add planning-control

Signed-off-by: Oguz Ozturk <[email protected]>
autowarefoundation · Sep 30, 2024 · b9b9da1 · b9b9da1
1 parent 3be879b
commit b9b9da1
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Showing 5 changed files with 64 additions and 29 deletions.
diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
@@ -81,27 +81,39 @@ runs:
       run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT
       shell: bash
 
-    - name: Docker meta for autoware:aws-reinvent-simulator-monolithic-devel
-      id: meta-aws-reinvent-simulator-monolithic-devel
+    - name: Docker meta for autoware:aws-reinvent-simulator-devel
+      id: meta-aws-reinvent-simulator-devel
       uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=aws-reinvent-simulator-monolithic-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=aws-reinvent-simulator-monolithic-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
-        bake-target: docker-metadata-action-aws-reinvent-simulator-monolithic-devel
+          type=raw,value=aws-reinvent-simulator-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=aws-reinvent-simulator-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-aws-reinvent-simulator-devel
         flavor: |
           latest=false
 
-    - name: Docker meta for autoware:aws-reinvent-simulator-monolithic
-      id: meta-aws-reinvent-simulator-monolithic
+    - name: Docker meta for autoware:aws-reinvent-simulator
+      id: meta-aws-reinvent-simulator
       uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: |
-          type=raw,value=aws-reinvent-simulator-monolithic${{ inputs.tag-suffix }}-${{ inputs.platform }}
-          type=raw,value=aws-reinvent-simulator-monolithic${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
-        bake-target: docker-metadata-action-aws-reinvent-simulator-monolithic
+          type=raw,value=aws-reinvent-simulator${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=aws-reinvent-simulator${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-aws-reinvent-simulator
+        flavor: |
+          latest=false
+
+    - name: Docker meta for autoware:aws-reinvent-planning-control
+      id: meta-aws-reinvent-planning-control
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=aws-reinvent-planning-control${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=aws-reinvent-planning-control${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-aws-reinvent-planning-control
         flavor: |
           latest=false
 
@@ -118,8 +130,9 @@ runs:
         push: true
         files: |
           docker/docker-bake.hcl
-          ${{ steps.meta-aws-reinvent-simulator-monolithic.outputs.bake-file }}
-          ${{ steps.meta-aws-reinvent-simulator-monolithic-devel.outputs.bake-file }}
+          ${{ steps.meta-aws-reinvent-simulator.outputs.bake-file }}
+          ${{ steps.meta-aws-reinvent-simulator-devel.outputs.bake-file }}
+          ${{ steps.meta-aws-reinvent-planning-control.outputs.bake-file }}
         provenance: false
         set: |
           ${{ inputs.build-args }}
diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -1,5 +1,5 @@
 ARG PLATFORM
-FROM ghcr.io/autowarefoundation/autoware:universe-devel-${PLATFORM} AS aws-reinvent-simulator-monolithic-devel
+FROM ghcr.io/autowarefoundation/autoware:universe-devel-20240927 AS aws-reinvent-simulator-devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ENV CCACHE_DIR="/root/.ccache"
@@ -28,7 +28,7 @@ RUN  source /opt/ros/"$ROS_DISTRO"/setup.bash \
 RUN find /opt/autoware/lib -type f -name "*.py" -exec chmod +x {} \;
 RUN find /opt/autoware/share -type f -name "*.py" -exec chmod +x {} \;
 
-FROM ghcr.io/autowarefoundation/autoware:universe-${PLATFORM} AS aws-reinvent-simulator-monolithic
+FROM ghcr.io/autowarefoundation/autoware:universe-20240927 AS aws-reinvent-simulator
 
 # Copy simulator from simulator-devel
 COPY src /autoware/src
@@ -40,7 +40,7 @@ RUN --mount=type=ssh \
   apt-get update \
   && rosdep update \
   && cd /autoware \
-  && rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO \
+  && rosdep install -y --from-paths src --ignore-src --dependency-types=exec --rosdistro $ROS_DISTRO \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache
 
 RUN echo "source /opt/autoware/setup.bash" > /etc/bash.bashrc
@@ -50,3 +50,13 @@ COPY docker/etc/ros_entrypoint.sh /ros_entrypoint.sh
 RUN chmod +x /ros_entrypoint.sh
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
+
+FROM ghcr.io/autowarefoundation/autoware:universe-20240927 AS aws-reinvent-planning-control
+
+COPY --from=aws-reinvent-simulator /opt/autoware/share/kashiwanoha_map /opt/autoware/share/kashiwanoha_map
+
+# Create entrypoint
+COPY docker/etc/ros_entrypoint.sh /ros_entrypoint.sh
+RUN chmod +x /ros_entrypoint.sh
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["/bin/bash"]
diff --git a/docker/docker-bake.hcl b/docker/docker-bake.hcl
@@ -1,21 +1,29 @@
 group "default" {
   targets = [
-    "aws-reinvent-simulator-monolithic-devel",
-    "aws-reinvent-simulator-monolithic"
+    "aws-reinvent-simulator-devel",
+    "aws-reinvent-simulator",
+    "aws-reinvent-planning-control"
   ]
 }
 
-target "docker-metadata-action-aws-reinvent-simulator-monolithic-devel" {}
-target "docker-metadata-action-aws-reinvent-simulator-monolithic" {}
+target "docker-metadata-action-aws-reinvent-simulator-devel" {}
+target "docker-metadata-action-aws-reinvent-simulator" {}
+target "docker-metadata-action-aws-reinvent-planning-control" {}
 
-target "aws-reinvent-simulator-monolithic-devel" {
-  inherits = ["docker-metadata-action-aws-reinvent-simulator-monolithic-devel"]
+target "aws-reinvent-simulator-devel" {
+  inherits = ["docker-metadata-action-aws-reinvent-simulator-devel"]
   dockerfile = "docker/Dockerfile"
-  target = "aws-reinvent-simulator-monolithic-devel"
+  target = "aws-reinvent-simulator-devel"
 }
 
-target "aws-reinvent-simulator-monolithic" {
-  inherits = ["docker-metadata-action-aws-reinvent-simulator-monolithic"]
+target "aws-reinvent-simulator" {
+  inherits = ["docker-metadata-action-aws-reinvent-simulator"]
   dockerfile = "docker/Dockerfile"
-  target = "aws-reinvent-simulator-monolithic"
+  target = "aws-reinvent-simulator"
+}
+
+target "aws-reinvent-planning-control" {
+  inherits = ["docker-metadata-action-aws-reinvent-planning-control"]
+  dockerfile = "docker/Dockerfile"
+  target = "aws-reinvent-planning-control"
 }
diff --git a/docker/docker-compose.yml b/docker/docker-compose.yml
@@ -2,7 +2,7 @@ version: '2.17'
 
 services:
   simulator:
-    image: ghcr.io/autowarefoundation/openadkit_demo.autoware:aws-reinvent-simulator-monolithic-amd64
+    image: ghcr.io/autowarefoundation/openadkit_demo.autoware:aws-reinvent-simulator-amd64
     volumes:
       - /dev/shm:/dev/shm
       - /etc/localtime:/etc/localtime:ro
@@ -25,7 +25,7 @@ services:
       launch_rviz:=true
 
   planning-control:
-    image: ghcr.io/autowarefoundation/autoware:universe-amd64
+    image: ghcr.io/autowarefoundation/autoware:aws-reinvent-planning-control
     volumes:
       - /dev/shm:/dev/shm
       - /etc/localtime:/etc/localtime:ro
@@ -35,7 +35,7 @@ services:
       - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
     command: >
       ros2 launch autoware_launch planning_simulator.launch.xml
-      map_path:=/opt/autoware/share/kashiwanoha_map
+      map_path:=/opt/autoware/share/kashiwanoha_map/map
       vehicle_model:=sample_vehicle
       sensor_model:=sample_sensor_kit
       scenario_simulation:=true

diff --git a/docker/run.sh b/docker/run.sh
@@ -2,4 +2,8 @@
 
 xhost +
 
-docker compose -f docker-compose.yml up
+# Get the directory of the current script
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+# Use the script directory to make the docker-compose.yml path relative
+docker compose -f "$SCRIPT_DIR/docker-compose.yml" up