Converting -dev to a Watod-config parameter

.github/workflows/build_and_unitest.yml

@@ -29,7 +29,7 @@ jobs:
         uses: "./.github/templates/check_src_changes"
 
       - name: Setup Watod Environment
-        run: ./watod_scripts/watod-setup-env.sh
+        run: MODULES_DIR="$(dirname "$(realpath "$0")")/modules" ./watod_scripts/watod-setup-env.sh
         shell: bash
 
       - name: Generate Docker Environment
@@ -124,9 +124,7 @@ jobs:
             ${{ steps.construct-registry-url.outputs.url }}:${{ env.SOURCE_BRANCH }}
           cache-from: |
             ${{ steps.construct-registry-url.outputs.url }}:build_${{ env.SOURCE_BRANCH }}
-            ${{ steps.construct-registry-url.outputs.url }}:${{ env.SOURCE_BRANCH }}
-            ${{ steps.construct-registry-url.outputs.url }}:${{ env.TARGET_BRANCH }}
-          cache-to: type=inline
+            ${{ steps.construct-registry-url.outputs.url }}:build_${{ env.TARGET_BRANCH }}
           builder: ${{ steps.buildx.outputs.name }}
           target: deploy
 

docs/dev/how_to_dev.md

@@ -92,7 +92,7 @@ services:
         - "${SAMPLES_CPP_AGGREGATOR_IMAGE:?}-${CACHE_FROM_TAG}"
         - "${SAMPLES_CPP_AGGREGATOR_IMAGE:?}-develop"
     # name of the image made by the dockerfile (boilerplate, but with name change)
-    image: "${SAMPLES_CPP_AGGREGATOR_IMAGE:?}-${TAG}"
+    image: "${SAMPLES_CPP_AGGREGATOR_IMAGE:?}-build_${TAG}"
     # deals with permission and ownership in the container (boilerplate)
     user: ${FIXUID:?}:${FIXGID:?}
     # IMPORTANT: mounts your ROS2 node into the container so that changes in the dockerfile are reflected in your 

modules/docker-compose.action.yaml

@@ -6,8 +6,8 @@ services:
       context: ..
       dockerfile: docker/action/global_planning/global_planning.Dockerfile
       cache_from:
-        - "${ACTION_GLOBAL_PLANNING_IMAGE}:${TAG}"
-        - "${ACTION_GLOBAL_PLANNING_IMAGE}:main"
+        - "${ACTION_GLOBAL_PLANNING_IMAGE}:build_${TAG}"
+        - "${ACTION_GLOBAL_PLANNING_IMAGE}:build_main"
       target: deploy
     image: "${ACTION_GLOBAL_PLANNING_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch global_planning global_planning.launch.py"
@@ -17,8 +17,8 @@ services:
       context: ..
       dockerfile: docker/action/behaviour_planning/behaviour_planning.Dockerfile
       cache_from:
-        - "${ACTION_BEHAVIOUR_PLANNING_IMAGE}:${TAG}"
-        - "${ACTION_BEHAVIOUR_PLANNING_IMAGE}:main"
+        - "${ACTION_BEHAVIOUR_PLANNING_IMAGE}:build_${TAG}"
+        - "${ACTION_BEHAVIOUR_PLANNING_IMAGE}:build_main"
       target: deploy
     image: "${ACTION_BEHAVIOUR_PLANNING_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch behaviour_planning behaviour_planning.launch.py"
@@ -28,8 +28,8 @@ services:
       context: ..
       dockerfile: docker/action/local_planning/local_planning.Dockerfile
       cache_from:
-        - "${ACTION_LOCAL_PLANNING_IMAGE}:${TAG}"
-        - "${ACTION_LOCAL_PLANNING_IMAGE}:main"
+        - "${ACTION_LOCAL_PLANNING_IMAGE}:build_${TAG}"
+        - "${ACTION_LOCAL_PLANNING_IMAGE}:build_main"
       target: deploy
     image: "${ACTION_LOCAL_PLANNING_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch local_planning local_planning.launch.py"
@@ -39,8 +39,8 @@ services:
       context: ..
       dockerfile: docker/action/model_predictive_control/model_predictive_control.Dockerfile
       cache_from:
-        - "${ACTION_MPC_IMAGE}:${TAG}"
-        - "${ACTION_MPC_IMAGE}:main"
+        - "${ACTION_MPC_IMAGE}:build_${TAG}"
+        - "${ACTION_MPC_IMAGE}:build_main"
       target: deploy
     image: "${ACTION_MPC_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch model_predictive_control model_predictive_control.launch.py"

modules/docker-compose.infrastructure.yaml

@@ -6,8 +6,8 @@ services:
       context: ..
       dockerfile: docker/infrastructure/foxglove/foxglove.Dockerfile
       cache_from:
-        - "${INFRASTRUCTURE_FOXGLOVE_IMAGE:?}:${TAG}"
-        - "${INFRASTRUCTURE_FOXGLOVE_IMAGE:?}:main"
+        - "${INFRASTRUCTURE_FOXGLOVE_IMAGE:?}:build_${TAG}"
+        - "${INFRASTRUCTURE_FOXGLOVE_IMAGE:?}:build_main"
       target: deploy
     image: "${INFRASTRUCTURE_FOXGLOVE_IMAGE:?}:${TAG}"
     # command: ["ros2", "launch", "foxglove_bridge", "foxglove_bridge_launch.xml", "port:=${FOXGLOVE_BRIDGE_PORT:?}"]
@@ -20,8 +20,8 @@ services:
   #     context: ..
   #     dockerfile: docker/infrastructure/vnc/vnc.Dockerfile
   #     cache_from:
-  #       - "${INFRASTRUCTURE_VIS_TOOLS_VNC_IMAGE:?}:${TAG}"
-  #       - "${INFRASTRUCTURE_VIS_TOOLS_VNC_IMAGE:?}:main"
+  #       - "${INFRASTRUCTURE_VIS_TOOLS_VNC_IMAGE:?}:build_${TAG}"
+  #       - "${INFRASTRUCTURE_VIS_TOOLS_VNC_IMAGE:?}:build_main"
   #   image: "${INFRASTRUCTURE_VIS_TOOLS_VNC_IMAGE:?}:${TAG}"
   #   ports:
   #     - "${GUI_TOOLS_VNC_PORT:?}:5900"
@@ -33,8 +33,8 @@ services:
       context: ..
       dockerfile: docker/infrastructure/data_stream/data_stream.Dockerfile
       cache_from:
-        - "${INFRASTRUCTURE_DATA_STREAM_IMAGE:?}:${TAG}"
-        - "${INFRASTRUCTURE_DATA_STREAM_IMAGE:?}:main"
+        - "${INFRASTRUCTURE_DATA_STREAM_IMAGE:?}:build_${TAG}"
+        - "${INFRASTRUCTURE_DATA_STREAM_IMAGE:?}:build_main"
       target: deploy
     image: "${INFRASTRUCTURE_DATA_STREAM_IMAGE:?}:${TAG}"
     volumes:

modules/docker-compose.interfacing.yaml

@@ -6,8 +6,8 @@ services:
       context: ..
       dockerfile: docker/interfacing/sensor_interfacing/sensor_interfacing.Dockerfile
       cache_from:
-        - "${INTERFACING_SENSOR_IMAGE}:${TAG}"
-        - "${INTERFACING_SENSOR_IMAGE}:main"
+        - "${INTERFACING_SENSOR_IMAGE}:build_${TAG}"
+        - "${INTERFACING_SENSOR_IMAGE}:build_main"
       target: deploy
     image: "${INTERFACING_SENSOR_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch sensor_interfacing sensor_interfacing.launch.py"
@@ -17,8 +17,8 @@ services:
       context: ..
       dockerfile: docker/interfacing/can_interfacing/can_interfacing.Dockerfile
       cache_from:
-        - "${INTERFACING_CAN_IMAGE}:${TAG}"
-        - "${INTERFACING_CAN_IMAGE}:main"
+        - "${INTERFACING_CAN_IMAGE}:build_${TAG}"
+        - "${INTERFACING_CAN_IMAGE}:build_main"
       target: deploy
     image: "${INTERFACING_CAN_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch can_interfacing can_interfacing.launch.py"

modules/docker-compose.perception.yaml

@@ -6,8 +6,8 @@ services:
       context: ..
       dockerfile: docker/perception/radar_object_detection/radar_object_detection.Dockerfile
       cache_from:
-        - "${PERCEPTION_RADAR_OBJECT_DETECTION_IMAGE:?}:${TAG}"
-        - "${PERCEPTION_RADAR_OBJECT_DETECTION_IMAGE:?}:main"
+        - "${PERCEPTION_RADAR_OBJECT_DETECTION_IMAGE:?}:build_${TAG}"
+        - "${PERCEPTION_RADAR_OBJECT_DETECTION_IMAGE:?}:build_main"
       target: deploy
     image: "${PERCEPTION_RADAR_OBJECT_DETECTION_IMAGE:?}:${TAG}"
     command: /bin/bash -c "ros2 launch radar_object_detection radar_object_detection.launch.py"
@@ -17,8 +17,8 @@ services:
       context: ..
       dockerfile: docker/perception/camera_object_detection/camera_object_detection.Dockerfile
       cache_from:
-        - "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:${TAG}"
-        - "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:main"
+        - "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:build_${TAG}"
+        - "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:build_main"
       target: deploy
     image: "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:${TAG}"
     deploy:
@@ -37,8 +37,8 @@ services:
       context: ..
       dockerfile: docker/perception/lidar_object_detection/lidar_object_detection.Dockerfile
       cache_from:
-        - "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:${TAG}"
-        - "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:main"
+        - "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:build_${TAG}"
+        - "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:build_main"
       target: deploy
     image: "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch lidar_object_detection lidar_object_detection.launch.py"
@@ -47,8 +47,8 @@ services:
       context: ..
       dockerfile: docker/perception/traffic_light_detection/traffic_light_detection.Dockerfile
       cache_from:
-        - "${PERCEPTION_TRAFFIC_LIGHT_DETECTION_IMAGE}:${TAG}"
-        - "${PERCEPTION_TRAFFIC_LIGHT_DETECTION_IMAGE}:main"
+        - "${PERCEPTION_TRAFFIC_LIGHT_DETECTION_IMAGE}:build_${TAG}"
+        - "${PERCEPTION_TRAFFIC_LIGHT_DETECTION_IMAGE}:build_main"
       target: deploy
     image: "${PERCEPTION_TRAFFIC_LIGHT_DETECTION_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch traffic_light_detection traffic_light_detection.launch.py"
@@ -58,8 +58,8 @@ services:
       context: ..
       dockerfile: docker/perception/traffic_sign_detection/traffic_sign_detection.Dockerfile
       cache_from:
-        - "${PERCEPTION_TRAFFIC_SIGN_DETECTION_IMAGE}:${TAG}"
-        - "${PERCEPTION_TRAFFIC_SIGN_DETECTION_IMAGE}:main"
+        - "${PERCEPTION_TRAFFIC_SIGN_DETECTION_IMAGE}:build_${TAG}"
+        - "${PERCEPTION_TRAFFIC_SIGN_DETECTION_IMAGE}:build_main"
       target: deploy
     image: "${PERCEPTION_TRAFFIC_SIGN_DETECTION_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch traffic_sign_detection traffic_sign_detection.launch.py"
@@ -69,8 +69,8 @@ services:
       context: ..
       dockerfile: docker/perception/semantic_segmentation/semantic_segmentation.Dockerfile
       cache_from:
-        - "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:${TAG}"
-        - "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:main"
+        - "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:build_${TAG}"
+        - "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:build_main"
       target: deploy
     image: "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch semantic_segmentation semantic_segmentation.launch.py"
@@ -80,8 +80,8 @@ services:
       context: ..
       dockerfile: docker/perception/lane_detection/lane_detection.Dockerfile
       cache_from:
-        - "${PERCEPTION_LANE_DETECTION_IMAGE}:${TAG}"
-        - "${PERCEPTION_LANE_DETECTION_IMAGE}:main"
+        - "${PERCEPTION_LANE_DETECTION_IMAGE}:build_${TAG}"
+        - "${PERCEPTION_LANE_DETECTION_IMAGE}:build_main"
       target: deploy
     image: "${PERCEPTION_LANE_DETECTION_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch lane_detection lane_detection.launch.py"
@@ -91,8 +91,8 @@ services:
       context: ..
       dockerfile: docker/perception/tracking/tracking.Dockerfile
       cache_from:
-        - "${PERCEPTION_TRACKING_IMAGE}:${TAG}"
-        - "${PERCEPTION_TRACKING_IMAGE}:main"
+        - "${PERCEPTION_TRACKING_IMAGE}:build_${TAG}"
+        - "${PERCEPTION_TRACKING_IMAGE}:build_main"
       target: deploy
     image: "${PERCEPTION_TRACKING_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch tracking tracking.launch.py"

modules/docker-compose.samples.yaml

@@ -6,8 +6,8 @@ services:
       context: ..
       dockerfile: docker/samples/cpp_aggregator/cpp_aggregator.Dockerfile
       cache_from:
-        - "${SAMPLES_CPP_AGGREGATOR_IMAGE:?}:${TAG}"
-        - "${SAMPLES_CPP_AGGREGATOR_IMAGE:?}:main"
+        - "${SAMPLES_CPP_AGGREGATOR_IMAGE:?}:build_${TAG}"
+        - "${SAMPLES_CPP_AGGREGATOR_IMAGE:?}:build_main"
       target: deploy
     image: "${SAMPLES_CPP_AGGREGATOR_IMAGE:?}:${TAG}" 
     command: /bin/bash -c "ros2 launch aggregator aggregator.launch.py"
@@ -17,8 +17,9 @@ services:
   #     context: ..
   #     dockerfile: docker/samples/py_aggregator/py_aggregator.Dockerfile
   #     cache_from:
-  #       - "${SAMPLES_PYTHON_AGGREGATOR_IMAGE:?}:${TAG}"
-  #       - "${SAMPLES_PYTHON_AGGREGATOR_IMAGE:?}:main"
+  #       - "${SAMPLES_PYTHON_AGGREGATOR_IMAGE:?}:build_${TAG}"
+  #       - "${SAMPLES_PYTHON_AGGREGATOR_IMAGE:?}:build_main"
+  #     target: deploy
   #   image: "${SAMPLES_PYTHON_AGGREGATOR_IMAGE:?}:${TAG}"
   #   command: /bin/bash -c "ros2 launch aggregator aggregator.launch.py"
 
@@ -27,8 +28,9 @@ services:
   #     context: ..
   #     dockerfile: docker/samples/cpp_producer/cpp_producer.Dockerfile
   #     cache_from:
-  #       - "${SAMPLES_CPP_PRODUCER_IMAGE:?}:${TAG}"
-  #       - "${SAMPLES_CPP_PRODUCER_IMAGE:?}:main"
+  #       - "${SAMPLES_CPP_PRODUCER_IMAGE:?}:build_${TAG}"
+  #       - "${SAMPLES_CPP_PRODUCER_IMAGE:?}:build_main"
+  #     target: deploy
   #   image: "${SAMPLES_CPP_PRODUCER_IMAGE:?}:${TAG}"
   #   command: /bin/bash -c "ros2 launch producer producer.launch.py"
 
@@ -37,8 +39,8 @@ services:
       context: ..
       dockerfile: docker/samples/py_producer/py_producer.Dockerfile
       cache_from:
-        - "${SAMPLES_PYTHON_PRODUCER_IMAGE:?}:${TAG}"
-        - "${SAMPLES_PYTHON_PRODUCER_IMAGE:?}:main"
+        - "${SAMPLES_PYTHON_PRODUCER_IMAGE:?}:build_${TAG}"
+        - "${SAMPLES_PYTHON_PRODUCER_IMAGE:?}:build_main"
       target: deploy
     image: "${SAMPLES_PYTHON_PRODUCER_IMAGE:?}:${TAG}" 
     command: /bin/bash -c "ros2 launch producer producer.launch.py"
@@ -48,8 +50,9 @@ services:
   #     context: ..
   #     dockerfile: docker/samples/cpp_transformer/cpp_transformer.Dockerfile
   #     cache_from:
-  #       - "${SAMPLES_CPP_TRANSFORMER_IMAGE:?}:${TAG}"
-  #       - "${SAMPLES_CPP_TRANSFORMER_IMAGE:?}:main"
+  #       - "${SAMPLES_CPP_TRANSFORMER_IMAGE:?}:build_${TAG}"
+  #       - "${SAMPLES_CPP_TRANSFORMER_IMAGE:?}:build_main"
+  #     target: deploy
   #   image: "${SAMPLES_CPP_TRANSFORMER_IMAGE:?}:${TAG}"
   #   command: /bin/bash -c "ros2 launch transformer transformer.launch.py"
 
@@ -58,8 +61,8 @@ services:
       context: ..
       dockerfile: docker/samples/py_transformer/py_transformer.Dockerfile
       cache_from:
-        - "${SAMPLES_PYTHON_TRANSFORMER_IMAGE:?}:${TAG}"
-        - "${SAMPLES_PYTHON_TRANSFORMER_IMAGE:?}:main"
+        - "${SAMPLES_PYTHON_TRANSFORMER_IMAGE:?}:build_${TAG}"
+        - "${SAMPLES_PYTHON_TRANSFORMER_IMAGE:?}:build_main"
       target: deploy
     image: "${SAMPLES_PYTHON_TRANSFORMER_IMAGE:?}:${TAG}" 
     command: /bin/bash -c "ros2 launch transformer transformer.launch.py"

modules/docker-compose.simulation.yaml

@@ -6,8 +6,8 @@ services:
       context: ..
       dockerfile: docker/perception/carla_sim/carla_sim.Dockerfile
       cache_from:
-        - "${SIMULATION_CARLA_IMAGE:?}:${TAG}"
-        - "${SIMULATION_CARLA_IMAGE:?}:main"
+        - "${SIMULATION_CARLA_IMAGE:?}:build_${TAG}"
+        - "${SIMULATION_CARLA_IMAGE:?}:build_main"
       target: deploy
     image: "${SIMULATION_CARLA_IMAGE:?}:${TAG}" 
     command: /bin/bash -c "ros2 launch carla_sim carla_sim.launch.py"

modules/docker-compose.world_modeling.yaml

@@ -6,8 +6,8 @@ services:
       context: ..
       dockerfile: docker/world_modeling/hd_map/hd_map.Dockerfile
       cache_from:
-        - "${WORLD_MODELING_HD_MAP_IMAGE}:${TAG}"
-        - "${WORLD_MODELING_HD_MAP_IMAGE}:main"
+        - "${WORLD_MODELING_HD_MAP_IMAGE}:build_${TAG}"
+        - "${WORLD_MODELING_HD_MAP_IMAGE}:build_main"
       target: deploy
     image: "${WORLD_MODELING_HD_MAP_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch hd_map hd_map.launch.py"
@@ -17,8 +17,8 @@ services:
       context: ..
       dockerfile: docker/world_modeling/localization/localization.Dockerfile
       cache_from:
-        - "${WORLD_MODELING_LOCALIZATION_IMAGE}:${TAG}"
-        - "${WORLD_MODELING_LOCALIZATION_IMAGE}:main"
+        - "${WORLD_MODELING_LOCALIZATION_IMAGE}:build_${TAG}"
+        - "${WORLD_MODELING_LOCALIZATION_IMAGE}:build_main"
       target: deploy
     image: "${WORLD_MODELING_LOCALIZATION_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch localization localization.launch.py"
@@ -28,8 +28,8 @@ services:
       context: ..
       dockerfile: docker/world_modeling/occupancy/occupancy.Dockerfile
       cache_from:
-        - "${WORLD_MODELING_OCCUPANCY_IMAGE}:${TAG}"
-        - "${WORLD_MODELING_OCCUPANCY_IMAGE}:main"
+        - "${WORLD_MODELING_OCCUPANCY_IMAGE}:build_${TAG}"
+        - "${WORLD_MODELING_OCCUPANCY_IMAGE}:build_main"
       target: deploy
     image: "${WORLD_MODELING_OCCUPANCY_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch occupancy occupancy.launch.py"
@@ -39,8 +39,8 @@ services:
       context: ..
       dockerfile: docker/world_modeling/occupancy_segmentation/occupancy_segmentation.Dockerfile
       cache_from:
-        - "${WORLD_MODELING_OCCUPANCY_SEGMENTATION_IMAGE}:${TAG}"
-        - "${WORLD_MODELING_OCCUPANCY_SEGMENTATION_IMAGE}:main"
+        - "${WORLD_MODELING_OCCUPANCY_SEGMENTATION_IMAGE}:build_${TAG}"
+        - "${WORLD_MODELING_OCCUPANCY_SEGMENTATION_IMAGE}:build_main"
       target: deploy
     image: "${WORLD_MODELING_OCCUPANCY_SEGMENTATION_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch occupancy_segmentation occupancy_segmentation.launch.py"
@@ -50,8 +50,8 @@ services:
       context: ..
       dockerfile: docker/world_modeling/motion_forecasting/motion_forecasting.Dockerfile
       cache_from:
-        - "${WORLD_MODELING_MOTION_FORECASTING_IMAGE}:${TAG}"
-        - "${WORLD_MODELING_MOTION_FORECASTING_IMAGE}:main"
+        - "${WORLD_MODELING_MOTION_FORECASTING_IMAGE}:build_${TAG}"
+        - "${WORLD_MODELING_MOTION_FORECASTING_IMAGE}:build_main"
       target: deploy
     image: "${WORLD_MODELING_MOTION_FORECASTING_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch motion_forecasting motion_forecasting.launch.py"