Merge branch 'main' into feat/lidar_centerpoint_tvm/remove_package

.devcontainer/base/devcontainer.json

@@ -2,7 +2,7 @@
   "name": "Autoware",
   "build": {
     "dockerfile": "../Dockerfile",
-    "args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware-openadk:latest-devel" }
+    "args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware:latest-devel" }
   },
   "remoteUser": "autoware",
   "runArgs": [

.devcontainer/cuda/devcontainer.json

@@ -2,7 +2,7 @@
   "name": "Autoware-cuda",
   "build": {
     "dockerfile": "../Dockerfile",
-    "args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware-openadk:latest-devel-cuda" }
+    "args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware:latest-devel-cuda" }
   },
   "remoteUser": "autoware",
   "hostRequirements": {

.github/CODEOWNERS

@@ -1 +1,6 @@
 * [email protected] [email protected]
+
+.devcontainer/** [email protected] [email protected]
+.github/** [email protected] [email protected]
+ansible/** [email protected] [email protected]
+docker/** [email protected] [email protected]

.github/DISCUSSION_TEMPLATE/general.yaml

@@ -0,0 +1,13 @@
+body:
+  - type: checkboxes
+    attributes:
+      label: Code of Conduct
+      options:
+        - label: I have read [CODE OF CONDUCT](https://github.com/autowarefoundation/autoware/blob/main/CODE_OF_CONDUCT.md) and [Support Guidelines](https://autowarefoundation.github.io/autoware-documentation/main/support/support-guidelines/#github-discussions) before creating this Discussion post.
+          required: true
+  - type: textarea
+    attributes:
+      label: Contents
+      description: Write your contents here
+    validations:
+      required: true

.github/actions/docker-build-and-push/action.yaml

@@ -22,13 +22,17 @@ inputs:
 runs:
   using: composite
   steps:
-    - name: Setup Docker Buildx
-      uses: docker/setup-buildx-action@v2
-
-    - name: Install jq
+    - name: Install jq and vcstool
       run: |
         sudo apt-get -y update
-        sudo apt-get -y install jq
+        sudo apt-get -y install jq python3-pip
+        pip install --no-cache-dir vcstool
+      shell: bash
+
+    - name: Run vcs import
+      run: |
+        mkdir src
+        vcs import src < autoware.repos
       shell: bash
 
     - name: Set Docker tags
@@ -50,9 +54,20 @@ runs:
         echo "$EOF" >> $GITHUB_OUTPUT
       shell: bash
 
+    - name: Docker meta for base
+      id: meta-base
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        bake-target: docker-metadata-action-base
+        flavor: |
+          latest=false
+          suffix=-base
+
     - name: Docker meta for prebuilt
       id: meta-prebuilt
-      uses: docker/metadata-action@v4
+      uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: ${{ steps.set-docker-tags.outputs.tags }}
@@ -63,7 +78,7 @@ runs:
 
     - name: Docker meta for devel
       id: meta-devel
-      uses: docker/metadata-action@v4
+      uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: ${{ steps.set-docker-tags.outputs.tags }}
@@ -73,9 +88,9 @@ runs:
           suffix=-devel${{ inputs.tag-suffix }}
 
     - name: Docker meta for runtime
-      if: ${{ github.event_name == 'workflow_dispatch' }} || ${{ (github.event_name == 'push' && github.ref_type == 'tag') }}
+      if: ${{ github.event_name == 'workflow_dispatch' || (github.event_name == 'push' && github.ref_type == 'tag') }}
       id: meta-runtime
-      uses: docker/metadata-action@v4
+      uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: ${{ steps.set-docker-tags.outputs.tags }}
@@ -86,99 +101,40 @@ runs:
 
     - name: Login to GitHub Container Registry
       if: ${{ github.event_name != 'pull_request' }}
-      uses: docker/login-action@v2
+      uses: docker/login-action@v3
       with:
         registry: ghcr.io
         username: ${{ github.repository_owner }}
         password: ${{ github.token }}
 
-    - name: Build and Push - prebuilt and devel
-      if: ${{ (github.event_name == 'push' && github.ref_type == 'branch') || github.event_name == 'schedule' }}
-      uses: docker/bake-action@v3
+    - name: Build and Push to GitHub Container Registry
+      if: ${{ github.event_name == 'push' ||
+        github.event_name == 'schedule' ||
+        (github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'registry') }}
+      uses: docker/bake-action@v5
       with:
         push: ${{ inputs.allow-push == 'true' }}
         files: |
-          docker/${{ inputs.bake-target }}/docker-bake.hcl
+          docker/docker-bake.hcl
+          ${{ steps.meta-base.outputs.bake-file }}
           ${{ steps.meta-prebuilt.outputs.bake-file }}
           ${{ steps.meta-devel.outputs.bake-file }}
-        targets: |
-          prebuilt
-          devel
-        provenance: false
-        set: |
-          ${{ inputs.build-args }}
-
-    - name: Build and Publish to GitHub Container Registry
-      if: ${{ ( github.event_name == 'push' && github.ref_type == 'tag' ) || ( github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'registry') }}
-      uses: docker/bake-action@v3
-      with:
-        push: true
-        files: |
-          docker/${{ inputs.bake-target }}/docker-bake.hcl
-          ${{ steps.meta-devel.outputs.bake-file }}
-          ${{ steps.meta-prebuilt.outputs.bake-file }}
           ${{ steps.meta-runtime.outputs.bake-file }}
         provenance: false
         set: |
           ${{ inputs.build-args }}
 
-    - name: Build and Save Artifacts
+    - name: Build only
       if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
-      uses: docker/bake-action@v3
+      uses: docker/bake-action@v5
       with:
         push: false
         files: |
-          docker/${{ inputs.bake-target }}/docker-bake.hcl
-          ${{ steps.meta-devel.outputs.bake-file }}
+          docker/docker-bake.hcl
+          ${{ steps.meta-base.outputs.bake-file }}
           ${{ steps.meta-prebuilt.outputs.bake-file }}
+          ${{ steps.meta-devel.outputs.bake-file }}
           ${{ steps.meta-runtime.outputs.bake-file }}
         provenance: false
         set: |
           ${{ inputs.build-args }}
-          prebuilt.output=type=docker,dest=/tmp/prebuilt.tar
-          devel.output=type=docker,dest=/tmp/devel.tar
-          runtime.output=type=docker,dest=/tmp/runtime.tar
-
-    - name: Upload Artifact - prebuilt
-      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
-      id: artifact-upload-step-prebuilt
-      uses: actions/upload-artifact@v4
-      with:
-        name: prebuilt-image${{ inputs.tag-suffix }}
-        path: /tmp/prebuilt.tar
-        retention-days: 7
-        compression-level: 6
-        overwrite: true
-        if-no-files-found: error
-
-    - name: Upload Artifact - devel
-      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
-      id: artifact-upload-step-devel
-      uses: actions/upload-artifact@v4
-      with:
-        name: devel-image${{ inputs.tag-suffix }}
-        path: /tmp/devel.tar
-        retention-days: 7
-        compression-level: 6
-        overwrite: true
-        if-no-files-found: error
-
-    - name: Upload Artifact - runtime
-      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
-      id: artifact-upload-step-runtime
-      uses: actions/upload-artifact@v4
-      with:
-        name: runtime-image${{ inputs.tag-suffix }}
-        path: /tmp/runtime.tar
-        retention-days: 7
-        compression-level: 6
-        overwrite: true
-        if-no-files-found: error
-
-    - name: Output artifact URLs
-      id: output-artifact-urls
-      run: |
-        echo 'prebuilt URL ${{ steps.artifact-upload-step-prebuilt.outputs.artifact-url }}'
-        echo 'devel URL ${{ steps.artifact-upload-step-devel.outputs.artifact-url }}'
-        echo 'runtime URL ${{ steps.artifact-upload-step-runtime.outputs.artifact-url }}'
-      shell: bash

.github/actions/docker-build/action.yaml

@@ -0,0 +1,72 @@
+name: docker-build
+description: ""
+
+inputs:
+  name:
+    description: ""
+    required: true
+  platform:
+    description: ""
+    required: true
+  cache-tag-suffix:
+    description: ""
+    required: true
+  build-args:
+    description: ""
+    required: true
+
+runs:
+  using: composite
+  steps:
+    - name: Setup Docker Buildx
+      uses: docker/setup-buildx-action@v3
+
+    - name: Install vcstool
+      run: |
+        sudo apt-get -y update
+        sudo apt-get -y install python3-pip
+        pip install --no-cache-dir vcstool
+      shell: bash
+
+    - name: Run vcs import
+      run: |
+        mkdir src
+        vcs import src < autoware.repos
+      shell: bash
+
+    - name: Cache
+      uses: actions/cache@v3
+      id: cache
+      with:
+        path: |
+          root-ccache
+        key: cache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('autoware.repos') }}
+        restore-keys: |
+          cache-${{ inputs.platform }}-${{ inputs.name }}-
+          cache-${{ inputs.platform }}-
+
+    - name: Inject cache into docker
+      uses: reproducible-containers/[email protected]
+      with:
+        cache-map: |
+          {
+            "root-ccache": "/root/.ccache"
+          }
+        skip-extraction: ${{ steps.cache.outputs.cache-hit }}
+
+    - name: Login to GitHub Container Registry
+      uses: docker/login-action@v3
+      with:
+        registry: ghcr.io
+        username: ${{ github.actor }}
+        password: ${{ github.token }}
+
+    - name: Run docker build
+      uses: docker/build-push-action@v6
+      with:
+        file: docker/Dockerfile
+        context: .
+        push: false
+        build-args: ${{ inputs.build-args }}
+        cache-from: type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ inputs.name }}-${{ inputs.platform }}-${{ inputs.cache-tag-suffix }}
+        cache-to: type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ inputs.name }}-${{ inputs.platform }}-${{ inputs.cache-tag-suffix }},mode=max

.github/workflows/build-main-self-hosted.yaml

@@ -4,13 +4,6 @@ on:
   schedule:
     - cron: 0 12 * * *
   workflow_dispatch:
-    inputs:
-      artifacts-destination:
-        type: choice
-        description: Built images will be saved as tarball
-        options:
-          - tarball
-        default: tarball
 
 jobs:
   load-env:
@@ -27,11 +20,13 @@ jobs:
           - cuda
         include:
           - name: no-cuda
+            platform: arm64
             base_image_env: base_image
             lib_dir: aarch64
             setup-args: --no-nvidia
             additional-tag-suffix: ""
           - name: cuda
+            platform: arm64
             base_image_env: base_image
             lib_dir: aarch64
             additional-tag-suffix: -cuda
@@ -44,22 +39,25 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
+      - name: Set git config
+        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
 
-      - name: Build 'autoware-universe'
-        uses: ./.github/actions/docker-build-and-push
+      - name: Build 'Autoware'
+        uses: ./.github/actions/docker-build
         with:
-          bake-target: autoware-openadk
+          name: ${{ matrix.name }}
+          platform: ${{ matrix.platform }}
+          cache-tag-suffix: main
           build-args: |
-            *.platform=linux/arm64
-            *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
-            *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
-            *.args.SETUP_ARGS=${{ matrix.setup-args }}
-            *.args.LIB_DIR=${{ matrix.lib_dir }}
-          tag-suffix: ${{ matrix.additional-tag-suffix }}-arm64
-          tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
-          allow-push: false
+            ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
+            BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
+            SETUP_ARGS=${{ matrix.setup-args }}
+            LIB_DIR=${{ matrix.lib_dir }}
 
       - name: Show disk space
         run: |