.

Signed-off-by: Oguz Ozturk <[email protected]>

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

@@ -77,6 +77,30 @@ runs:
         flavor: |
           latest=false
 
+    - name: Docker meta for planning-control-fail
+      id: meta-planning-control-fail
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.target-image }}
+        tags: |
+          type=raw,value=planning-control-fail-${{ inputs.platform }}
+          type=raw,value=planning-control-fail-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-planning-control-fail
+        flavor: |
+          latest=false
+      
+    - name: Docker meta for planning-control-pass
+      id: meta-planning-control-pass
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.target-image }}
+        tags: |
+          type=raw,value=planning-control-pass-${{ inputs.platform }}
+          type=raw,value=planning-control-pass-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-planning-control-pass
+        flavor: |
+          latest=false
+
     - name: Login to GitHub Container Registry
       uses: docker/login-action@v3
       with:
@@ -91,5 +115,7 @@ runs:
         files: |
           docker/docker-bake.hcl
           ${{ steps.meta-simulator-visualizer.outputs.bake-file }}
+          ${{ steps.meta-planning-control-fail.outputs.bake-file }}
+          ${{ steps.meta-planning-control-pass.outputs.bake-file }}
         set: |
           ${{ inputs.build-args }}

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

@@ -51,7 +51,7 @@ jobs:
         uses: ./.github/actions/docker-build-and-push
         with:
           platform: arm64
-          target-image: autoware_snapshots
+          target-image: demo_packages
           build-args: |
             *.platform=linux/arm64
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}

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

@@ -46,7 +46,7 @@ jobs:
         uses: ./.github/actions/docker-build-and-push
         with:
           platform: amd64
-          target-image: autoware_snapshots
+          target-image: demo_packages
           build-args: |
             *.platform=linux/amd64
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}

docker/build.sh

@@ -2,110 +2,18 @@
 
 set -e
 
-# Function to print help message
-print_help() {
-    echo "Usage: build.sh [OPTIONS]"
-    echo "Options:"
-    echo "  --help          Display this help message"
-    echo "  -h              Display this help message"
-    echo "  --no-cuda       Disable CUDA support"
-    echo "  --platform      Specify the platform (default: current platform)"
-    echo "  --devel-only    Build devel image only"
-    echo ""
-    echo "Note: The --platform option should be one of 'linux/amd64' or 'linux/arm64'."
-}
-
 SCRIPT_DIR=$(readlink -f "$(dirname "$0")")
 WORKSPACE_ROOT="$SCRIPT_DIR/.."
 
-# Parse arguments
-parse_arguments() {
-    while [ "$1" != "" ]; do
-        case "$1" in
-        --help | -h)
-            print_help
-            exit 1
-            ;;
-        --no-cuda)
-            option_no_cuda=true
-            ;;
-        --platform)
-            option_platform="$2"
-            shift
-            ;;
-        --devel-only)
-            option_devel_only=true
-            ;;
-        *)
-            echo "Unknown option: $1"
-            print_help
-            exit 1
-            ;;
-        esac
-        shift
-    done
-}
-
-# Set CUDA options
-set_cuda_options() {
-    if [ "$option_no_cuda" = "true" ]; then
-        setup_args="--no-nvidia"
-        image_name_suffix=""
-    else
-        image_name_suffix="-cuda"
-    fi
-}
-
-# Set build options
-set_build_options() {
-    if [ "$option_devel_only" = "true" ]; then
-        targets=("universe-devel")
-    else
-        targets=()
-    fi
-}
-
-# Set platform
-set_platform() {
-    if [ -n "$option_platform" ]; then
-        platform="$option_platform"
-    else
-        platform="linux/amd64"
-        if [ "$(uname -m)" = "aarch64" ]; then
-            platform="linux/arm64"
-        fi
-    fi
-}
-
-# Set arch lib dir
-set_arch_lib_dir() {
-    if [ "$platform" = "linux/arm64" ]; then
-        lib_dir="aarch64"
-    elif [ "$platform" = "linux/amd64" ]; then
-        lib_dir="x86_64"
-    else
-        echo "Unsupported platform: $platform"
-        exit 1
-    fi
-}
-
-# Load env
-load_env() {
-    source "$WORKSPACE_ROOT/amd64.env"
-    if [ "$platform" = "linux/arm64" ]; then
-        source "$WORKSPACE_ROOT/arm64.env"
-    fi
-}
-
 # Clone repositories
 clone_repositories() {
     cd "$WORKSPACE_ROOT"
     if [ ! -d "src" ]; then
         mkdir -p src
-        vcs import src <autoware.repos
+        vcs import src <simulator.repos
     else
         echo "Source directory already exists. Updating repositories..."
-        vcs import src <autoware.repos
+        vcs import src <simulator.repos
         vcs pull src
     fi
 }
@@ -116,25 +24,16 @@ build_images() {
     export BUILDKIT_STEP_LOG_MAX_SIZE=10000000
 
     echo "Building images for platform: $platform"
-    echo "ROS distro: $rosdistro"
-    echo "Base image: $base_image"
-    echo "Setup args: $setup_args"
-    echo "Lib dir: $lib_dir"
-    echo "Image name suffix: $image_name_suffix"
     echo "Targets: ${targets[*]}"
 
     set -x
     docker buildx bake --load --progress=plain -f "$SCRIPT_DIR/docker-bake.hcl" \
         --set "*.context=$WORKSPACE_ROOT" \
         --set "*.ssh=default" \
         --set "*.platform=$platform" \
-        --set "*.args.ROS_DISTRO=$rosdistro" \
-        --set "*.args.BASE_IMAGE=$base_image" \
-        --set "*.args.SETUP_ARGS=$setup_args" \
-        --set "*.args.LIB_DIR=$lib_dir" \
-        --set "base.tags=ghcr.io/autowarefoundation/autoware:base" \
-        --set "universe-devel.tags=ghcr.io/autowarefoundation/autoware:universe-devel$image_name_suffix" \
-        --set "universe.tags=ghcr.io/autowarefoundation/autoware:universe$image_name_suffix" \
+        --set "simulator-visualizer.tags=ghcr.io/autowarefoundation/openadkit.autoware:simulator-visualizer" \
+        --set "planning-control-fail.tags=ghcr.io/autowarefoundation/openadkit.autoware:planning-control-fail" \
+        --set "planning-control-pass.tags=ghcr.io/autowarefoundation/openadkit.autoware:planning-control-pass" \
         "${targets[@]}"
     set +x
 }
@@ -145,12 +44,6 @@ remove_dangling_images() {
 }
 
 # Main script execution
-parse_arguments "$@"
-set_cuda_options
-set_build_options
-set_platform
-set_arch_lib_dir
-load_env
 clone_repositories
 build_images
 remove_dangling_images

docker/docker-bake.hcl

@@ -1,14 +1,30 @@
 group "default" {
   targets = [
-    "simulator-visualizer"
+    "simulator-visualizer",
+    "planning-control-fail",
+    "planning-control-pass"
   ]
 }
 
 // For docker/metadata-action
 target "docker-metadata-action-simulator-visualizer" {}
+target "docker-metadata-action-planning-control-fail" {}
+target "docker-metadata-action-planning-control-pass" {}
 
 target "simulator-visualizer" {
   inherits = ["docker-metadata-action-simulator-visualizer"]
   dockerfile = "docker/simulator-visualizer/Dockerfile"
   target = "simulator-visualizer"
 }
+
+target "planning-control-fail" {
+  inherits = ["docker-metadata-action-planning-control-fail"]
+  dockerfile = "docker/planning-control/fail/Dockerfile"
+  target = "planning-control-fail"
+}
+
+target "planning-control-pass" {
+  inherits = ["docker-metadata-action-planning-control-pass"]
+  dockerfile = "docker/planning-control/pass/Dockerfile"
+  target = "planning-control-pass"
+}

docker/local-simulation.docker-compose.yaml

@@ -0,0 +1,49 @@
+services:
+  simulator:
+    image: ghcr.io/autowarefoundation/autoware_snapshots:simulator-visualizer-amd64
+    network_mode: "host"
+    volumes:
+      - /dev/shm:/dev/shm
+      - /etc/localtime:/etc/localtime:ro
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ./etc/map:/autoware/map
+      - ./etc/simulation:/autoware/simulation
+    environment:
+      - ROS_DOMAIN_ID=88
+      - DISPLAY=${DISPLAY}
+      - VNC_ENABLED=false
+    command: >-
+      ros2 launch 
+      scenario_test_runner 
+      scenario_test_runner.launch.py 
+      architecture_type:=awf/universe/20240605 
+      record:=false 
+      sensor_model:=sample_sensor_kit 
+      vehicle_model:=sample_vehicle 
+      scenario:=/autoware/simulation/yield_maneuver_demo.yaml 
+      map_path:=/autoware/map 
+      global_timeout:=240 
+      initialize_duration:=90 
+      launch_autoware:=false 
+      launch_rviz:=true
+
+  planning-control:
+    image: ghcr.io/autowarefoundation/autoware:universe
+    network_mode: "host"
+    volumes:
+      - /dev/shm:/dev/shm
+      - /etc/localtime:/etc/localtime:ro
+      - ./etc/map:/autoware/map
+    environment:
+      - ROS_DOMAIN_ID=88
+    command: >-
+      ros2 launch 
+      autoware_launch 
+      planning_simulator.launch.xml 
+      scenario_simulation:=true 
+      vehicle_model:=sample_vehicle 
+      sensor_model:=sample_sensor_kit 
+      map_path:=/autoware/map  
+      use_foa:=false 
+      perception/enable_traffic_light:=false 
+      rviz:=false

docker/planning-control/entrypoint.sh

@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+# shellcheck disable=SC1090,SC1091
+
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+source /opt/autoware/setup.bash
+exec "$@"

docker/planning-control/fail/Dockerfile

@@ -0,0 +1,9 @@
+FROM ghcr.io/autowarefoundation/autoware:universe AS planning-control-fail
+
+# Copy launch file
+COPY docker/planning-control/fail/fail_scenario.launch.xml /opt/autoware/share/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
+
+# Copy entrypoint script
+COPY docker/planning-control/entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]