feat(docker): re-organize the autoware docker containers

.devcontainer/base/devcontainer.json

@@ -0,0 +1,24 @@
+{
+  "name": "Autoware",
+  "build": {
+    "dockerfile": "Dockerfile"
+  },
+  "remoteUser": "autoware",
+  "hostRequirements": {
+    "gpu": true
+  },
+  "runArgs": [
+    "--cap-add=SYS_PTRACE",
+    "--security-opt",
+    "seccomp=unconfined",
+    "--net=host",
+    "--volume=/etc/localtime:/etc/localtime:ro"
+  ],
+  "customizations": {
+    "vscode": {
+      "settings.json": {
+        "terminal.integrated.profiles.linux": { "bash": { "path": "/bin/bash" } }
+      }
+    }
+  }
+}

.devcontainer/cuda/Dockerfile

@@ -0,0 +1,14 @@
+FROM ghcr.io/autowarefoundation/autoware-openadk:latest-devel-cuda
+
+ENV SHELL /bin/bash
+
+ARG USERNAME=autoware
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN groupadd --gid $USER_GID $USERNAME \
+  && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+  && apt-get update \
+  && apt-get install -y sudo \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+  && chmod 0440 /etc/sudoers.d/$USERNAME

.devcontainer/devcontainer.json → .devcontainer/cuda/devcontainer.json

@@ -1,5 +1,5 @@
 {
-  "name": "Autoware",
+  "name": "Autoware-cuda",
   "build": {
     "dockerfile": "Dockerfile"
   },
@@ -8,11 +8,11 @@
     "gpu": true
   },
   "runArgs": [
     "--cap-add=SYS_PTRACE",
     "--security-opt",
     "seccomp=unconfined",
     "--net=host",
     "--volume=/etc/localtime:/etc/localtime:ro",
     "--gpus",
     "all"
   ],

ansible/playbooks/openadk.yaml

@@ -5,7 +5,7 @@
     - name: Verify OS
       ansible.builtin.fail:
         msg: Only Ubuntu 22.04 is supported for this branch. Please refer to https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/.
-      when: ansible_distribution == 'Ubuntu' and ansible_distribution_version != '22.04'
+      when: ansible_distribution != 'Ubuntu' or ansible_distribution_version != '22.04'
 
     - name: Print args
       ansible.builtin.debug:

docker/README.md

@@ -33,7 +33,7 @@ To install without **NVIDIA GPU** support:
 
 ## Usage
 
-### Runtime Setup
+### Runtime
 
 You can use `run.sh` to run the Autoware runtime container with the map data:
 
@@ -59,7 +59,7 @@ Inside the container, you can run the Autoware simulation by following these tut
 
 [Rosbag Replay Simulation](../../tutorials/ad-hoc-simulation/rosbag-replay-simulation.md).
 
-### Development Setup
+### Development Environment
 
 You can use [VS Code Remote Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) to develop Autoware in the containerized environment with ease. Or you can use `run.sh` manually to run the Autoware development container with the workspace mounted.
 
@@ -68,18 +68,34 @@ You can use [VS Code Remote Containers](https://marketplace.visualstudio.com/ite
 Get the Visual Studio Code's [Remote - Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension.
 And reopen the workspace in the container by selecting `Remote-Containers: Reopen in Container` from the Command Palette (`F1`).
 
-By default devcontainer assumes NVIDIA GPU support, you can change this by deleting these lines within `.devcontainer/devcontainer.json`:
+Autoware and Autoware-cuda are available containers for development.
 
-```json
-    "hostRequirements": {
-      "gpu": true
-    },
-```
+If you want to use CUDA supported dev container, you need to install the NVIDIA Container Toolkit before opening the workspace in the container:
+
+```bash
+# Add NVIDIA container toolkit GPG key
+sudo apt-key adv --fetch-keys https://nvidia.github.io/libnvidia-container/gpgkey
+sudo gpg --no-default-keyring --keyring /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg --import /etc/apt/trusted.gpg
+
+# Add NVIDIA container toolkit repository
+echo "deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://nvidia.github.io/libnvidia-container/stable/deb/$(dpkg --print-architecture) /" | sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
+
+# Update the package list
+sudo apt-get update
 
-```json
-      "--gpus", "all"
+# Install NVIDIA Container Toolkit
+sudo apt-get install -y nvidia-container-toolkit
+
+# Add NVIDIA runtime support to docker engine
+sudo nvidia-ctk runtime configure --runtime=docker
+
+# Restart docker daemon
+sudo systemctl restart docker
 ```
 
+Then, you can use the `Remote-Containers: Reopen in Container` command to open the workspace in the container.
+
+
 #### Using `run.sh` for Development
 
 ```bash