Merge branch 'main' into upstream-autoware-core-stage

autowarefoundation · Jul 11, 2024 · 4ae9c96 · 4ae9c96
2 parents 86953a0 + cc26a02
commit 4ae9c96
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diff --git a/.clang-tidy b/.clang-tidy
@@ -202,8 +202,6 @@ WarningsAsErrors: "
 
 HeaderFilterRegex: ^(?!\/usr)(?!\/opt)
 
-AnalyzeTemporaryDtors: false
-
 FormatStyle: none
 
 CheckOptions:

diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
@@ -44,22 +44,37 @@ runs:
     - name: Setup Docker Buildx
       uses: docker/setup-buildx-action@v3
 
-    - name: Restore cache
+    - name: Restore ccache
       uses: actions/cache/restore@v4
       with:
         path: |
           root-ccache
-        key: cache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('autoware.repos') }}
+        key: cache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/*.cpp') }}
         restore-keys: |
-          cache-${{ inputs.platform }}-${{ inputs.name }}-
-          cache-${{ inputs.platform }}-
+          ccache-${{ inputs.platform }}-${{ inputs.name }}-
+          ccache-${{ inputs.platform }}-
+          cache-${{ inputs.platform }}-${{ inputs.name }}-  # TODO(youtalk): Remove obsolete cache key
+          cache-${{ inputs.platform }}-  # TODO(youtalk): Remove obsolete cache key
+
+    - name: Restore apt-get
+      uses: actions/cache/restore@v4
+      with:
+        path: |
+          var-cache-apt
+          var-lib-apt
+        key: apt-get-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/package.xml') }}
+        restore-keys: |
+          apt-get-${{ inputs.platform }}-${{ inputs.name }}-
+          apt-get-${{ inputs.platform }}-
 
     - name: Inject cache into docker
       uses: reproducible-containers/[email protected]
       with:
         cache-map: |
           {
-            "root-ccache": "/root/.ccache"
+            "root-ccache": "/root/.ccache",
+            "var-cache-apt": "/var/cache/apt",
+            "var-lib-apt": "/var/lib/apt"
           }
         skip-extraction: true
 

diff --git a/.github/actions/docker-build/action.yaml b/.github/actions/docker-build/action.yaml
@@ -34,37 +34,68 @@ runs:
         vcs import src < autoware.repos
       shell: bash
 
-    - name: Cache
+    - name: Cache ccache
       uses: actions/cache@v4
       if: ${{ inputs.name == 'no-cuda' }}
-      id: cache
+      id: cache-ccahce
       with:
         path: |
           root-ccache
-        key: cache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('autoware.repos') }}
+        key: cache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/*.cpp') }}
         restore-keys: |
-          cache-${{ inputs.platform }}-${{ inputs.name }}-
-          cache-${{ inputs.platform }}-
+          ccache-${{ inputs.platform }}-${{ inputs.name }}-
+          ccache-${{ inputs.platform }}-
+          cache-${{ inputs.platform }}-${{ inputs.name }}-  # TODO(youtalk): Remove obsolete cache key
+          cache-${{ inputs.platform }}-  # TODO(youtalk): Remove obsolete cache key
 
-    - name: Restore cache
+    - name: Cache apt-get
+      uses: actions/cache@v4
+      if: ${{ inputs.name == 'no-cuda' }}
+      id: cache-apt-get
+      with:
+        path: |
+          var-cache-apt
+          var-lib-apt
+        key: apt-get-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/package.xml') }}
+        restore-keys: |
+          apt-get-${{ inputs.platform }}-${{ inputs.name }}-
+          apt-get-${{ inputs.platform }}-
+
+    - name: Restore ccache
       uses: actions/cache/restore@v4
       if: ${{ inputs.name != 'no-cuda' }}
       with:
         path: |
           root-ccache
-        key: cache-${{ matrix.platform }}-${{ matrix.name }}-${{ hashFiles('autoware.repos') }}
+        key: ccache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/*.cpp') }}
+        restore-keys: |
+          ccache-${{ inputs.platform }}-${{ inputs.name }}-
+          ccache-${{ inputs.platform }}-
+          cache-${{ inputs.platform }}-${{ inputs.name }}-  # TODO(youtalk): Remove obsolete cache key
+          cache-${{ inputs.platform }}-  # TODO(youtalk): Remove obsolete cache key
+
+    - name: Restore apt-get
+      uses: actions/cache/restore@v4
+      if: ${{ inputs.name != 'no-cuda' }}
+      with:
+        path: |
+          var-cache-apt
+          var-lib-apt
+        key: apt-get-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/package.xml') }}
         restore-keys: |
-          cache-${{ matrix.platform }}-${{ matrix.name }}-
-          cache-${{ matrix.platform }}-
+          apt-get-${{ inputs.platform }}-${{ inputs.name }}-
+          apt-get-${{ inputs.platform }}-
 
     - name: Inject cache into docker
       uses: reproducible-containers/[email protected]
       with:
         cache-map: |
           {
-            "root-ccache": "/root/.ccache"
+            "root-ccache": "/root/.ccache",
+            "var-cache-apt": "/var/cache/apt",
+            "var-lib-apt": "/var/lib/apt"
           }
-        skip-extraction: ${{ steps.cache.outputs.cache-hit }}
+        skip-extraction: ${{ steps.cache-ccache.outputs.cache-hit && steps.cache-apt-get.outputs.cache-hit }}
 
     - name: Login to GitHub Container Registry
       uses: docker/login-action@v3

diff --git a/.github/workflows/health-check.yaml b/.github/workflows/health-check.yaml
@@ -1,12 +1,25 @@
 name: health-check
 
 on:
+  pull_request:
+    types:
+      - opened
+      - synchronize
+      - reopened
+      - labeled
   schedule:
     - cron: 0 12 * * *
   workflow_dispatch:
 
 jobs:
+  label-check:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
+    with:
+      label: tag:run-health-check
+
   load-env:
+    needs: label-check
+    if: ${{ needs.label-check.outputs.result == 'true' }}
     uses: ./.github/workflows/load-env.yaml
 
   docker-build:

diff --git a/ansible/roles/artifacts/tasks/main.yaml b/ansible/roles/artifacts/tasks/main.yaml
@@ -169,23 +169,23 @@
 - name: Download lidar_transfusion/transfusion.onnx
   become: true
   ansible.builtin.get_url:
-    url: https://awf.ml.dev.web.auto/perception/models/transfusion/v1/transfusion.onnx
+    url: https://awf.ml.dev.web.auto/perception/models/transfusion/t4xx1_90m/v2/transfusion.onnx
     dest: "{{ data_dir }}/lidar_transfusion/transfusion.onnx"
     mode: "644"
-    checksum: sha256:8938999cf03770ffd3301027300ea2cbcf471c180450e0434121d7294c42aa0b
+    checksum: sha256:ad66a061d61449af671bd0d14c2c407f0d749753f17f3165287857f686c4fd1a
 
 - name: Download lidar_transfusion/transfusion.param.yaml
   become: true
   ansible.builtin.get_url:
-    url: https://awf.ml.dev.web.auto/perception/models/transfusion/v1/transfusion.param.yaml
+    url: https://awf.ml.dev.web.auto/perception/models/transfusion/t4xx1_90m/v2/transfusion.param.yaml
     dest: "{{ data_dir }}/lidar_transfusion/transfusion.param.yaml"
     mode: "644"
-    checksum: sha256:0e18776040f14e380037ef6ecb500d1d1d151f21ff7d5c890606673f7e100e14
+    checksum: sha256:fdd8dd21b7c1c0f9a15119fa6a79565f927ce8f6bac4ddf095cb7e27672cb3d8
 
 - name: Download lidar_transfusion/detection_class_remapper.param.yaml
   become: true
   ansible.builtin.get_url:
-    url: https://awf.ml.dev.web.auto/perception/models/transfusion/v1/detection_class_remapper.param.yaml
+    url: https://awf.ml.dev.web.auto/perception/models/transfusion/t4xx1_90m/v2/detection_class_remapper.param.yaml
     dest: "{{ data_dir }}/lidar_transfusion/detection_class_remapper.param.yaml"
     mode: "644"
     checksum: sha256:c711f8875ece9b527dfe31ffc75f8c0de2e77945ef67860a959a4e04c36772d5

diff --git a/autoware.repos b/autoware.repos
@@ -3,15 +3,15 @@ repositories:
   core/autoware_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_msgs.git
-    version: main
+    version: 1.1.0
   core/autoware_adapi_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
-    version: main
+    version: 1.3.0
   core/autoware_internal_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_internal_msgs.git
-    version: main
+    version: 1.1.0
   # TODO(youtalk): Remove autoware_common when https://github.com/autowarefoundation/autoware/issues/4911 is closed
   core/autoware_common:
     type: git
@@ -20,15 +20,15 @@ repositories:
   core/autoware_cmake:
     type: git
     url: https://github.com/autowarefoundation/autoware_cmake.git
-    version: main
+    version: 1.0.0
   core/autoware_utils:
     type: git
     url: https://github.com/autowarefoundation/autoware_utils.git
-    version: main
+    version: 1.0.0
   core/autoware_lanelet2_extension:
     type: git
     url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git
-    version: main
+    version: 0.5.0
   core/autoware.core:
     type: git
     url: https://github.com/autowarefoundation/autoware.core.git

diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -6,10 +6,14 @@ SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 
 # Install apt packages and add GitHub to known hosts for private repositories
-RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get -y install --no-install-recommends \
+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
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  apt-get update && DEBIAN_FRONTEND=noninteractive apt-get -y install --no-install-recommends \
   gosu \
   ssh \
-  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache \
+  && apt-get autoremove -y && rm -rf "$HOME"/.cache \
   && mkdir -p ~/.ssh \
   && ssh-keyscan github.com >> ~/.ssh/known_hosts
 
@@ -20,9 +24,11 @@ WORKDIR /autoware
 
 # Set up base environment
 RUN --mount=type=ssh \
+  --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
   ./setup-dev-env.sh -y --module base --runtime openadkit \
   && pip uninstall -y ansible ansible-core \
-  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache \
+  && apt-get autoremove -y && rm -rf "$HOME"/.cache \
   && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" > /etc/bash.bashrc
 
 # Create entrypoint
@@ -36,10 +42,14 @@ COPY setup-dev-env.sh ansible-galaxy-requirements.yaml amd64.env arm64.env /auto
 COPY ansible/ /autoware/ansible/
 WORKDIR /autoware
 
+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
 RUN --mount=type=ssh \
+  --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
   ./setup-dev-env.sh -y rosdep \
   && pip uninstall -y ansible ansible-core \
-  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+  && apt-get autoremove -y && rm -rf "$HOME"/.cache
 
 # Generate install package lists
 COPY src/core /autoware/src/core
@@ -80,17 +90,20 @@ ENV CCACHE_DIR="/root/.ccache"
 # cspell: ignore libcu libnv
 # Set up development environment
 RUN --mount=type=ssh \
+  --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
   ./setup-dev-env.sh -y --module all ${SETUP_ARGS} --no-cuda-drivers openadkit \
   && pip uninstall -y ansible ansible-core \
-  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+  && apt-get autoremove -y && rm -rf "$HOME"/.cache
 
 # Install rosdep dependencies
 COPY --from=rosdep-depend /rosdep-core-depend-packages.txt /tmp/rosdep-core-depend-packages.txt
 # hadolint ignore=SC2002
-RUN --mount=type=ssh \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
   apt-get update \
   && cat /tmp/rosdep-core-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
-  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+  && apt-get autoremove -y && rm -rf "$HOME"/.cache
 
 COPY src/core /autoware/src/core
 RUN --mount=type=cache,target=${CCACHE_DIR} \
@@ -139,9 +152,11 @@ SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 # Install development tools and artifacts
 RUN --mount=type=ssh \
+  --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
   ./setup-dev-env.sh -y --module dev-tools --download-artifacts openadkit \
   && pip uninstall -y ansible ansible-core \
-  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+  && apt-get autoremove -y && rm -rf "$HOME"/.cache
 
 # Create entrypoint
 COPY docker/etc/ros_entrypoint.sh /ros_entrypoint.sh
@@ -159,11 +174,13 @@ ARG SETUP_ARGS
 COPY --from=rosdep-depend /rosdep-exec-depend-packages.txt /tmp/rosdep-exec-depend-packages.txt
 # hadolint ignore=SC2002
 RUN --mount=type=ssh \
+  --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
   ./setup-dev-env.sh -y --module all ${SETUP_ARGS} --download-artifacts --no-cuda-drivers --runtime openadkit \
   && pip uninstall -y ansible ansible-core \
   && apt-get update \
   && cat /tmp/rosdep-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
-  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache \
+  && apt-get autoremove -y && rm -rf "$HOME"/.cache \
   && find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
   && find / -name "*.o" -type f -delete \
   && find / -name "*.h" -type f -delete \