refactor(cuda): use --no-cuda-drivers option to simplify code (autowa…

…refoundation#340) * refactor(cuda): use --no-cuda-drivers option to simplify code Signed-off-by: Kenji Miyake <[email protected]> * fix base_image Signed-off-by: Kenji Miyake <[email protected]>
TomohitoAndo · May 23, 2022 · 9c3047e · 9c3047e
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commit 9c3047e
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diff --git a/.github/workflows/docker-build-and-push-self-hosted.yaml b/.github/workflows/docker-build-and-push-self-hosted.yaml
@@ -37,9 +37,7 @@ jobs:
           build-args: |
             *.platform=linux/arm64
             *.args.ROS_DISTRO=${{ env.rosdistro }}
-            *.args.CUDA_IMAGE_TAG=${{ env.cuda_image_tag }}
-            *.args.CUDNN_VERSION=${{ env.cudnn_version }}
-            *.args.TENSORRT_VERSION=${{ env.tensorrt_version }}
+            *.args.BASE_IMAGE=${{ env.base_image }}
           tag-prefix: ${{ env.rosdistro }}-
           tag-suffix: -arm64
 

diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml
@@ -32,9 +32,7 @@ jobs:
           build-args: |
             *.platform=linux/amd64
             *.args.ROS_DISTRO=${{ env.rosdistro }}
-            *.args.CUDA_IMAGE_TAG=${{ env.cuda_image_tag }}
-            *.args.CUDNN_VERSION=${{ env.cudnn_version }}
-            *.args.TENSORRT_VERSION=${{ env.tensorrt_version }}
+            *.args.BASE_IMAGE=${{ env.base_image }}
           tag-prefix: ${{ env.rosdistro }}-
           tag-suffix: -amd64
 

diff --git a/amd64.env b/amd64.env
@@ -1,6 +1,6 @@
 rosdistro=galactic
 rmw_implementation=rmw_cyclonedds_cpp
+base_image=ubuntu:20.04
 cuda_version=11.4
-cuda_image_tag=11.4.1-devel-ubuntu20.04
 cudnn_version=8.2.4.15-1+cuda11.4
 tensorrt_version=8.2.4-1+cuda11.4
diff --git a/docker/autoware-universe/Dockerfile b/docker/autoware-universe/Dockerfile
@@ -1,10 +1,9 @@
-ARG CUDA_IMAGE_TAG
-FROM nvidia/cuda:$CUDA_IMAGE_TAG as devel
+ARG BASE_IMAGE
+# hadolint ignore=DL3006
+FROM $BASE_IMAGE as devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 ARG ROS_DISTRO
-ARG CUDNN_VERSION
-ARG TENSORRT_VERSION
 
 ## Install apt packages
 # hadolint ignore=DL3008
@@ -26,7 +25,7 @@ RUN mkdir -p ~/.ssh \
 
 ## Set up development environment
 RUN --mount=type=ssh \
-  ./setup-dev-env.sh -y --no-nvidia universe \
+  ./setup-dev-env.sh -y --no-cuda-drivers universe \
   && pip uninstall -y ansible ansible-core \
   && mkdir src \
   && vcs import src < autoware.repos \
@@ -35,21 +34,6 @@ RUN --mount=type=ssh \
   && apt-get clean \
   && rm -rf /var/lib/apt/lists/*
 
-## Install cuDNN and TensorRT
-RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get -y install --no-install-recommends \
-  libcudnn8="$CUDNN_VERSION" \
-  libcudnn8-dev="$CUDNN_VERSION" \
-  libnvinfer8="$TENSORRT_VERSION" \
-  libnvinfer-dev="$TENSORRT_VERSION" \
-  libnvinfer-plugin8="$TENSORRT_VERSION" \
-  libnvinfer-plugin-dev="$TENSORRT_VERSION" \
-  libnvonnxparsers8="$TENSORRT_VERSION" \
-  libnvonnxparsers-dev="$TENSORRT_VERSION" \
-  libnvparsers8="$TENSORRT_VERSION" \
-  libnvparsers-dev="$TENSORRT_VERSION" \
-  && apt-get clean \
-  && rm -rf /var/lib/apt/lists/*
-
 ## Clean up unnecessary files
 RUN rm -rf \
   "$HOME"/.cache \

diff --git a/docker/build.sh b/docker/build.sh
@@ -18,8 +18,6 @@ docker buildx bake --load --progress=plain -f "$SCRIPT_DIR/autoware-universe/doc
     --set "*.context=$WORKSPACE_ROOT" \
     --set "*.ssh=default" \
     --set "*.args.ROS_DISTRO=$rosdistro" \
-    --set "*.args.CUDA_IMAGE_TAG=$cuda_image_tag" \
-    --set "*.args.CUDNN_VERSION=$cudnn_version" \
-    --set "*.args.TENSORRT_VERSION=$tensorrt_version" \
+    --set "*.args.BASE_IMAGE=$base_image" \
     --set "devel.tags=ghcr.io/autowarefoundation/autoware-universe:$rosdistro-latest" \
     --set "prebuilt.tags=ghcr.io/autowarefoundation/autoware-universe:$rosdistro-latest-prebuilt"