/universe/autoware_universe/map RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \ > /rosdep-universe-localization-mapping-depend-packages.txt \ && cat /rosdep-universe-localization-mapping-depend-packages.txt @@ -95,17 +95,17 @@ FROM rosdep-depend AS rosdep-universe-planning-control-depend SHELL ["/bin/bash", "-o", "pipefail", "-c"] ARG ROS_DISTRO -COPY src/universe/autoware.universe/launch/tier4_control_launch /autoware/src/universe/autoware.universe/launch/tier4_control_launch -COPY src/universe/autoware.universe/launch/tier4_planning_launch /autoware/src/universe/autoware.universe/launch/tier4_planning_launch -COPY src/universe/autoware.universe/control /autoware/src/universe/autoware.universe/control -COPY src/universe/autoware.universe/planning /autoware/src/universe/autoware.universe/planning -# TODO(youtalk): Remove COPYs when https://github.com/autowarefoundation/autoware.universe/issues/8805 is resolved -COPY src/universe/autoware.universe/evaluator/autoware_control_evaluator /autoware/src/universe/autoware.universe/evaluator/autoware_control_evaluator -COPY src/universe/autoware.universe/evaluator/autoware_planning_evaluator /autoware/src/universe/autoware.universe/evaluator/autoware_planning_evaluator -COPY src/universe/autoware.universe/sensing/autoware_pcl_extensions /autoware/src/universe/autoware.universe/sensing/autoware_pcl_extensions -COPY src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor /autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor -COPY src/universe/autoware.universe/vehicle/autoware_external_cmd_converter /autoware/src/universe/autoware.universe/vehicle/autoware_external_cmd_converter -COPY src/universe/autoware.universe/vehicle/autoware_raw_vehicle_cmd_converter /autoware/src/universe/autoware.universe/vehicle/autoware_raw_vehicle_cmd_converter +COPY src/universe/autoware_universe/launch/tier4_control_launch /autoware/src/universe/autoware_universe/launch/tier4_control_launch +COPY src/universe/autoware_universe/launch/tier4_planning_launch /autoware/src/universe/autoware_universe/launch/tier4_planning_launch +COPY src/universe/autoware_universe/control /autoware/src/universe/autoware_universe/control +COPY src/universe/autoware_universe/planning /autoware/src/universe/autoware_universe/planning +# TODO(youtalk): Remove COPYs when https://github.com/autowarefoundation/autoware_universe/issues/8805 is resolved +COPY src/universe/autoware_universe/evaluator/autoware_control_evaluator /autoware/src/universe/autoware_universe/evaluator/autoware_control_evaluator +COPY src/universe/autoware_universe/evaluator/autoware_planning_evaluator /autoware/src/universe/autoware_universe/evaluator/autoware_planning_evaluator +COPY src/universe/autoware_universe/sensing/autoware_pcl_extensions /autoware/src/universe/autoware_universe/sensing/autoware_pcl_extensions +COPY src/universe/autoware_universe/sensing/autoware_pointcloud_preprocessor /autoware/src/universe/autoware_universe/sensing/autoware_pointcloud_preprocessor +COPY src/universe/autoware_universe/vehicle/autoware_external_cmd_converter /autoware/src/universe/autoware_universe/vehicle/autoware_external_cmd_converter +COPY src/universe/autoware_universe/vehicle/autoware_raw_vehicle_cmd_converter /autoware/src/universe/autoware_universe/vehicle/autoware_raw_vehicle_cmd_converter RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \ > /rosdep-universe-planning-control-depend-packages.txt \ && cat /rosdep-universe-planning-control-depend-packages.txt @@ -117,12 +117,12 @@ FROM rosdep-depend AS rosdep-universe-vehicle-system-depend SHELL ["/bin/bash", "-o", "pipefail", "-c"] ARG ROS_DISTRO -COPY src/universe/autoware.universe/launch/tier4_vehicle_launch /autoware/src/universe/autoware.universe/launch/tier4_vehicle_launch -COPY src/universe/autoware.universe/launch/tier4_system_launch /autoware/src/universe/autoware.universe/launch/tier4_system_launch -COPY src/universe/autoware.universe/vehicle /autoware/src/universe/autoware.universe/vehicle -COPY src/universe/autoware.universe/system /autoware/src/universe/autoware.universe/system -COPY src/universe/autoware.universe/map/autoware_map_height_fitter /autoware/src/universe/autoware.universe/map/autoware_map_height_fitter -COPY src/universe/autoware.universe/localization/autoware_pose2twist /autoware/src/universe/autoware.universe/localization/autoware_pose2twist +COPY src/universe/autoware_universe/launch/tier4_vehicle_launch /autoware/src/universe/autoware_universe/launch/tier4_vehicle_launch +COPY src/universe/autoware_universe/launch/tier4_system_launch /autoware/src/universe/autoware_universe/launch/tier4_system_launch +COPY src/universe/autoware_universe/vehicle /autoware/src/universe/autoware_universe/vehicle +COPY src/universe/autoware_universe/system /autoware/src/universe/autoware_universe/system +COPY src/universe/autoware_universe/map/autoware_map_height_fitter /autoware/src/universe/autoware_universe/map/autoware_map_height_fitter +COPY src/universe/autoware_universe/localization/autoware_pose2twist /autoware/src/universe/autoware_universe/localization/autoware_pose2twist RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \ > /rosdep-universe-vehicle-system-depend-packages.txt \ && cat /rosdep-universe-vehicle-system-depend-packages.txt @@ -200,7 +200,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ && /autoware/cleanup_apt.sh RUN --mount=type=cache,target=${CCACHE_DIR} \ - --mount=type=bind,source=src/core/autoware.core,target=/autoware/src/core/autoware.core \ + --mount=type=bind,source=src/core/autoware_core,target=/autoware/src/core/autoware_core \ source /opt/ros/"$ROS_DISTRO"/setup.bash \ && /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware @@ -223,7 +223,7 @@ RUN --mount=type=ssh \ # hadolint ignore=SC1091 RUN --mount=type=cache,target=${CCACHE_DIR} \ - --mount=type=bind,source=src/universe/autoware.universe/common,target=/autoware/src/universe/autoware.universe/common \ + --mount=type=bind,source=src/universe/autoware_universe/common,target=/autoware/src/universe/autoware_universe/common \ --mount=type=bind,source=src/universe/external/eagleye,target=/autoware/src/universe/external/eagleye \ --mount=type=bind,source=src/universe/external/glog,target=/autoware/src/universe/external/glog \ --mount=type=bind,source=src/universe/external/llh_converter,target=/autoware/src/universe/external/llh_converter \ @@ -270,8 +270,8 @@ RUN --mount=type=ssh \ # hadolint ignore=SC1091 RUN --mount=type=cache,target=${CCACHE_DIR} \ --mount=type=bind,source=src/universe/external/trt_batched_nms,target=/autoware/src/universe/external/trt_batched_nms \ - --mount=type=bind,source=src/universe/autoware.universe/perception,target=/autoware/src/universe/autoware.universe/perception \ - --mount=type=bind,source=src/universe/autoware.universe/sensing,target=/autoware/src/universe/autoware.universe/sensing \ + --mount=type=bind,source=src/universe/autoware_universe/perception,target=/autoware/src/universe/autoware_universe/perception \ + --mount=type=bind,source=src/universe/autoware_universe/sensing,target=/autoware/src/universe/autoware_universe/sensing \ source /opt/ros/"$ROS_DISTRO"/setup.bash \ && source /opt/autoware/setup.bash \ && /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware @@ -297,8 +297,8 @@ COPY --from=universe-sensing-perception-devel /opt/autoware /opt/autoware # hadolint ignore=SC1091 RUN --mount=type=cache,target=${CCACHE_DIR} \ - --mount=type=bind,source=src/universe/autoware.universe/perception,target=/autoware/src/universe/autoware.universe/perception \ - --mount=type=bind,source=src/universe/autoware.universe/sensing,target=/autoware/src/universe/autoware.universe/sensing \ + --mount=type=bind,source=src/universe/autoware_universe/perception,target=/autoware/src/universe/autoware_universe/perception \ + --mount=type=bind,source=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 ${CCACHE_DIR} /opt/autoware "--packages-above-and-dependencies autoware_tensorrt_common" @@ -322,8 +322,8 @@ RUN --mount=type=ssh \ # hadolint ignore=SC1091 RUN --mount=type=cache,target=${CCACHE_DIR} \ - --mount=type=bind,source=src/universe/autoware.universe/localization,target=/autoware/src/universe/autoware.universe/localization \ - --mount=type=bind,source=src/universe/autoware.universe/map,target=/autoware/src/universe/autoware.universe/map \ + --mount=type=bind,source=src/universe/autoware_universe/localization,target=/autoware/src/universe/autoware_universe/localization \ + --mount=type=bind,source=src/universe/autoware_universe/map,target=/autoware/src/universe/autoware_universe/map \ source /opt/ros/"$ROS_DISTRO"/setup.bash \ && source /opt/autoware/setup.bash \ && /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware @@ -344,17 +344,17 @@ RUN --mount=type=ssh \ # hadolint ignore=SC1091 RUN --mount=type=cache,target=${CCACHE_DIR} \ - --mount=type=bind,source=src/universe/autoware.universe/launch/tier4_control_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_control_launch \ - --mount=type=bind,source=src/universe/autoware.universe/launch/tier4_planning_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_planning_launch \ - --mount=type=bind,source=src/universe/autoware.universe/control,target=/autoware/src/universe/autoware.universe/control \ - --mount=type=bind,source=src/universe/autoware.universe/planning,target=/autoware/src/universe/autoware.universe/planning \ - # TODO(youtalk): Remove --mount options when https://github.com/autowarefoundation/autoware.universe/issues/8805 is resolved - --mount=type=bind,source=src/universe/autoware.universe/evaluator/autoware_control_evaluator,target=/autoware/src/universe/autoware.universe/evaluator/autoware_control_evaluator \ - --mount=type=bind,source=src/universe/autoware.universe/evaluator/autoware_planning_evaluator,target=/autoware/src/universe/autoware.universe/evaluator/autoware_planning_evaluator \ - --mount=type=bind,source=src/universe/autoware.universe/sensing/autoware_pcl_extensions,target=/autoware/src/universe/autoware.universe/sensing/autoware_pcl_extensions \ - --mount=type=bind,source=src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor,target=/autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor \ - --mount=type=bind,source=src/universe/autoware.universe/vehicle/autoware_external_cmd_converter,target=/autoware/src/universe/autoware.universe/vehicle/autoware_external_cmd_converter \ - --mount=type=bind,source=src/universe/autoware.universe/vehicle/autoware_raw_vehicle_cmd_converter,target=/autoware/src/universe/autoware.universe/vehicle/autoware_raw_vehicle_cmd_converter \ + --mount=type=bind,source=src/universe/autoware_universe/launch/tier4_control_launch,target=/autoware/src/universe/autoware_universe/launch/tier4_control_launch \ + --mount=type=bind,source=src/universe/autoware_universe/launch/tier4_planning_launch,target=/autoware/src/universe/autoware_universe/launch/tier4_planning_launch \ + --mount=type=bind,source=src/universe/autoware_universe/control,target=/autoware/src/universe/autoware_universe/control \ + --mount=type=bind,source=src/universe/autoware_universe/planning,target=/autoware/src/universe/autoware_universe/planning \ + # TODO(youtalk): Remove --mount options when https://github.com/autowarefoundation/autoware_universe/issues/8805 is resolved + --mount=type=bind,source=src/universe/autoware_universe/evaluator/autoware_control_evaluator,target=/autoware/src/universe/autoware_universe/evaluator/autoware_control_evaluator \ + --mount=type=bind,source=src/universe/autoware_universe/evaluator/autoware_planning_evaluator,target=/autoware/src/universe/autoware_universe/evaluator/autoware_planning_evaluator \ + --mount=type=bind,source=src/universe/autoware_universe/sensing/autoware_pcl_extensions,target=/autoware/src/universe/autoware_universe/sensing/autoware_pcl_extensions \ + --mount=type=bind,source=src/universe/autoware_universe/sensing/autoware_pointcloud_preprocessor,target=/autoware/src/universe/autoware_universe/sensing/autoware_pointcloud_preprocessor \ + --mount=type=bind,source=src/universe/autoware_universe/vehicle/autoware_external_cmd_converter,target=/autoware/src/universe/autoware_universe/vehicle/autoware_external_cmd_converter \ + --mount=type=bind,source=src/universe/autoware_universe/vehicle/autoware_raw_vehicle_cmd_converter,target=/autoware/src/universe/autoware_universe/vehicle/autoware_raw_vehicle_cmd_converter \ source /opt/ros/"$ROS_DISTRO"/setup.bash \ && source /opt/autoware/setup.bash \ && /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware @@ -378,12 +378,12 @@ RUN --mount=type=ssh \ # hadolint ignore=SC1091 RUN --mount=type=cache,target=${CCACHE_DIR} \ - --mount=type=bind,source=src/universe/autoware.universe/launch/tier4_vehicle_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_vehicle_launch \ - --mount=type=bind,source=src/universe/autoware.universe/launch/tier4_system_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_system_launch \ - --mount=type=bind,source=src/universe/autoware.universe/vehicle,target=/autoware/src/universe/autoware.universe/vehicle \ - --mount=type=bind,source=src/universe/autoware.universe/system,target=/autoware/src/universe/autoware.universe/system \ - --mount=type=bind,source=src/universe/autoware.universe/map/autoware_map_height_fitter,target=/autoware/src/universe/autoware.universe/map/autoware_map_height_fitter \ - --mount=type=bind,source=src/universe/autoware.universe/localization/autoware_pose2twist,target=/autoware/src/universe/autoware.universe/localization/autoware_pose2twist \ + --mount=type=bind,source=src/universe/autoware_universe/launch/tier4_vehicle_launch,target=/autoware/src/universe/autoware_universe/launch/tier4_vehicle_launch \ + --mount=type=bind,source=src/universe/autoware_universe/launch/tier4_system_launch,target=/autoware/src/universe/autoware_universe/launch/tier4_system_launch \ + --mount=type=bind,source=src/universe/autoware_universe/vehicle,target=/autoware/src/universe/autoware_universe/vehicle \ + --mount=type=bind,source=src/universe/autoware_universe/system,target=/autoware/src/universe/autoware_universe/system \ + --mount=type=bind,source=src/universe/autoware_universe/map/autoware_map_height_fitter,target=/autoware/src/universe/autoware_universe/map/autoware_map_height_fitter \ + --mount=type=bind,source=src/universe/autoware_universe/localization/autoware_pose2twist,target=/autoware/src/universe/autoware_universe/localization/autoware_pose2twist \ source /opt/ros/"$ROS_DISTRO"/setup.bash \ && source /opt/autoware/setup.bash \ && /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware @@ -407,7 +407,7 @@ RUN --mount=type=ssh \ # hadolint ignore=SC1091 RUN --mount=type=cache,target=${CCACHE_DIR} \ - --mount=type=bind,source=src/universe/autoware.universe/visualization,target=/autoware/src/universe/autoware.universe/visualization \ + --mount=type=bind,source=src/universe/autoware_universe/visualization,target=/autoware/src/universe/autoware_universe/visualization \ source /opt/ros/"$ROS_DISTRO"/setup.bash \ && source /opt/autoware/setup.bash \ && /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware @@ -440,10 +440,10 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \ --mount=type=bind,source=src/param,target=/autoware/src/param \ --mount=type=bind,source=src/sensor_component,target=/autoware/src/sensor_component \ --mount=type=bind,source=src/sensor_kit,target=/autoware/src/sensor_kit \ - --mount=type=bind,source=src/universe/autoware.universe/evaluator,target=/autoware/src/universe/autoware.universe/evaluator \ - --mount=type=bind,source=src/universe/autoware.universe/launch,target=/autoware/src/universe/autoware.universe/launch \ - --mount=type=bind,source=src/universe/autoware.universe/simulator,target=/autoware/src/universe/autoware.universe/simulator \ - --mount=type=bind,source=src/universe/autoware.universe/tools,target=/autoware/src/universe/autoware.universe/tools \ + --mount=type=bind,source=src/universe/autoware_universe/evaluator,target=/autoware/src/universe/autoware_universe/evaluator \ + --mount=type=bind,source=src/universe/autoware_universe/launch,target=/autoware/src/universe/autoware_universe/launch \ + --mount=type=bind,source=src/universe/autoware_universe/simulator,target=/autoware/src/universe/autoware_universe/simulator \ + --mount=type=bind,source=src/universe/autoware_universe/tools,target=/autoware/src/universe/autoware_universe/tools \ --mount=type=bind,source=src/vehicle,target=/autoware/src/vehicle \ source /opt/ros/"$ROS_DISTRO"/setup.bash \ && source /opt/autoware/setup.bash \ diff --git a/docker/README.md b/docker/README.md index a847044406..6cb9ec223f 100644 --- a/docker/README.md +++ b/docker/README.md @@ -14,20 +14,20 @@ $ git clone git@github.com:autowarefoundation/autoware.git $ cd autoware $ vcs import src < autoware.repos $ docker run -it --rm \ - –v $PWD/src/universe/autoware.universe/XXX/autoware_YYY:/autoware/src/autoware_YYY \ + –v $PWD/src/universe/autoware_universe/XXX/autoware_YYY:/autoware/src/autoware_YYY \ ghcr.io/autowarefoundation/autoware:universe-devel-cuda $ colcon build --mixin debug compile-commands $ source install/setup.bash $ ros2 run --prefix "gdb -ex run --args" autoware_YYY ZZZ ``` -For example, if you want to make modifications to [`autoware.universe/perception/autoware_bytetrack`](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_bytetrack), you can execute the following commands to perform the volume mount and debug build and execution of only the `autoware_bytetrack`. +For example, if you want to make modifications to [`autoware_universe/perception/autoware_bytetrack`](https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_bytetrack), you can execute the following commands to perform the volume mount and debug build and execution of only the `autoware_bytetrack`. Note that `gdb` is not currently installed in the development containers, but it would be installed in the near future. ```shell $ docker run -it --rm \ - -v $PWD/src/universe/autoware.universe/perception/autoware_bytetrack:/autoware/src/autoware_bytetrack \ + -v $PWD/src/universe/autoware_universe/perception/autoware_bytetrack:/autoware/src/autoware_bytetrack \ ghcr.io/autowarefoundation/autoware:universe-devel-cuda $ root@a566e785c4d2:/autoware# colcon build --mixin debug compile-commands Starting >>> autoware_bytetrack @@ -68,6 +68,7 @@ ros2 launch autoware_pointcloud_preprocessor preprocessor.launch.xml ## Multi-stage Dockerfile structure + ![](./Dockerfile.svg) @@ -104,11 +105,11 @@ By generating only the package list files and copying them to the subsequent sta ### `core-common-devel` -This stage installs the dependency packages based on `/rosdep-core-common-depend-packages.txt` and builds the packages under the `core` directory of `autoware.repos` except for `autoware.core`. +This stage installs the dependency packages based on `/rosdep-core-common-depend-packages.txt` and builds the packages under the `core` directory of `autoware.repos` except for `autoware_core`. ### `core-devel` -This stage installs the dependency packages based on `/rosdep-core-depend-packages.txt` and builds the `autoware.core` packages. +This stage installs the dependency packages based on `/rosdep-core-depend-packages.txt` and builds the `autoware_core` packages. ### `core` @@ -119,7 +120,7 @@ This stage is an Autoware Core runtime container. It only includes the dependenc This stage installs the dependency packages based on `/rosdep-universe-common-depend-packages.txt` and builds the packages under the following directories of `autoware.repos`: - `universe/external` -- `universe/autoware.universe/common` +- `universe/autoware_universe/common` ### `universe-common-devel-cuda` @@ -129,15 +130,15 @@ This stage is built on top of `universe-common-devel` and installs the CUDA deve This stage installs the dependency packages based on `/rosdep-universe-sensing-perception-depend-packages.txt` and builds the non-CUDA related packages under the following directories of `autoware.repos`: -- `universe/autoware.universe/perception` -- `universe/autoware.universe/sensing` +- `universe/autoware_universe/perception` +- `universe/autoware_universe/sensing` ### `universe-sensing-perception-devel-cuda` This stage copies the non-CUDA related binaries built in the `universe-sensing-perception-devel` stage and builds the CUDA related packages under the following directories of `autoware.repos`: -- `universe/autoware.universe/perception` -- `universe/autoware.universe/sensing` +- `universe/autoware_universe/perception` +- `universe/autoware_universe/sensing` ### `universe-sensing-perception` @@ -159,8 +160,8 @@ This stage is a Autoware Universe Visualization runtime container. It only inclu This stage installs the dependency packages based on `/rosdep-universe-localization-mapping-depend-packages.txt` and builds the packages under the following directories of `autoware.repos`: -- `universe/autoware.universe/localization` -- `universe/autoware.universe/map` +- `universe/autoware_universe/localization` +- `universe/autoware_universe/map` ### `universe-localization-mapping` @@ -170,8 +171,8 @@ This stage is an Autoware Universe Localization/Mapping runtime container. It on This stage installs the dependency packages based on `/rosdep-universe-planning-control-depend-packages.txt` and builds the packages under the following directories of `autoware.repos`: -- `universe/autoware.universe/control` -- `universe/autoware.universe/planning` +- `universe/autoware_universe/control` +- `universe/autoware_universe/planning` ### `universe-planning-control` @@ -181,8 +182,8 @@ This stage is an Autoware Universe Planning/Control runtime container. It only i This stage installs the dependency packages based on `/rosdep-universe-vehicle-system-depend-packages.txt` and builds the packages under the following directories of `autoware.repos`: -- `universe/autoware.universe/vehicle` -- `universe/autoware.universe/system` +- `universe/autoware_universe/vehicle` +- `universe/autoware_universe/system` ### `universe-vehicle-system` @@ -204,10 +205,10 @@ Then it builds the remaining packages of `autoware.repos`: - `param` - `sensor_component` - `sensor_kit` -- `universe/autoware.universe/evaluator` -- `universe/autoware.universe/launch` -- `universe/autoware.universe/simulator` -- `universe/autoware.universe/tools` +- `universe/autoware_universe/evaluator` +- `universe/autoware_universe/launch` +- `universe/autoware_universe/simulator` +- `universe/autoware_universe/tools` - `vehicle` This stage provides an all-in-one development container to Autoware developers. By running the host's source code with volume mounting, it allows for easy building and debugging of Autoware.