refine

Signed-off-by: Oguz Ozturk <[email protected]>

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

@@ -31,34 +31,6 @@ runs:
     - name: Setup Docker Buildx
       uses: docker/setup-buildx-action@v3
 
-    - name: Restore ccache
-      uses: actions/cache/restore@v4
-      with:
-        path: |
-          root-ccache
-        key: ccache-${{ inputs.platform }}-${{ hashFiles('src/**/*.cpp') }}
-        restore-keys: |
-          ccache-${{ inputs.platform }}-
-
-    - name: Restore apt-get
-      uses: actions/cache/restore@v4
-      with:
-        path: |
-          var-cache-apt
-        key: apt-get-${{ inputs.platform }}-${{ hashFiles('src/**/package.xml') }}
-        restore-keys: |
-          apt-get-${{ inputs.platform }}-
-
-    - name: Inject cache into docker
-      uses: reproducible-containers/[email protected]
-      with:
-        cache-map: |
-          {
-            "root-ccache": "/root/.ccache",
-            "var-cache-apt": "/var/cache/apt"
-          }
-        skip-extraction: true
-
     - name: Get current date
       id: date
       run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT

docker/tools/README.md

@@ -0,0 +1,30 @@
+# Open AD Kit Tools
+
+This directory offers tools for [Open AD Kit](https://autoware.org/open-ad-kit/) containers to make deployment and simulation easier.
+
+- `scenario-simulator`: a container that can visualize the Autoware and scenario simulation on RViz.
+
+## Scenario Simulator
+
+### Run
+
+```bash
+docker run --rm --name openadkit-scenario-simulator ghcr.io/autowarefoundation/autoware-tools:scenario-simulator
+```
+
+### Settings
+
+The following environment variables can be configured for the scenario simulator container:
+
+| Variable | Default Value | Possible Values | Description |
+|----------|--------------|-----------------|-------------|
+| `SCENARIO` | [`scenario_test_runner/scenario/sample.yaml`](https://github.com/tier4/scenario_simulator_v2/blob/master/test_runner/scenario_test_runner/scenario/sample.yaml) | Any valid path | The full path to the scenario file inside the container |
+| `ARCHITECTURE_TYPE` | `awf/universe/20240605` | Any valid architecture type | The architecture type to use for the scenario simulation |
+| `SENSOR_MODEL` | `sample_sensor_kit` | Any valid sensor model | The sensor model to use for the scenario simulation |
+| `VEHICLE_MODEL` | `sample_vehicle` | Any valid vehicle model | The vehicle model to use for the scenario simulation |
+| `INITIALIZE_DURATION` | `90` | Any positive integer | The duration to initialize the scenario simulation |
+| `GLOBAL_FRAME_RATE` | `30` | Any positive integer | The frame rate of the scenario simulation |
+| `GLOBAL_TIMEOUT` | `120` | Any positive integer | The timeout of the scenario simulation |
+| `OUTPUT_DIRECTORY` | `/autoware/scenario-sim/output` | Any valid path | The directory to save the simulation results |
+| `USE_SIM_TIME` | `false` | `true`, `false` | Whether to use simulation time instead of system time |
+| `RECORD` | `false` | `true`, `false` | Whether to record the scenario simulation rosbag |

docker/tools/scenario-simulator/Dockerfile.scenario-simulator

@@ -29,12 +29,12 @@ RUN --mount=type=ssh \
     && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
 
 # Extract rosdep dependencies for simulator
-RUN /autoware/resolve_rosdep_keys.sh /autoware/src/simulator ${ROS_DISTRO} \
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src/simulator ${ROS_DISTRO} --dependency-types=exec \
     > /rosdep-simulator-depend-packages.txt \
     && cat /rosdep-simulator-depend-packages.txt
 
 ### Scenario Simulator
-FROM ghcr.io/autowarefoundation/autoware:universe-visualization AS scenario-simulator
+FROM ghcr.io/autowarefoundation/autoware:core AS scenario-simulator
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR

docker/tools/scenario-simulator/entrypoint.sh

@@ -10,7 +10,7 @@ run_scenario_simulator() {
     SENSOR_MODEL=${SENSOR_MODEL:-sample_sensor_kit}
     VEHICLE_MODEL=${VEHICLE_MODEL:-sample_vehicle}
     INITIALIZE_DURATION=${INITIALIZE_DURATION:-90}
-    GLOBAL_FRAME_RATE=${GLOBAL_FRAME_RATE:-20}
+    GLOBAL_FRAME_RATE=${GLOBAL_FRAME_RATE:-30}
     OUTPUT_DIRECTORY=${OUTPUT_DIRECTORY:-/autoware/scenario-sim/output}
     SCENARIO=${SCENARIO:-$(ros2 pkg prefix --share scenario_test_runner)/scenario/sample.yaml}
     GLOBAL_TIMEOUT=${GLOBAL_TIMEOUT:-120}