feat(docker): install CUDA development/runtime libraries only 1 time

.github/actions/docker-build-and-push-cuda/action.yaml

@@ -15,6 +15,19 @@ inputs:
 runs:
   using: composite
   steps:
+    - name: Install jq and vcstool
+      run: |
+        sudo apt-get -y update
+        sudo apt-get -y install jq python3-pip
+        pip install --no-cache-dir vcstool
+      shell: bash
+
+    - name: Run vcs import
+      run: |
+        mkdir src
+        vcs import src < autoware.repos
+      shell: bash
+
     - name: Setup Docker Buildx
       uses: docker/setup-buildx-action@v3
 
@@ -51,6 +64,18 @@ runs:
       run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT
       shell: bash
 
+    - name: Docker meta for autoware:base-cuda
+      id: meta-base-cuda
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=base-cuda-${{ inputs.platform }}
+          type=raw,value=base-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-base-cuda
+        flavor: |
+          latest=false
+
     - name: Docker meta for autoware:universe-sensing-perception-devel-cuda
       id: meta-universe-sensing-perception-devel-cuda
       uses: docker/metadata-action@v5
@@ -112,6 +137,7 @@ runs:
         push: true
         files: |
           docker/docker-bake-cuda.hcl
+          ${{ steps.meta-base-cuda.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception-devel-cuda.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception-cuda.outputs.bake-file }}
           ${{ steps.meta-universe-devel-cuda.outputs.bake-file }}

.github/workflows/docker-build-and-push-arm64.yaml

@@ -61,6 +61,39 @@ jobs:
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-main
             *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }},mode=max
 
+      - name: Show disk space
+        if: always()
+        run: |
+          df -h
+
+  docker-build-and-push-cuda:
+    needs: [load-env, docker-build-and-push]
+    runs-on: [self-hosted, linux, ARM64]
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Set git config
+        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Free disk space
+        uses: ./.github/actions/free-disk-space
+
+      - name: Get changed files
+        id: changed-files
+        uses: tj-actions/changed-files@v45
+        with:
+          files: |
+            *.env
+            *.repos
+            .github/actions/docker-build-and-push/action.yaml
+            .github/workflows/docker-build-and-push*.yaml
+            ansible-galaxy-requirements.yaml
+            ansible/**
+            docker/**
+
       - name: Build 'Autoware' with CUDA
         if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
           github.event_name == 'workflow_dispatch' ||

.github/workflows/docker-build-and-push.yaml

@@ -56,6 +56,39 @@ jobs:
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-main
             *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-${{ github.ref_name }},mode=max
 
+      - name: Show disk space
+        if: always()
+        run: |
+          df -h
+
+  docker-build-and-push-cuda:
+    needs: [load-env, docker-build-and-push]
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Set git config
+        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Free disk space
+        uses: ./.github/actions/free-disk-space
+
+      - name: Get changed files
+        id: changed-files
+        uses: tj-actions/changed-files@v45
+        with:
+          files: |
+            *.env
+            *.repos
+            .github/actions/docker-build-and-push/action.yaml
+            .github/workflows/docker-build-and-push*.yaml
+            ansible-galaxy-requirements.yaml
+            ansible/**
+            docker/**
+
       - name: Build 'Autoware' with CUDA
         if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
           github.event_name == 'workflow_dispatch' ||

docker/Dockerfile

@@ -1,7 +1,7 @@
 ARG BASE_IMAGE
 
 # hadolint ignore=DL3006
 FROM $BASE_IMAGE AS base
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 
@@ -35,8 +35,18 @@
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
+FROM base AS base-cuda
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+# Set up CUDA runtime environment and artifacts
+# hadolint ignore=SC2002
+RUN --mount=type=ssh \
+  ./setup-dev-env.sh -y --module base --download-artifacts --no-cuda-drivers --runtime openadkit \
+  && pip uninstall -y ansible ansible-core \
+  && apt-get autoremove -y && rm -rf "$HOME"/.cache
+
 # hadolint ignore=DL3006
 FROM $BASE_IMAGE AS rosdep-depend
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 
@@ -258,6 +268,19 @@
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
+FROM universe-common-devel AS universe-common-devel-cuda
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+# Set up CUDA development environment
+# hadolint ignore=SC2002
+RUN --mount=type=ssh \
+  ./setup-dev-env.sh -y --module all --no-cuda-drivers --runtime openadkit \
+  && pip uninstall -y ansible ansible-core \
+  && apt-get autoremove -y && rm -rf "$HOME"/.cache
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["/bin/bash"]
+
 FROM universe-common-devel AS universe-sensing-perception-devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
@@ -290,17 +313,18 @@
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
-FROM universe-sensing-perception-devel AS universe-sensing-perception-devel-cuda
+FROM universe-common-devel-cuda AS universe-sensing-perception-devel-cuda
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ENV CCACHE_DIR="/root/.ccache"
 
-# Set up CUDA development environment
+# Install rosdep dependencies
+COPY --from=rosdep-universe-sensing-perception-depend /rosdep-universe-sensing-perception-depend-packages.txt /tmp/rosdep-universe-sensing-perception-depend-packages.txt
+# hadolint ignore=SC2002
 RUN --mount=type=ssh \
-  --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  ./setup-dev-env.sh -y --module all --no-cuda-drivers openadkit \
-  && pip uninstall -y ansible ansible-core \
-  && apt-get autoremove -y && rm -rf "$HOME"/.cache
+  apt-get update \
+  && cat /tmp/rosdep-universe-sensing-perception-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
 
 # hadolint ignore=SC1091
 RUN --mount=type=cache,target=${CCACHE_DIR} \
@@ -328,6 +352,8 @@
   && du -sh ${CCACHE_DIR} && ccache -s \
   && rm -rf /autoware/build
 
+COPY --from=universe-sensing-perception-devel /opt/autoware /opt/autoware
+
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
@@ -474,17 +500,19 @@
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
-FROM universe-devel AS universe-devel-cuda
+FROM universe-common-devel-cuda AS universe-devel-cuda
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
-# Set up CUDA development environment
+# Install rosdep dependencies
+COPY --from=rosdep-universe-depend /rosdep-universe-depend-packages.txt /tmp/rosdep-universe-depend-packages.txt
+# hadolint ignore=SC2002
 RUN --mount=type=ssh \
-  --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  ./setup-dev-env.sh -y --module all --no-cuda-drivers openadkit \
-  && pip uninstall -y ansible ansible-core \
-  && apt-get autoremove -y && rm -rf "$HOME"/.cache
+  apt-get update \
+  && cat /tmp/rosdep-universe-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
 
 COPY --from=universe-sensing-perception-devel-cuda /opt/autoware /opt/autoware
+COPY --from=universe-devel /opt/autoware /opt/autoware
 
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
@@ -508,7 +536,8 @@
   && find / -name "*.o" -type f -delete \
   && find / -name "*.h" -type f -delete \
   && find / -name "*.hpp" -type f -delete \
-  && rm -rf /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
+  && rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
+    /root/.local/pipx /opt/ros/"$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*
 
@@ -521,17 +550,20 @@
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
-FROM universe-sensing-perception AS universe-sensing-perception-cuda
+FROM base-cuda AS universe-sensing-perception-cuda
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
 
-# Set up CUDA runtime environment and artifacts
+# Set up runtime environment
+COPY --from=rosdep-universe-sensing-perception-depend /rosdep-universe-sensing-perception-exec-depend-packages.txt /tmp/rosdep-universe-sensing-perception-exec-depend-packages.txt
 # hadolint ignore=SC2002
 RUN --mount=type=ssh \
   --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  ./setup-dev-env.sh -y --module all --download-artifacts --no-cuda-drivers --runtime openadkit \
+  ./setup-dev-env.sh -y --module all --no-nvidia --no-cuda-drivers --runtime openadkit \
   && pip uninstall -y ansible ansible-core \
+  && apt-get update \
+  && cat /tmp/rosdep-universe-sensing-perception-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache \
   && find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
   && find / -name "*.o" -type f -delete \
@@ -665,7 +697,8 @@
   && find / -name "*.o" -type f -delete \
   && find / -name "*.h" -type f -delete \
   && find / -name "*.hpp" -type f -delete \
-  && rm -rf /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
+  && rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
+    /root/.local/pipx /opt/ros/"$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*
 
@@ -678,17 +711,20 @@
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
-FROM universe AS universe-cuda
+FROM base-cuda AS universe-cuda
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
 
-# Set up CUDA runtime environment and artifacts
+# Set up runtime environment
+COPY --from=rosdep-universe-depend /rosdep-exec-depend-packages.txt /tmp/rosdep-exec-depend-packages.txt
 # hadolint ignore=SC2002
 RUN --mount=type=ssh \
   --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  ./setup-dev-env.sh -y --module all --download-artifacts --no-cuda-drivers --runtime openadkit \
+  ./setup-dev-env.sh -y --module all --no-nvidia --no-cuda-drivers --runtime openadkit \
   && pip uninstall -y ansible ansible-core \
+  && apt-get update \
+  && cat /tmp/rosdep-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache \
   && find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
   && find / -name "*.o" -type f -delete \