Feature/arm_build_test

.github/workflows/BuildAndRun.yaml

@@ -19,8 +19,8 @@ on:
       - master
 jobs:
   job1:
-    name: Build and run
-    runs-on: ubuntu-22.04
+    name: BuildAndRun
+    runs-on: ${{ matrix.runs_on }}
     timeout-minutes: 180
     container: ros:${{ matrix.rosdistro }}
     env:
@@ -29,6 +29,7 @@ jobs:
       fail-fast: false
       matrix:
         rosdistro: [humble]
+        runs_on: [ubuntu-22.04] # macos-14 is added for arm support. See also https://x.com/github/status/1752458943245189120?s=20
     steps:
       - name: Suppress warnings
         run: git config --global --add safe.directory '*'

.github/workflows/Docker.yaml

@@ -6,30 +6,39 @@ on:
     - cron: 0 0 * * *
   pull_request:
     paths:
-      - '**'
-      - '!docs/**'
-      - '!README.md'
-      - '!.github/**'
-      - '.github/workflows/Docker.yaml'
-      - '!mkdocs.yml'
+      - "**"
+      - "!docs/**"
+      - "!README.md"
+      - "!.github/**"
+      - ".github/workflows/Docker.yaml"
+      - "!mkdocs.yml"
   push:
     branches:
       - master
   release:
     types: [published]
 jobs:
-  job1:
-    name: Build Docker image
-    runs-on: ubuntu-20.04
-    timeout-minutes: 180
+  build_docker_image:
+    name: Build Docker Image
+    runs-on: ubuntu-22.04
+    timeout-minutes: 720
     strategy:
       matrix:
         rosdistro: [humble]
+        arch: [amd64, arm64]
     steps:
-      - uses: actions/checkout@v3
+      - name: Free Disk Space (Ubuntu)
+        uses: jlumbroso/free-disk-space@main
+        with:
+          tool-cache: false
+
+      - name: Install docker for ubuntu runner
+        uses: docker/setup-buildx-action@v3
 
-      - name: Setup Docker buildx
-        uses: docker/setup-buildx-action@v2
+      - name: Install QEMU
+        uses: docker/setup-qemu-action@v3
+
+      - uses: actions/checkout@v3
 
       - name: Login to GitHub Container Registry
         uses: docker/login-action@v2
@@ -38,10 +47,15 @@ jobs:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Build and push
-        uses: docker/build-push-action@v3
+      - name: Build and push (${{ matrix.arch }})
+        uses: docker/bake-action@v3
         with:
-          tags: ghcr.io/${{ github.repository_owner }}/scenario_simulator_v2:${{ matrix.rosdistro }}
-          no-cache: true
-          build-args: ROS_DISTRO=${{ matrix.rosdistro }}
-          push: ${{ github.event_name != 'pull_request' }}
+          files: |
+            ./docker-bake.hcl
+          workdir: .
+          set: |
+            *.cache-to=type=gha,mode=max
+            *.cache-from=type=gha
+          push: ${{ github.event_name != 'pull_request' && matrix.arch == 'amd64' }}
+          targets: |
+            ${{ matrix.rosdistro }}_base_${{ matrix.arch }}

.gitignore

@@ -14,6 +14,7 @@ log
 # external packages
 external/*
 !external/concealer
+!external/embree_vendor
 
 # auto-generated files
 html

Dockerfile

@@ -1,14 +1,22 @@
-ARG ROS_DISTRO
-FROM ros:${ROS_DISTRO}
+ARG ROS_DISTRO="humble"
+FROM ros:${ROS_DISTRO} as build-stage
 SHELL ["/bin/bash", "-c"]
 ENV DEBIAN_FRONTEND=noninteractive
 ENV DEBCONF_NOWARNINGS=yes
-ARG ROS_DISTRO
 
-RUN sudo apt-get update && sudo apt-get -y install python3-pip python3-rospkg python3-rosdep software-properties-common
+RUN --mount=type=cache,id=apt-cache-amd64,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,id=apt-lib-amd64,target=/var/lib/apt,sharing=locked \
+    apt-get update && apt-get -y install python3-pip python3-rospkg python3-rosdep software-properties-common ccache
 # cspell: ignore kisak
-RUN add-apt-repository ppa:kisak/kisak-mesa -y
-RUN apt-get update && apt-get install libegl-mesa0 -y
+RUN --mount=type=cache,id=apt-cache-amd64,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,id=apt-lib-amd64,target=/var/lib/apt,sharing=locked \
+    add-apt-repository ppa:kisak/kisak-mesa -y
+RUN --mount=type=cache,id=apt-cache-amd64,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,id=apt-lib-amd64,target=/var/lib/apt,sharing=locked \
+    apt-get update && apt-get install libegl-mesa0 -y
+
+RUN rm -f /etc/apt/apt.conf.d/docker-clean && \
+    echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/keep-cache
 
 WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator
 COPY . $WORKDIR
@@ -18,10 +26,24 @@ RUN mkdir -p /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator/e
 WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator
 RUN vcs import external < dependency_${ROS_DISTRO}.repos
 WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src
-RUN source /opt/ros/${ROS_DISTRO}/setup.bash && rosdep install -iy --from-paths . --rosdistro ${ROS_DISTRO}
+RUN --mount=type=cache,id=apt-cache-amd64,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,id=apt-lib-amd64,target=/var/lib/apt,sharing=locked \
+    source /opt/ros/${ROS_DISTRO}/setup.bash \
+    && apt-get update \
+    && rosdep install -iy --from-paths . --rosdistro ${ROS_DISTRO}
 
 WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws
-RUN source /opt/ros/${ROS_DISTRO}/setup.bash && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+ENV CC="/usr/lib/ccache/gcc"
+ENV CXX="/usr/lib/ccache/g++"
+ENV CCACHE_DIR="/ccache"
+RUN --mount=type=cache,target=/ccache source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    colcon build --symlink-install \
+    --cmake-args \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_C_COMPILER_LAUNCHER=ccache \
+    -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+    -DBUILD_CPP_MOCK_SCENARIOS=ON
 COPY ./docker-entrypoint.sh /
 RUN chmod a+x /docker-entrypoint.sh
 

Dockerfile.arm64

@@ -0,0 +1,53 @@
+ARG ROS_DISTRO="humble"
+
+# cspell: ignore impactaky deno BUILDPLATFORM TARGETARCH
+
+FROM --platform=${BUILDPLATFORM} impactaky/mc-ubuntu22.04-${TARGETARCH}-host:2.1.0 AS mimic-host
+FROM ros:${ROS_DISTRO} as build-stage
+
+SHELL ["/bin/bash", "-c"]
+ENV DEBIAN_FRONTEND=noninteractive
+ENV DEBCONF_NOWARNINGS=yes
+
+COPY --from=mimic-host / /mimic-cross
+RUN /mimic-cross/mimic-cross.deno/setup.sh
+
+RUN --mount=type=cache,id=apt-cache-arm64,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,id=apt-lib-arm64,target=/var/lib/apt,sharing=locked \
+    sudo apt-get update && sudo apt-get -y install python3-pip python3-rospkg python3-rosdep software-properties-common ccache
+# cspell: ignore kisak
+RUN --mount=type=cache,id=apt-cache-arm64,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,id=apt-lib-arm64,target=/var/lib/apt,sharing=locked \
+    add-apt-repository ppa:kisak/kisak-mesa -y
+RUN --mount=type=cache,id=apt-cache-arm64,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,id=apt-lib-arm64,target=/var/lib/apt,sharing=locked \
+    apt-get update && apt-get install libegl-mesa0 -y
+
+RUN rm -f /etc/apt/apt.conf.d/docker-clean && \
+    echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/keep-cache
+
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator
+COPY . $WORKDIR
+
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/
+RUN mkdir -p /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator/external
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator
+RUN vcs import external < dependency_${ROS_DISTRO}.repos
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src
+RUN --mount=type=cache,id=apt-cache-arm64,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,id=apt-lib-arm64,target=/var/lib/apt,sharing=locked \
+    source /opt/ros/${ROS_DISTRO}/setup.bash \
+    && apt-get update \
+    && rosdep install -iy --from-paths . --rosdistro ${ROS_DISTRO}
+
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws
+
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    colcon build --symlink-install \
+    --cmake-args \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DBUILD_CPP_MOCK_SCENARIOS=ON
+COPY ./docker-entrypoint.sh /
+RUN chmod a+x /docker-entrypoint.sh
+
+ENTRYPOINT ["/docker-entrypoint.sh"]

docker-bake.hcl

@@ -0,0 +1,26 @@
+group "default" {
+  targets = ["humble"]
+}
+
+target "base_amd64" {
+  target = "build-stage"
+  dockerfile = "Dockerfile"
+  platforms = ["linux/amd64"]
+}
+
+target "base_arm64" {
+  target = "build-stage"
+  dockerfile = "Dockerfile.arm64"
+  platforms = ["linux/arm64/v8"]
+}
+
+target "humble" {
+  inherits = [base]
+  name = "humble_${base}"
+  tags = ["ghcr.io/tier4/scenario_simulator_v2:humble"]
+  args = {"ROS_DISTRO" : "humble"}
+  group = ["humble"]
+  matrix = {
+    base = ["base_amd64", "base_arm64"]
+  }
+}

external/embree_vendor/.gitignore

@@ -0,0 +1,2 @@
+debian
+obj-x86_64-linux-gnu

external/embree_vendor/CHANGELOG.rst

@@ -0,0 +1,79 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package embree_vendor
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.0.9 (2021-07-13)
+------------------
+
+0.1.0 (2021-07-14)
+------------------
+* Merge branch 'master' of https://github.com/OUXT-Polaris/embree_vendor
+* Merge pull request `#4 <https://github.com/OUXT-Polaris/embree_vendor/issues/4>`_ from OUXT-Polaris/feature/onetbb_src
+  Feature/onetbb src
+* change build order
+* remove unused action
+* add tbb build command
+* fix version
+* Contributors: Masaya Kataoka
+
+0.8.1 (2021-07-13)
+------------------
+* add pkg-config to the depends
+* Contributors: Masaya Kataoka
+
+0.0.8 (2021-07-12)
+------------------
+* fix embree version
+* Contributors: Masaya Kataoka
+
+0.0.7 (2021-07-12)
+------------------
+* remove test lines
+* Merge pull request `#3 <https://github.com/OUXT-Polaris/embree_vendor/issues/3>`_ from OUXT-Polaris/workflow/galactic
+  update CI workflow for galactic
+* update .github/workflows/ROS2-Galactic.yaml
+* Merge pull request `#2 <https://github.com/OUXT-Polaris/embree_vendor/issues/2>`_ from OUXT-Polaris/workflow/foxy
+  update CI workflow for foxy
+* update .github/workflows/ROS2-Foxy.yaml
+* update dependency.repos
+* add workflow_dispatch trigger
+* Contributors: Masaya Kataoka, robotx_buildfarm
+
+0.0.6 (2021-01-10)
+------------------
+* Merge pull request `#1 <https://github.com/OUXT-Polaris/embree_vendor/issues/1>`_ from OUXT-Polaris/feature/add_tbb_to_depends
+  update package.xml
+* update package.xml
+* update workflow
+* rename workflow
+* fix workflow
+* add generate foxy dpkg workflow
+* Contributors: Masaya Kataoka
+
+0.0.5 (2021-01-04)
+------------------
+* update LICENSE
+* add ignore
+* Contributors: Masaya Kataoka
+
+0.0.4 (2021-01-03)
+------------------
+* update release workflow
+* Contributors: Masaya Kataoka
+
+0.0.2 (2021-01-03)
+------------------
+* update version
+* update version tag
+* update version
+* add description
+* add Release action
+* fix xml tag
+* add libglfw3-dev to the depends
+* update workflow
+* add README.md
+* Create ROS2-Foxy.yaml
+  adding ROS2-Foxy workflow
+* update instal dir
+* enable pass rostest
+* Contributors: Masaya Kataoka

external/embree_vendor/CMakeLists.txt

@@ -0,0 +1,53 @@
+cmake_minimum_required(VERSION 3.5)
+project(embree_vendor)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+macro(build_embree)
+
+  set(cmake_commands)
+  set(cmake_configure_args
+    -Wno-dev
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_install
+    -DEMBREE_ISPC_SUPPORT=OFF)
+
+  include(ExternalProject)
+  externalproject_add(embree-ext
+    GIT_REPOSITORY https://github.com/embree/embree.git
+    GIT_TAG v4.1.0
+    TIMEOUT 6000
+    ${cmake_commands}
+    CMAKE_ARGS
+      ${cmake_configure_args}
+  )
+
+  # The external project will install to the build folder, but we'll install that on make install.
+  install(
+    DIRECTORY
+      ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_install/
+    DESTINATION
+      ${CMAKE_INSTALL_PREFIX}
+  )
+endmacro()
+
+build_embree()
+
+ament_export_include_directories(include)
+ament_export_libraries(embree4)
+
+ament_package()

external/embree_vendor/README.md

@@ -0,0 +1,3 @@
+# embree_vendor
+
+vendor package for ray-tracing library made by Intel. (https://github.com/embree/embree)