Add builder image and build action (#2)

* Add builder image and build action

.github/workflows/builder-build.yml

@@ -0,0 +1,111 @@
+name: Build Autoware builder container images
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '34 15 * * 0' # 15:34 UTC every Sunday
+  push:
+    paths:
+      - Dockerfile
+      - autoware.repos.yml
+      - .github/workflows/builder-build.yml # Self-trigger 
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: bounverif/autoware
+  AUTOWARE_VERSION: latest
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+permissions:
+  contents: read
+  packages: write
+
+jobs:
+  autoware-builder-build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Maximize build space
+        uses: easimon/maximize-build-space@v10
+        with:
+          root-reserve-mb: 2048 # Reserve disk space for repository
+          remove-dotnet: 'true'
+          remove-android: 'true'
+          remove-haskell: 'true'
+          remove-codeql: 'true'
+          remove-docker-images: 'true'
+          build-mount-path: '/var/lib/docker' # The remaining space only for Docker
+      - name: Restart docker
+        run: sudo service docker restart
+
+      - name: Checkout repository
+        uses: actions/checkout@v4
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      - name: Log in to the registry
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Set current date as the version
+        run: echo "AUTOWARE_VERSION=$(date +'%Y%m%d')" >> $GITHUB_ENV
+
+      - name: Build builder image
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          target: autoware-builder
+          build-args: |
+            "AUTOWARE_VERSION=${{ env.AUTOWARE_VERSION }}"
+          tags: |
+            ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ env.AUTOWARE_VERSION }}-builder
+          load: true
+          no-cache: true
+          cache-to: type=inline
+
+      - name: Build builder w/cache image
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          target: autoware-builder-with-cache
+          build-args: |
+            "AUTOWARE_VERSION=${{ env.AUTOWARE_VERSION }}"
+          tags: |
+            ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ env.AUTOWARE_VERSION }}-builder-with-cache
+          load: true
+          cache-from: |
+            type=registry,ref=${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ env.AUTOWARE_VERSION }}-builder
+          cache-to: type=inline
+
+      - name: Push builder image
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          target: autoware-builder
+          build-args: |
+            "AUTOWARE_VERSION=${{ env.AUTOWARE_VERSION }}"
+          tags: |
+            ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:latest-builder
+            ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ env.AUTOWARE_VERSION }}-builder
+          push: true
+          cache-from: type=registry,ref=${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ env.AUTOWARE_VERSION }}-builder
+          cache-to: type=inline
+
+      - name: Push builder-with-cache image
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          target: autoware-builder-with-cache
+          build-args: |
+            "AUTOWARE_VERSION=${{ env.AUTOWARE_VERSION }}"
+          tags: |
+            ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:latest-builder-with-cache
+            ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ env.AUTOWARE_VERSION }}-builder-with-cache
+          push: true
+          cache-from: |
+            type=registry,ref=${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ env.AUTOWARE_VERSION }}-builder
+            type=registry,ref=${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ env.AUTOWARE_VERSION }}-builder-with-cache
+          cache-to: type=inline

Dockerfile

@@ -0,0 +1,205 @@
+FROM ubuntu:22.04 AS autoware-base
+
+ARG TARGETARCH
+ENV ID=ubuntu
+ENV VERSION_ID=22.04
+ENV CACHEMOUNT_PREFIX=/${TARGETARCH}/${ID}${VERSION_ID}
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Metadata
+LABEL org.opencontainers.image.vendor="tr.edu.bogazici.cmpe.bounverif"
+LABEL org.opencontainers.image.version="0.1.0"
+LABEL org.opencontainers.image.authors="Bogazici University System Verification Group"
+LABEL org.opencontainers.image.source="https://github.com/bounverif/autoware"
+LABEL org.opencontainers.image.title="Autoware"
+
+# Autoware variables
+ARG AUTOWARE_VERSION=latest
+ENV AUTOWARE_VERSION=${AUTOWARE_VERSION}
+ENV AUTOWARE_SOURCE_DIR=/usr/local/src/autoware
+ENV AUTOWARE_BUILD_DIR=/tmp/build/autoware
+ENV AUTOWARE_INSTALL_DIR=/opt/autoware/humble
+
+# CUDA variables
+ARG CUDA_ARCH=x86_64
+ARG CUDA_DISTRO=ubuntu2204
+ARG CUDA_KEYRING_PACKAGE=cuda-keyring_1.1-1_all.deb
+ARG CUDA_KEYRING_FILEPATH=https://developer.download.nvidia.com/compute/cuda/repos/${CUDA_DISTRO}/${CUDA_ARCH}/${CUDA_KEYRING_PACKAGE}
+
+# Debian containers save no deb archives by default. 
+# The following command disables clean-up actions to enable
+#   --mount=type=cache,target=/var/cache/apt 
+# optimizations. Otherwise, apt caching does not work.
+RUN rm -f /etc/apt/apt.conf.d/docker-clean
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=${CACHEMOUNT_PREFIX}/var/cache/apt \
+    apt-get update && apt-get install -y --no-install-recommends \
+        sudo \
+        tini \
+        wget \
+        gnupg2 \
+        ca-certificates \
+    && apt-get autoremove -y && rm -rf /var/lib/apt/lists/*
+
+# User management 
+ARG USER=bounverif
+ARG USERGROUP=${USER}
+ARG UID=1000
+ARG GID=${UID}
+
+RUN groupadd ${USERGROUP} -g ${GID} && \
+    useradd -ms /bin/bash ${USER} -g ${USERGROUP} -u ${UID} && \
+    printf "${USER} ALL= NOPASSWD: ALL\\n" >> /etc/sudoers
+
+# Repository management
+RUN wget -qO- "https://keyserver.ubuntu.com/pks/lookup?fingerprint=on&op=get&search=0x6125E2A8C77F2818FB7BD15B93C4A3FD7BB9C367" | gpg --dearmour -o /usr/share/keyrings/ansible-archive-keyring.gpg && \
+    echo "deb [signed-by=/usr/share/keyrings/ansible-archive-keyring.gpg] http://ppa.launchpad.net/ansible/ansible/ubuntu jammy main" | tee /etc/apt/sources.list.d/ansible.list && \
+    wget -qO- "https://raw.githubusercontent.com/ros/rosdistro/master/ros.key" | gpg --dearmour -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu jammy main" > /etc/apt/sources.list.d/ros2.list && \
+    wget -q ${CUDA_KEYRING_FILEPATH} && dpkg -i ${CUDA_KEYRING_PACKAGE} && rm ${CUDA_KEYRING_PACKAGE}
+
+FROM autoware-base AS autoware-source
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=${CACHEMOUNT_PREFIX}/var/cache/apt \
+    apt-get update && apt-get install -y --no-install-recommends \
+        git \
+        python3-minimal \
+        python3-vcstool \
+    && apt-get autoremove -y && rm -rf /var/lib/apt/lists/*
+
+COPY autoware.repos.yml /var/lib/autoware/autoware.repos.${AUTOWARE_VERSION}.yml
+
+RUN mkdir -p ${AUTOWARE_SOURCE_DIR} && vcs import --shallow ${AUTOWARE_SOURCE_DIR} < /var/lib/autoware/autoware.repos.${AUTOWARE_VERSION}.yml
+
+FROM autoware-base AS autoware-builder-nocuda
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=${CACHEMOUNT_PREFIX}/var/cache/apt \
+    apt-get update && apt-get install -y --no-install-recommends \
+        build-essential \
+        git \
+        cmake \
+        ccache \
+        ninja-build \
+        python3-minimal \
+        python3-vcstool \
+        python3-rosdep \
+        python3-colcon-core \
+        python3-colcon-common-extensions \
+    && apt-get autoremove -y && rm -rf /var/lib/apt/lists/*
+
+RUN --mount=type=bind,from=autoware-source,source=${AUTOWARE_SOURCE_DIR},target=${AUTOWARE_SOURCE_DIR} \
+    --mount=type=cache,target=/var/cache/apt,sharing=locked,id=${CACHEMOUNT_PREFIX}/var/cache/apt \
+    rosdep init && apt update && rosdep update && \
+    rosdep install -y \
+        --from-paths ${AUTOWARE_SOURCE_DIR} \
+        --ignore-src \
+        --rosdistro humble \
+    && apt-get autoremove -y && rm -rf /var/lib/apt/lists/* 
+
+ENV CMAKE_GENERATOR=Ninja
+
+ENV CMAKE_C_COMPILER_LAUNCHER=ccache
+ENV CMAKE_CXX_COMPILER_LAUNCHER=ccache
+
+ENV CCACHE_DIR=/var/cache/ccache
+
+RUN mkdir -p ${CCACHE_DIR} && chmod 777 ${CCACHE_DIR}
+
+FROM autoware-builder-nocuda AS autoware-builder
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=${CACHEMOUNT_PREFIX}/var/cache/apt \
+    apt-get update && apt-get install -y --no-install-recommends \
+        cuda-minimal-build-12-4 \
+        libcublas-dev-12-4 \
+        libcurand-dev-12-4 \
+        libcusolver-dev-12-4 \
+        libnvinfer-dev=8.* \
+        libnvinfer-headers-dev=8.* \
+        libnvinfer-plugin-dev=8.* \
+        libnvinfer-headers-plugin-dev=8.* \
+        libnvparsers-dev=8.* \
+        libnvonnxparsers-dev=8.* \
+    && apt-get autoremove -y && rm -rf /var/lib/apt/lists/*
+
+ENV PATH="/usr/local/cuda-12.4/bin:${PATH}"
+
+FROM autoware-builder AS autoware-builder-with-cache
+
+#
+# This build is only for producing a build cache to be saved in the image.
+# Hence, we do not want build artifacts and logs.
+#
+RUN --mount=type=bind,from=autoware-source,source=${AUTOWARE_SOURCE_DIR},target=${AUTOWARE_SOURCE_DIR} \
+    . /opt/ros/humble/setup.sh && \
+    colcon --log-base /dev/null build \
+        --base-paths ${AUTOWARE_SOURCE_DIR} \
+        --build-base ${AUTOWARE_BUILD_DIR} \
+        --install-base ${AUTOWARE_INSTALL_DIR} \
+        --packages-up-to autoware_launch \
+        --event-handlers \
+            console_direct- \
+            console_stderr+ \
+            console_cohesion- \
+            console_start_end- \
+            console_package_list- \
+            status- \
+            summary+ \
+            desktop_notification- \
+        --cmake-args \
+            -DCMAKE_BUILD_TYPE=Release \
+            " -Wno-dev" \
+            " --no-warn-unused-cli" \
+    && rm -rf ${AUTOWARE_BUILD_DIR} \
+    && rm -rf ${AUTOWARE_INSTALL_DIR} \
+    && du -h --max-depth=0 ${CCACHE_DIR}
+
+FROM autoware-builder-with-cache AS autoware-prebuilt
+
+COPY autoware.repos.yml /var/lib/autoware/autoware.repos.${AUTOWARE_VERSION}.yml
+
+RUN mkdir -p ${AUTOWARE_SOURCE_DIR} && vcs import --shallow ${AUTOWARE_SOURCE_DIR} < /var/lib/autoware/autoware.repos.${AUTOWARE_VERSION}.yml \
+    ccache --zero-stats && \
+    . /opt/ros/humble/setup.sh && \
+    colcon --log-base /dev/null build \
+        --base-paths ${AUTOWARE_SOURCE_DIR} \
+        --build-base ${AUTOWARE_BUILD_DIR} \
+        --install-base ${AUTOWARE_INSTALL_DIR} \
+        --packages-up-to autoware_launch \
+        --event-handlers \
+            console_direct- \
+            console_stderr+ \
+            console_cohesion- \
+            console_start_end- \
+            console_package_list- \
+            status- \
+            summary+ \
+            desktop_notification- \
+        --cmake-args \
+            -DCMAKE_BUILD_TYPE=Release \
+            " -Wno-dev" \
+            " --no-warn-unused-cli" \
+    && rm -rf ${AUTOWARE_SOURCE_DIR} \
+    && rm -rf ${AUTOWARE_BUILD_DIR} \
+    && ccache -v --show-stats
+
+FROM autoware-base AS autoware-runtime
+
+# This is not complete. It is just a placeholder for the final image.
+
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=${CACHEMOUNT_PREFIX}/var/cache/apt \
+    apt-get update && apt-get install -y --no-install-recommends \
+        libcublas-12-4 \
+        libcurand-12-4 \
+    && apt-get autoremove -y && rm -rf /var/lib/apt/lists/* 
+
+COPY --from=autoware-prebuilt ${AUTOWARE_INSTALL_DIR} ${AUTOWARE_INSTALL_DIR}
+
+FROM autoware-builder AS autoware-devel
+
+# This is not complete. It is just a placeholder for the final image.
+
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics