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refactor(docker): introduce src-imported stage #4712

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merged 22 commits into from
May 20, 2024
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Merged

refactor(docker): introduce src-imported stage #4712

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e03a150
introduce src-imported stage
youtalk May 13, 2024
e5aead0
empty
youtalk May 14, 2024
2d70277
generate install package lists
youtalk May 17, 2024
05d35ae
append || true
youtalk May 17, 2024
a390066
cat packages
youtalk May 17, 2024
99cd9bf
chore(docker): separate `rosdep install` and `colcon build` RUN comma…
youtalk May 15, 2024
bcc6509
wip
youtalk May 17, 2024
a50e7e5
wip
youtalk May 17, 2024
0fec259
Update Dockerfile
youtalk May 17, 2024
0c65eae
Update Dockerfile
youtalk May 18, 2024
f209622
install pacmod
youtalk May 18, 2024
af11db7
rename
youtalk May 18, 2024
3990ff0
Revert "install pacmod"
youtalk May 18, 2024
3dd8d57
install pacmod3
youtalk May 18, 2024
00d2e3b
register pamod3 repos
youtalk May 18, 2024
35366de
ignore hadolint
youtalk May 18, 2024
3eb3913
revert
youtalk May 18, 2024
b693322
run set-dev-env.sh
youtalk May 18, 2024
99fd7ea
pip install
youtalk May 18, 2024
bdc1316
copy
youtalk May 18, 2024
be49c85
rosdep update
youtalk May 19, 2024
d7effac
Merge branch 'main' into src-imported
youtalk May 19, 2024
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26 changes: 16 additions & 10 deletions docker/autoware-openadk/Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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 \
Expand Down Expand Up @@ -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*
Expand Down
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