introduce src-imported stage

Signed-off-by: Yutaka Kondo <[email protected]>
autowarefoundation · May 13, 2024 · e03a150 · e03a150
1 parent a79ef50
commit e03a150
Showing 1 changed file with 16 additions and 10 deletions.
diff --git a/docker/autoware-openadk/Dockerfile b/docker/autoware-openadk/Dockerfile
@@ -39,6 +39,17 @@ RUN --mount=type=ssh \
 # Create entrypoint
 CMD ["/bin/bash"]
 
+FROM $BASE_IMAGE as src-imported
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+WORKDIR /autoware
+COPY autoware.repos /autoware/
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get -y install --no-install-recommends \
+  ros-dev-tools \
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+RUN --mount=type=ssh \
+  mkdir src \
+  && vcs import src < autoware.repos
+
 FROM base as prebuilt
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
@@ -56,14 +67,10 @@ RUN --mount=type=ssh \
   && find / -name 'libcu*.a' -delete \
   && find / -name 'libnv*.a' -delete
 
-# Copy repository files
-COPY autoware.repos /autoware/
-
 # Install rosdep dependencies
+COPY --from=src-imported /autoware/src /autoware/src
 RUN --mount=type=ssh \
-  mkdir src \
-  && vcs import src < autoware.repos \
-  && apt-get update \
+  apt-get update \
   && rosdep update \
   && DEBIAN_FRONTEND=noninteractive rosdep install -y --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \
   && source /opt/ros/"$ROS_DISTRO"/setup.bash \
@@ -101,20 +108,19 @@ ARG LIB_DIR
 ARG SETUP_ARGS
 
 # Set up runtime environment and artifacts
-COPY autoware.repos /autoware/
+COPY --from=src-imported /autoware/src /autoware/src
 RUN --mount=type=ssh \
   ./setup-dev-env.sh -y --module all ${SETUP_ARGS} --download-artifacts --no-cuda-drivers --runtime openadk \
   && pip uninstall -y ansible ansible-core \
-  && mkdir src \
-  && vcs import src < autoware.repos \
+  && apt-get update \
   && rosdep update \
   && DEBIAN_FRONTEND=noninteractive rosdep install -y --dependency-types=exec --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \
   && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache \
   && find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
   && find / -name "*.o" -type f -delete \
   && find / -name "*.h" -type f -delete \
   && find / -name "*.hpp" -type f -delete \
-  && rm -rf /autoware/src /autoware/ansible /autoware/autoware.repos \
+  && rm -rf /autoware/src /autoware/ansible \
     /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
     /etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
     /usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*