From 7accde950b73a3225160b42ee1acf5f2e433506d Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Mon, 3 Jun 2024 22:36:59 +0900 Subject: [PATCH 1/4] change base_image to core Signed-off-by: Yutaka Kondo --- amd64.env | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/amd64.env b/amd64.env index 38eadee0a91..a18f8903d53 100644 --- a/amd64.env +++ b/amd64.env @@ -1,6 +1,6 @@ rosdistro=humble rmw_implementation=rmw_cyclonedds_cpp -base_image=ros:humble-ros-base-jammy +base_image=ros:humble-ros-core-jammy cuda_version=12.3 cudnn_version=8.9.5.29-1+cuda12.2 tensorrt_version=8.6.1.6-1+cuda12.0 From 87fa4b97063b7a72fc5d078e895a5f8c3c1f3842 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Tue, 4 Jun 2024 05:36:38 +0900 Subject: [PATCH 2/4] install rosdep and colcon --- docker/Dockerfile | 3 +++ 1 file changed, 3 insertions(+) diff --git a/docker/Dockerfile b/docker/Dockerfile index 9a914ac8283..3ffdcc57bf2 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -12,6 +12,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ --mount=type=cache,target=/var/lib/apt,sharing=locked \ apt-get update && DEBIAN_FRONTEND=noninteractive apt-get -y install --no-install-recommends \ gosu \ + python3-rosdep \ ssh \ && apt-get autoremove -y && rm -rf "$HOME"/.cache \ && mkdir -p ~/.ssh \ @@ -97,6 +98,8 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ --mount=type=cache,target=/var/lib/apt,sharing=locked \ apt-get update \ && cat /tmp/rosdep-all-depend-packages.txt | xargs apt-get install -y --no-install-recommends \ + && apt-get install -y --no-install-recommends \ + python3-colcon-common-extensions \ && apt-get autoremove -y && rm -rf "$HOME"/.cache # Build Autoware From 594484534110aee948d4299d3b60b5fab4cbe987 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Tue, 4 Jun 2024 06:05:54 +0900 Subject: [PATCH 3/4] install rosdep Signed-off-by: Yutaka Kondo --- docker/Dockerfile | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/docker/Dockerfile b/docker/Dockerfile index 3ffdcc57bf2..fb66dec72f9 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -12,7 +12,6 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ --mount=type=cache,target=/var/lib/apt,sharing=locked \ apt-get update && DEBIAN_FRONTEND=noninteractive apt-get -y install --no-install-recommends \ gosu \ - python3-rosdep \ ssh \ && apt-get autoremove -y && rm -rf "$HOME"/.cache \ && mkdir -p ~/.ssh \ @@ -57,7 +56,11 @@ RUN --mount=type=ssh \ COPY src /autoware/src # Generate install package lists -RUN rosdep update && rosdep keys --ignore-src --from-paths src \ +RUN apt-get update \ + && apt-get install -y --no-install-recommends \ + python3-rosdep \ + && rosdep update \ + && rosdep keys --ignore-src --from-paths src \ | xargs rosdep resolve --rosdistro ${ROS_DISTRO} \ | grep -v '^#' \ | sed 's/ \+/\n/g'\ From 71abd76714c207bb3494787e4fbc8716e3f40525 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Tue, 4 Jun 2024 10:11:11 +0900 Subject: [PATCH 4/4] rosdep init --- docker/Dockerfile | 1 + 1 file changed, 1 insertion(+) diff --git a/docker/Dockerfile b/docker/Dockerfile index fb66dec72f9..49143e3c3ef 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -59,6 +59,7 @@ COPY src /autoware/src RUN apt-get update \ && apt-get install -y --no-install-recommends \ python3-rosdep \ + && rosdep init \ && rosdep update \ && rosdep keys --ignore-src --from-paths src \ | xargs rosdep resolve --rosdistro ${ROS_DISTRO} \