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| FROM ghcr.io/bounverif/autoware:latest-builder-with-cache AS autoware-devel | ||
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| 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.listd | ||
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| RUN export DEBIAN_FRONTEND=noninteractive && \ | ||
| apt-get update && apt-get install -qy --no-install-recommends \ | ||
| ansible-core \ | ||
| ansible \ | ||
| && apt-get autoremove -y && rm -rf /var/lib/apt/lists/* | ||
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| USER bounverif | ||
| WORKDIR /home/bounverif | ||
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| ENV AUTOWARE_VERSION=devel | ||
| ENV AUTOWARE_SOURCE_DIR=/home/bounverif/autoware/src | ||
| ENV AUTOWARE_BUILD_DIR=/tmp/build/autoware | ||
| ENV AUTOWARE_INSTALL_DIR=/home/bounverif/autoware/install | ||
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| ENV AUTOWARE_REPOSITORY_URL=https://github.com/autowarefoundation/autoware.git | ||
| ENV AUTOWARE_CORE_REPOSITORY_URL=https://github.com/autowarefoundation/autoware.core.git | ||
| ENV AUTOWARE_UNIVERSE_REPOSITORY_URL=https://github.com/autowarefoundation/autoware.universe.git | ||
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| FROM ghcr.io/bounverif/autoware:latest-builder-with-cache AS autoware-prebuilt | ||
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| COPY autoware.repos.yml /var/lib/autoware/autoware.repos.yml | ||
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| RUN mkdir -p ${AUTOWARE_SOURCE_DIR} \ | ||
| && vcs import --shallow ${AUTOWARE_SOURCE_DIR} < /var/lib/autoware/autoware.repos.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 ${AUTOWARE_BUILD_DIR} \ | ||
| && ccache -v --show-stats | ||
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| FROM docker.io/library/ubuntu:22.04 AS autoware-runtime-base | ||
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| # Metadata | ||
| LABEL org.opencontainers.image.vendor="tr.edu.bogazici.cmpe.bounverif" | ||
| LABEL org.opencontainers.image.version="0.1.0" | ||
| LABEL org.opencontainers.image.authors="Bogazici University System Verification Group" | ||
| LABEL org.opencontainers.image.source="https://github.com/bounverif/autoware" | ||
| LABEL org.opencontainers.image.title="Autoware Runtime" | ||
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| # User management | ||
| ARG USER=bounverif | ||
| ARG USERGROUP=${USER} | ||
| ARG UID=1000 | ||
| ARG GID=${UID} | ||
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| # CUDA variables | ||
| ARG CUDA_ARCH=x86_64 | ||
| ARG CUDA_DISTRO=ubuntu2204 | ||
| ARG CUDA_KEYRING_PACKAGE=cuda-keyring_1.1-1_all.deb | ||
| ARG CUDA_KEYRING_FILEPATH=https://developer.download.nvidia.com/compute/cuda/repos/${CUDA_DISTRO}/${CUDA_ARCH}/${CUDA_KEYRING_PACKAGE} | ||
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| RUN export DEBIAN_FRONTEND=noninteractive && \ | ||
| apt-get update && \ | ||
| apt-get install -qy --no-install-recommends \ | ||
| sudo \ | ||
| tini \ | ||
| wget \ | ||
| gnupg2 \ | ||
| ca-certificates \ | ||
| && apt-get autoremove -y && rm -rf /var/lib/apt/lists/* | ||
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| RUN groupadd ${USERGROUP} -g ${GID} && \ | ||
| useradd -ms /bin/bash ${USER} -g ${USERGROUP} -u ${UID} && \ | ||
| printf "${USER} ALL= NOPASSWD: ALL\\n" >> /etc/sudoers | ||
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| # Repository management | ||
| RUN 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} | ||
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| FROM autoware-runtime-base AS autoware-runtime | ||
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| # This is not complete. It is just a placeholder for the final image. | ||
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| COPY --from=autoware-prebuilt ${AUTOWARE_INSTALL_DIR} ${AUTOWARE_INSTALL_DIR} | ||
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| RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=${CACHEMOUNT_PREFIX}/var/cache/apt \ | ||
| export DEBIAN_FRONTEND=noninteractive && \ | ||
| 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/* | ||
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| ENV NVIDIA_VISIBLE_DEVICES=all | ||
| ENV NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics |