From 2e7cc865ca23ce912885f18c1d64d59d11399926 Mon Sep 17 00:00:00 2001
From: Kenji Miyake <kenji.miyake@tier4.jp>
Date: Thu, 25 Aug 2022 10:33:51 +0900
Subject: [PATCH 01/13] chore(release): freeze repos files

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 autoware.repos  | 38 +++++++++++++++++++-------------------
 simulator.repos |  2 +-
 2 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/autoware.repos b/autoware.repos
index cb81fc43927..8060096fcfd 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -3,32 +3,32 @@ repositories:
   core/autoware_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_msgs.git
-    version: main
+    version: 9e8be6ca7dbc283db00c0beef1b4fa686e1b7bde
   core/autoware_common:
     type: git
     url: https://github.com/autowarefoundation/autoware_common.git
-    version: main
+    version: 68957a93216be9c77f8e736cb88cd47bba75bd42
   core/autoware.core:
     type: git
     url: https://github.com/autowarefoundation/autoware.core.git
-    version: main
+    version: b35a6c789eda0616e3112d31db85151e36e47b0c
   core/external/autoware_auto_msgs: # TODO(mfc): Remove when autoware_msgs is merged
     type: git
     url: https://github.com/tier4/autoware_auto_msgs.git
-    version: tier4/main
+    version: c8a5d2001da052137c08cdf9e8d75c1975f99b84
   # universe
   universe/autoware.universe:
     type: git
     url: https://github.com/autowarefoundation/autoware.universe.git
-    version: main
+    version: fcf130261f6c72d09b530fd0d8128c1ba293fe4f
   universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Improve design/code and transfer to AWF
     type: git
     url: https://github.com/tier4/tier4_ad_api_adaptor.git
-    version: tier4/universe
+    version: 4333cf7a90465cd62fb02f5f4cdc0cdb8afd5ea6
   universe/external/tier4_autoware_msgs:
     type: git
     url: https://github.com/tier4/tier4_autoware_msgs.git
-    version: tier4/universe
+    version: 38544fd4ea1591a6d46b161d37e6a0aaa36177a7
   universe/external/grid_map:
     type: git
     url: https://github.com/ANYbotics/grid_map.git
@@ -36,53 +36,53 @@ repositories:
   universe/external/morai_msgs:
     type: git
     url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git
-    version: main
+    version: 5ac6a317423a653aa38e5cca99a95b895b231ecf
   universe/external/muSSP:
     type: git
     url: https://github.com/tier4/muSSP.git
-    version: tier4/main
+    version: c79e98fd5e658f4f90c06d93472faa977bc873b9
   universe/external/ndt_omp:
     type: git
     url: https://github.com/tier4/ndt_omp.git
-    version: tier4/main
+    version: 7fa5fa727ea2b999da925d6ab7dfa1298af521e4
   universe/external/pointcloud_to_laserscan:
     type: git
     url: https://github.com/tier4/pointcloud_to_laserscan.git
-    version: tier4/main
+    version: 948a4fca35dcb03c6c8fbfa610a686f7c919fe0b
   # launcher
   launcher/autoware_launch:
     type: git
     url: https://github.com/autowarefoundation/autoware_launch.git
-    version: main
+    version: cb0c55e0c1b4170d7dbc99db2d0235e668393460
   # sensor_component
   sensor_component/external/sensor_component_description:
     type: git
     url: https://github.com/tier4/sensor_component_description.git
-    version: main
+    version: b291e6f2fc10d752fdce2606eab2b9624c1b22ae
   sensor_component/external/tamagawa_imu_driver:
     type: git
     url: https://github.com/tier4/tamagawa_imu_driver.git
-    version: ros2
+    version: 28ad3cd4fb043e5f92353a540c3531cd4cb7bef3
   sensor_component/external/velodyne_vls:
     type: git
     url: https://github.com/tier4/velodyne_vls.git
-    version: tier4/universe
+    version: 21e632f185c212e46872ca267ec054a57e9a74a8
   # sensor_kit
   sensor_kit/sample_sensor_kit_launch:
     type: git
     url: https://github.com/autowarefoundation/sample_sensor_kit_launch.git
-    version: main
+    version: 4f949b50a0f45a29161f3a56578cfd0ef0056b2c
   # vehicle
   vehicle/sample_vehicle_launch:
     type: git
     url: https://github.com/autowarefoundation/sample_vehicle_launch.git
-    version: main
+    version: 6d820f83667b8a9c94ea10bf4e733568df23bac9
   vehicle/external/pacmod_interface:
     type: git
     url: https://github.com/tier4/pacmod_interface.git
-    version: main
+    version: ea9b7456d5be63bf425208a0405b26ba6a85e2e6
   # param
   param/autoware_individual_params:
     type: git
     url: https://github.com/autowarefoundation/autoware_individual_params.git
-    version: main
+    version: 0334c6a8290d866923b583730b781ef6b9a62933
diff --git a/simulator.repos b/simulator.repos
index dd3551eb56b..2d9c5791cb1 100644
--- a/simulator.repos
+++ b/simulator.repos
@@ -2,4 +2,4 @@ repositories:
   simulator/scenario_simulator:
     type: git
     url: https://github.com/tier4/scenario_simulator_v2.git
-    version: master
+    version: d88dcf8bfbd8fd778f7990027829cc434f82c5c6

From 832e66b851ce6cb672f4dadd36e42c7365bd5637 Mon Sep 17 00:00:00 2001
From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
Date: Tue, 4 Oct 2022 10:52:09 +0900
Subject: [PATCH 02/13] chore: update awsim-stable branch (#2910)

chore(release): freeze repos files

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
---
 autoware.repos  | 30 +++++++++++++++---------------
 simulator.repos |  2 +-
 2 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/autoware.repos b/autoware.repos
index e3d7626027b..c3f6b6bd061 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -3,19 +3,19 @@ repositories:
   core/autoware_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_msgs.git
-    version: 9e8be6ca7dbc283db00c0beef1b4fa686e1b7bde
+    version: 6f1ddb19825a972820dd3d177c50061658eefbd0
   core/autoware_adapi_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
-    version: main
+    version: 6ff9b7b22d9ed7ac4f46b05e4a3e9f6dc007af51
   core/autoware_common:
     type: git
     url: https://github.com/autowarefoundation/autoware_common.git
-    version: 68957a93216be9c77f8e736cb88cd47bba75bd42
+    version: ef386c9d9d705ea31eb311d60deb5e39ccae00ec
   core/autoware.core:
     type: git
     url: https://github.com/autowarefoundation/autoware.core.git
-    version: b35a6c789eda0616e3112d31db85151e36e47b0c
+    version: 4df187097af1aecbfaedb1ac32142e4ddc785440
   core/external/autoware_auto_msgs: # TODO(mfc): Remove when autoware_msgs is merged
     type: git
     url: https://github.com/tier4/autoware_auto_msgs.git
@@ -24,15 +24,15 @@ repositories:
   universe/autoware.universe:
     type: git
     url: https://github.com/autowarefoundation/autoware.universe.git
-    version: fcf130261f6c72d09b530fd0d8128c1ba293fe4f
+    version: c7698fc5d6b54932816077539b01c224e60861c2
   universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Improve design/code and transfer to AWF
     type: git
     url: https://github.com/tier4/tier4_ad_api_adaptor.git
-    version: 4333cf7a90465cd62fb02f5f4cdc0cdb8afd5ea6
+    version: 15c7aa413ba9aa3abd8a978dc98acbb83e6ed1cd
   universe/external/tier4_autoware_msgs:
     type: git
     url: https://github.com/tier4/tier4_autoware_msgs.git
-    version: 38544fd4ea1591a6d46b161d37e6a0aaa36177a7
+    version: 0309ffb99c474b4867fc8fb8ecb0d6f81e5decc9
   universe/external/grid_map:
     type: git
     url: https://github.com/ANYbotics/grid_map.git
@@ -40,7 +40,7 @@ repositories:
   universe/external/morai_msgs:
     type: git
     url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git
-    version: 5ac6a317423a653aa38e5cca99a95b895b231ecf
+    version: 6fd6a711e4bbf8a9989b54028e8074acabbbce6f
   universe/external/muSSP:
     type: git
     url: https://github.com/tier4/muSSP.git
@@ -57,12 +57,12 @@ repositories:
   launcher/autoware_launch:
     type: git
     url: https://github.com/autowarefoundation/autoware_launch.git
-    version: cb0c55e0c1b4170d7dbc99db2d0235e668393460
+    version: c999488b2fb753939b1af3e10c148b84079a9db0
   # sensor_component
   sensor_component/external/sensor_component_description:
     type: git
     url: https://github.com/tier4/sensor_component_description.git
-    version: b291e6f2fc10d752fdce2606eab2b9624c1b22ae
+    version: d7fb2adbf9e675dacdc7aca5b2ff32ddc56046aa
   sensor_component/external/tamagawa_imu_driver:
     type: git
     url: https://github.com/tier4/tamagawa_imu_driver.git
@@ -75,22 +75,22 @@ repositories:
   sensor_kit/sample_sensor_kit_launch:
     type: git
     url: https://github.com/autowarefoundation/sample_sensor_kit_launch.git
-    version: 4f949b50a0f45a29161f3a56578cfd0ef0056b2c
+    version: 3de568d173547c3605ef444944c540ad49db7471
   sensor_kit/external/awsim_sensor_kit_launch: # TODO: Integrate into sample_sensor_kit_launch
     type: git
     url: https://github.com/RobotecAI/awsim_sensor_kit_launch.git
-    version: main
+    version: 0d1276417b26d9d60be22b96a22c74a41e49e61c
   # vehicle
   vehicle/sample_vehicle_launch:
     type: git
     url: https://github.com/autowarefoundation/sample_vehicle_launch.git
-    version: 6d820f83667b8a9c94ea10bf4e733568df23bac9
+    version: 516c960dd1880193c50346d8171a9418d9757d61
   vehicle/external/pacmod_interface:
     type: git
     url: https://github.com/tier4/pacmod_interface.git
-    version: ea9b7456d5be63bf425208a0405b26ba6a85e2e6
+    version: 592e09c6785c515231f32ae4f153561b4f7b92b7
   # param
   param/autoware_individual_params:
     type: git
     url: https://github.com/autowarefoundation/autoware_individual_params.git
-    version: 0334c6a8290d866923b583730b781ef6b9a62933
+    version: 849788c5755e2211a9c60ae80cb0263693d1a25c
diff --git a/simulator.repos b/simulator.repos
index 2d9c5791cb1..4a98d7bf506 100644
--- a/simulator.repos
+++ b/simulator.repos
@@ -2,4 +2,4 @@ repositories:
   simulator/scenario_simulator:
     type: git
     url: https://github.com/tier4/scenario_simulator_v2.git
-    version: d88dcf8bfbd8fd778f7990027829cc434f82c5c6
+    version: d1bb941a4a46d8210ceb4a740042269585b2eaa3

From fc50327ec926d5c9a04d385581f102a418af0403 Mon Sep 17 00:00:00 2001
From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
Date: Thu, 13 Oct 2022 17:15:51 +0900
Subject: [PATCH 03/13] chore(release): freeze repos files (#2943)

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
---
 autoware.repos  | 12 ++++++------
 simulator.repos |  2 +-
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/autoware.repos b/autoware.repos
index c3f6b6bd061..f982d9bab6f 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -7,15 +7,15 @@ repositories:
   core/autoware_adapi_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
-    version: 6ff9b7b22d9ed7ac4f46b05e4a3e9f6dc007af51
+    version: c9a964e24af0c6edc050d2b2ee01e6e110cbfdbd
   core/autoware_common:
     type: git
     url: https://github.com/autowarefoundation/autoware_common.git
-    version: ef386c9d9d705ea31eb311d60deb5e39ccae00ec
+    version: ba4d3cc3f729ebedc16aba7d745bcc54fd935e61
   core/autoware.core:
     type: git
     url: https://github.com/autowarefoundation/autoware.core.git
-    version: 4df187097af1aecbfaedb1ac32142e4ddc785440
+    version: 062fdea5059eaf196a2d0fd531e4433efd1502e4
   core/external/autoware_auto_msgs: # TODO(mfc): Remove when autoware_msgs is merged
     type: git
     url: https://github.com/tier4/autoware_auto_msgs.git
@@ -24,11 +24,11 @@ repositories:
   universe/autoware.universe:
     type: git
     url: https://github.com/autowarefoundation/autoware.universe.git
-    version: c7698fc5d6b54932816077539b01c224e60861c2
+    version: 4be6931c811422f16d95c1460c046f2540d1f628
   universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Improve design/code and transfer to AWF
     type: git
     url: https://github.com/tier4/tier4_ad_api_adaptor.git
-    version: 15c7aa413ba9aa3abd8a978dc98acbb83e6ed1cd
+    version: 050fa514074be9e55a772ff9776cea5cfa04a403
   universe/external/tier4_autoware_msgs:
     type: git
     url: https://github.com/tier4/tier4_autoware_msgs.git
@@ -57,7 +57,7 @@ repositories:
   launcher/autoware_launch:
     type: git
     url: https://github.com/autowarefoundation/autoware_launch.git
-    version: c999488b2fb753939b1af3e10c148b84079a9db0
+    version: 5a770252eaa4a50144fbdf8ce98bd02a7ce4e180
   # sensor_component
   sensor_component/external/sensor_component_description:
     type: git
diff --git a/simulator.repos b/simulator.repos
index 4a98d7bf506..0e8670a3a59 100644
--- a/simulator.repos
+++ b/simulator.repos
@@ -2,4 +2,4 @@ repositories:
   simulator/scenario_simulator:
     type: git
     url: https://github.com/tier4/scenario_simulator_v2.git
-    version: d1bb941a4a46d8210ceb4a740042269585b2eaa3
+    version: 724e9130496494a303fc75af7da4f006d83f4294

From 96f9d8d49c57e7d44b6e1c145dc04e87516e2bbb Mon Sep 17 00:00:00 2001
From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
Date: Fri, 28 Oct 2022 21:19:28 +0900
Subject: [PATCH 04/13] chore(release): update awsim-stable branch (#2982)

* chore(deps): bump styfle/cancel-workflow-action from 0.10.1 to 0.11.0 (#2944)

Bumps [styfle/cancel-workflow-action](https://github.com/styfle/cancel-workflow-action) from 0.10.1 to 0.11.0.
- [Release notes](https://github.com/styfle/cancel-workflow-action/releases)
- [Commits](https://github.com/styfle/cancel-workflow-action/compare/0.10.1...0.11.0)

---
updated-dependencies:
- dependency-name: styfle/cancel-workflow-action
  dependency-type: direct:production
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <support@github.com>

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* chore(.markdown-link-check.json): ignore 127.0.0.1 (#2971)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* chore(release): freeze repos files

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>

Signed-off-by: dependabot[bot] <support@github.com>
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
---
 .../workflows/cancel-previous-workflows.yaml   |  2 +-
 .markdown-link-check.json                      |  3 +++
 autoware.repos                                 | 18 +++++++++---------
 simulator.repos                                |  2 +-
 4 files changed, 14 insertions(+), 11 deletions(-)

diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml
index b28a4ec0bbc..f9c29b81b6e 100644
--- a/.github/workflows/cancel-previous-workflows.yaml
+++ b/.github/workflows/cancel-previous-workflows.yaml
@@ -8,7 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Cancel previous runs
-        uses: styfle/cancel-workflow-action@0.10.1
+        uses: styfle/cancel-workflow-action@0.11.0
         with:
           workflow_id: all
           all_but_latest: true
diff --git a/.markdown-link-check.json b/.markdown-link-check.json
index dec3db1ad1c..c71a3e42536 100644
--- a/.markdown-link-check.json
+++ b/.markdown-link-check.json
@@ -4,6 +4,9 @@
     {
       "pattern": "^http://localhost"
     },
+    {
+      "pattern": "^http://127\\.0\\.0\\.1"
+    },
     {
       "pattern": "^https://github.com/.*/discussions/new"
     }
diff --git a/autoware.repos b/autoware.repos
index f982d9bab6f..941c7fc24bf 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -7,32 +7,32 @@ repositories:
   core/autoware_adapi_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
-    version: c9a964e24af0c6edc050d2b2ee01e6e110cbfdbd
+    version: ee7384951bd02ddc5ed49151ad760034d2ad02bc
   core/autoware_common:
     type: git
     url: https://github.com/autowarefoundation/autoware_common.git
-    version: ba4d3cc3f729ebedc16aba7d745bcc54fd935e61
+    version: 5944d420a01d81504f15dfd5323fa68a8d372208
   core/autoware.core:
     type: git
     url: https://github.com/autowarefoundation/autoware.core.git
-    version: 062fdea5059eaf196a2d0fd531e4433efd1502e4
+    version: 0272977f1842c35b8a2401706ce8d35cc7aafb30
   core/external/autoware_auto_msgs: # TODO(mfc): Remove when autoware_msgs is merged
     type: git
     url: https://github.com/tier4/autoware_auto_msgs.git
-    version: c8a5d2001da052137c08cdf9e8d75c1975f99b84
+    version: bd162589a837a2c1ecea943f80c035109e1ae594
   # universe
   universe/autoware.universe:
     type: git
     url: https://github.com/autowarefoundation/autoware.universe.git
-    version: 4be6931c811422f16d95c1460c046f2540d1f628
+    version: e009b13f371ebcd54990ec676a13ef192862b2aa
   universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Improve design/code and transfer to AWF
     type: git
     url: https://github.com/tier4/tier4_ad_api_adaptor.git
-    version: 050fa514074be9e55a772ff9776cea5cfa04a403
+    version: faf403a5522a56751930813a171ff80397775ea6
   universe/external/tier4_autoware_msgs:
     type: git
     url: https://github.com/tier4/tier4_autoware_msgs.git
-    version: 0309ffb99c474b4867fc8fb8ecb0d6f81e5decc9
+    version: b4ab4360d875c473e4540f47a0e19ea0d146c44d
   universe/external/grid_map:
     type: git
     url: https://github.com/ANYbotics/grid_map.git
@@ -57,7 +57,7 @@ repositories:
   launcher/autoware_launch:
     type: git
     url: https://github.com/autowarefoundation/autoware_launch.git
-    version: 5a770252eaa4a50144fbdf8ce98bd02a7ce4e180
+    version: 61492f1d7ab7a71290e979a730d3283540335f65
   # sensor_component
   sensor_component/external/sensor_component_description:
     type: git
@@ -88,7 +88,7 @@ repositories:
   vehicle/external/pacmod_interface:
     type: git
     url: https://github.com/tier4/pacmod_interface.git
-    version: 592e09c6785c515231f32ae4f153561b4f7b92b7
+    version: e868133ea4ea7231d9c5e841f4b220b7dd9ceed4
   # param
   param/autoware_individual_params:
     type: git
diff --git a/simulator.repos b/simulator.repos
index 0e8670a3a59..a24130c72a9 100644
--- a/simulator.repos
+++ b/simulator.repos
@@ -2,4 +2,4 @@ repositories:
   simulator/scenario_simulator:
     type: git
     url: https://github.com/tier4/scenario_simulator_v2.git
-    version: 724e9130496494a303fc75af7da4f006d83f4294
+    version: 5d7c674944785baab6a31e88a65aa544b99fb4b8

From 4a122df64235929899724bff857d7a41df510da0 Mon Sep 17 00:00:00 2001
From: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
Date: Tue, 20 Dec 2022 20:35:20 +0900
Subject: [PATCH 05/13] chore(release): freeze repos files

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
---
 autoware.repos  | 42 +++++++++++++++++++++---------------------
 simulator.repos |  2 +-
 2 files changed, 22 insertions(+), 22 deletions(-)

diff --git a/autoware.repos b/autoware.repos
index 8a721b6eb13..d1609ffea29 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -3,90 +3,90 @@ repositories:
   core/autoware_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_msgs.git
-    version: main
+    version: 4f13d4b8b465ed7f424fce9af17882dbe1752875
   core/autoware_adapi_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
-    version: main
+    version: 9679b5a7a1f4cfff2fa50b80d2759d3937f2f953
   core/autoware_common:
     type: git
     url: https://github.com/autowarefoundation/autoware_common.git
-    version: main
+    version: 6916df26fafe6749db4b1d5bd6636a92444fc48d
   core/autoware.core:
     type: git
     url: https://github.com/autowarefoundation/autoware.core.git
-    version: main
+    version: 6bafedfb24fb34157ed65bfe3f6f4c1ed0fbc80b
   core/external/autoware_auto_msgs: # TODO(mfc): Remove when autoware_msgs is merged
     type: git
     url: https://github.com/tier4/autoware_auto_msgs.git
-    version: tier4/main
+    version: 6b5bc4365f9a2fc913bc11afa74ec21ffa2dbf32
   # universe
   universe/autoware.universe:
     type: git
     url: https://github.com/autowarefoundation/autoware.universe.git
-    version: main
+    version: 9085f2f31f0d8cbba6cbe3ffc3b8ca447631ad32
   universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Improve design/code and transfer to AWF
     type: git
     url: https://github.com/tier4/tier4_ad_api_adaptor.git
-    version: tier4/universe
+    version: 5084f9c8eaf03458a216060798da2b1e4fa96f28
   universe/external/tier4_autoware_msgs:
     type: git
     url: https://github.com/tier4/tier4_autoware_msgs.git
-    version: tier4/universe
+    version: a360ee9f5235a0d426427813f26e43027e32139d
   universe/external/morai_msgs:
     type: git
     url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git
-    version: main
+    version: 6fd6a711e4bbf8a9989b54028e8074acabbbce6f
   universe/external/muSSP:
     type: git
     url: https://github.com/tier4/muSSP.git
-    version: tier4/main
+    version: c79e98fd5e658f4f90c06d93472faa977bc873b9
   universe/external/ndt_omp:
     type: git
     url: https://github.com/tier4/ndt_omp.git
-    version: tier4/main
+    version: f59e1667390fe66d72c5c3aa0b25385b5b6dd8cf
   universe/external/pointcloud_to_laserscan:
     type: git
     url: https://github.com/tier4/pointcloud_to_laserscan.git
-    version: tier4/main
+    version: 948a4fca35dcb03c6c8fbfa610a686f7c919fe0b
   # launcher
   launcher/autoware_launch:
     type: git
     url: https://github.com/autowarefoundation/autoware_launch.git
-    version: main
+    version: e4abe673667a8d4f2d783ed22edacbf5d4784b8f
   # sensor_component
   sensor_component/external/sensor_component_description:
     type: git
     url: https://github.com/tier4/sensor_component_description.git
-    version: main
+    version: 475857daeb4c4883ab0295336713364b326e8278
   sensor_component/external/tamagawa_imu_driver:
     type: git
     url: https://github.com/tier4/tamagawa_imu_driver.git
-    version: ros2
+    version: 28ad3cd4fb043e5f92353a540c3531cd4cb7bef3
   sensor_component/external/velodyne_vls:
     type: git
     url: https://github.com/tier4/velodyne_vls.git
-    version: tier4/universe
+    version: baeafaf9a376c5798f7b67a77211890c33900f84
   # sensor_kit
   sensor_kit/sample_sensor_kit_launch:
     type: git
     url: https://github.com/autowarefoundation/sample_sensor_kit_launch.git
-    version: main
+    version: 03decbd31bb954eb9f52daaf3a3fa2b921dbb0c3
   sensor_kit/external/awsim_sensor_kit_launch: # TODO: Integrate into sample_sensor_kit_launch
     type: git
     url: https://github.com/RobotecAI/awsim_sensor_kit_launch.git
-    version: main
+    version: d9022ee9bbfd958c239b673cfbb230eea50607be
   # vehicle
   vehicle/sample_vehicle_launch:
     type: git
     url: https://github.com/autowarefoundation/sample_vehicle_launch.git
-    version: main
+    version: 157238ca77de7b0a59f71a0b28f456741fab3ca2
   vehicle/external/pacmod_interface:
     type: git
     url: https://github.com/tier4/pacmod_interface.git
-    version: main
+    version: b5ae20345f2551da0c6e4140a3dc3479d64efd1f
   # param
   param/autoware_individual_params:
     type: git
     url: https://github.com/autowarefoundation/autoware_individual_params.git
-    version: main
+    version: 79cff0ba014808050be6f5cb3b4764ba2c96c21c
diff --git a/simulator.repos b/simulator.repos
index dd3551eb56b..2b524710483 100644
--- a/simulator.repos
+++ b/simulator.repos
@@ -2,4 +2,4 @@ repositories:
   simulator/scenario_simulator:
     type: git
     url: https://github.com/tier4/scenario_simulator_v2.git
-    version: master
+    version: eb5e3220b31ef26b49939f748e82b46f28ce80e0

From 9798350b80c69c770b926844d85a9ca5638c88c9 Mon Sep 17 00:00:00 2001
From: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
Date: Mon, 13 Mar 2023 16:08:55 +0900
Subject: [PATCH 06/13] release(autoware.repos) use awsim-stable for
 autoware.universe and autoware_launch

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
---
 autoware.repos | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/autoware.repos b/autoware.repos
index 8a721b6eb13..cb31f7c450d 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -24,7 +24,7 @@ repositories:
   universe/autoware.universe:
     type: git
     url: https://github.com/autowarefoundation/autoware.universe.git
-    version: main
+    version: awsim-stable
   universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Improve design/code and transfer to AWF
     type: git
     url: https://github.com/tier4/tier4_ad_api_adaptor.git
@@ -53,7 +53,7 @@ repositories:
   launcher/autoware_launch:
     type: git
     url: https://github.com/autowarefoundation/autoware_launch.git
-    version: main
+    version: awsim-stable
   # sensor_component
   sensor_component/external/sensor_component_description:
     type: git

From d18b15b401da278ad18779c6e89cefd085b7a47c Mon Sep 17 00:00:00 2001
From: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
Date: Mon, 13 Mar 2023 18:28:13 +0900
Subject: [PATCH 07/13] chore(release): freeze repos

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
---
 autoware.repos  | 38 +++++++++++++++++++-------------------
 simulator.repos |  2 +-
 2 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/autoware.repos b/autoware.repos
index cb31f7c450d..7d510f4cbb1 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -3,23 +3,23 @@ repositories:
   core/autoware_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_msgs.git
-    version: main
+    version: 90ed3f1f3371d75eb30b6e7d2acb88ccec4e8030
   core/autoware_adapi_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
-    version: main
+    version: 9679b5a7a1f4cfff2fa50b80d2759d3937f2f953
   core/autoware_common:
     type: git
     url: https://github.com/autowarefoundation/autoware_common.git
-    version: main
+    version: 34338c0d9e68ea8c7598a66f319cdcb6d92873a3
   core/autoware.core:
     type: git
     url: https://github.com/autowarefoundation/autoware.core.git
-    version: main
+    version: 0a3421239fcf576d3e73036c6b5da1daf2b8c8d0
   core/external/autoware_auto_msgs: # TODO(mfc): Remove when autoware_msgs is merged
     type: git
     url: https://github.com/tier4/autoware_auto_msgs.git
-    version: tier4/main
+    version: f6642370c6f4f42a5dc0b6c1fc4a21396d4dc34c
   # universe
   universe/autoware.universe:
     type: git
@@ -28,27 +28,27 @@ repositories:
   universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Improve design/code and transfer to AWF
     type: git
     url: https://github.com/tier4/tier4_ad_api_adaptor.git
-    version: tier4/universe
+    version: e490986fd3a7e35aa5af8f0120d083afdd8a4fce
   universe/external/tier4_autoware_msgs:
     type: git
     url: https://github.com/tier4/tier4_autoware_msgs.git
-    version: tier4/universe
+    version: 87febc35abc9310eaec0b6dd3ce2a4845ce515aa
   universe/external/morai_msgs:
     type: git
     url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git
-    version: main
+    version: 04f0a0b6a069fef62e0236189ce23d60abfe97f7
   universe/external/muSSP:
     type: git
     url: https://github.com/tier4/muSSP.git
-    version: tier4/main
+    version: c79e98fd5e658f4f90c06d93472faa977bc873b9
   universe/external/ndt_omp:
     type: git
     url: https://github.com/tier4/ndt_omp.git
-    version: tier4/main
+    version: eab36ace79c0d5b12b4eba5b900ea6ce665e654f
   universe/external/pointcloud_to_laserscan:
     type: git
     url: https://github.com/tier4/pointcloud_to_laserscan.git
-    version: tier4/main
+    version: 948a4fca35dcb03c6c8fbfa610a686f7c919fe0b
   # launcher
   launcher/autoware_launch:
     type: git
@@ -58,35 +58,35 @@ repositories:
   sensor_component/external/sensor_component_description:
     type: git
     url: https://github.com/tier4/sensor_component_description.git
-    version: main
+    version: 475857daeb4c4883ab0295336713364b326e8278
   sensor_component/external/tamagawa_imu_driver:
     type: git
     url: https://github.com/tier4/tamagawa_imu_driver.git
-    version: ros2
+    version: de4bf6be79aa2968cf2f62e0ebe1ff8a5797e6ad
   sensor_component/external/velodyne_vls:
     type: git
     url: https://github.com/tier4/velodyne_vls.git
-    version: tier4/universe
+    version: 55dffdf3b3ef889e149977dc6ab1da124b5176c9
   # sensor_kit
   sensor_kit/sample_sensor_kit_launch:
     type: git
     url: https://github.com/autowarefoundation/sample_sensor_kit_launch.git
-    version: main
+    version: 06330e6b07449a3609ced295c0a9ce6a1805ef99
   sensor_kit/external/awsim_sensor_kit_launch: # TODO: Integrate into sample_sensor_kit_launch
     type: git
     url: https://github.com/RobotecAI/awsim_sensor_kit_launch.git
-    version: main
+    version: a1f5993407ffeb4abcf97a49cd1b4034768d97b4
   # vehicle
   vehicle/sample_vehicle_launch:
     type: git
     url: https://github.com/autowarefoundation/sample_vehicle_launch.git
-    version: main
+    version: 157238ca77de7b0a59f71a0b28f456741fab3ca2
   vehicle/external/pacmod_interface:
     type: git
     url: https://github.com/tier4/pacmod_interface.git
-    version: main
+    version: 3db50a2abc68576308289cc84d83d14376144d64
   # param
   param/autoware_individual_params:
     type: git
     url: https://github.com/autowarefoundation/autoware_individual_params.git
-    version: main
+    version: 09082b6cbb99a840c53878a190616d35a40b569f
diff --git a/simulator.repos b/simulator.repos
index dd3551eb56b..8248500caf9 100644
--- a/simulator.repos
+++ b/simulator.repos
@@ -2,4 +2,4 @@ repositories:
   simulator/scenario_simulator:
     type: git
     url: https://github.com/tier4/scenario_simulator_v2.git
-    version: master
+    version: c425a60edc321fcfd56d4404ec42f0a64865d3e4

From 284de8474ec0973cfeb1eb3326a4bcc9d53cef15 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Mon, 13 Mar 2023 09:32:19 +0000
Subject: [PATCH 08/13] style(pre-commit): autofix

---
 autoware.repos  | 2 +-
 simulator.repos | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/autoware.repos b/autoware.repos
index 0c64e540b47..7d510f4cbb1 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -89,4 +89,4 @@ repositories:
   param/autoware_individual_params:
     type: git
     url: https://github.com/autowarefoundation/autoware_individual_params.git
-    version: 09082b6cbb99a840c53878a190616d35a40b569f
\ No newline at end of file
+    version: 09082b6cbb99a840c53878a190616d35a40b569f
diff --git a/simulator.repos b/simulator.repos
index 8e3839a12e5..8248500caf9 100644
--- a/simulator.repos
+++ b/simulator.repos
@@ -2,4 +2,4 @@ repositories:
   simulator/scenario_simulator:
     type: git
     url: https://github.com/tier4/scenario_simulator_v2.git
-    version: c425a60edc321fcfd56d4404ec42f0a64865d3e4
\ No newline at end of file
+    version: c425a60edc321fcfd56d4404ec42f0a64865d3e4

From bc0c57f0f8bd50560ee3813ac1d938ef52f02078 Mon Sep 17 00:00:00 2001
From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Date: Wed, 14 Jun 2023 12:24:56 +0900
Subject: [PATCH 09/13] fix(repos): autoware_common to sync lanlet2  (#3539)

* fix: autoware.repos for autoware common

Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp>

* chore(repos): update autoware.repos for autoware_common (#4)

* chore(repos): autoware.repos for autoware_common

* ci(pre-commit-ansible): upgrade ansible-lint

* ci(pre-commit-ansible): fix errors (#3490)

* add additional_dependencies

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* fix ansible-lint errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

---------

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* ci(pre-commit-ansible): autoupdate (#3500)

* ci(pre-commit-ansible): autoupdate

Signed-off-by: GitHub <noreply@github.com>

* apply var-naming[no-role-prefix]

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* ignore colcon directories

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* fixup

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

---------

Signed-off-by: GitHub <noreply@github.com>
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

---------

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Signed-off-by: GitHub <noreply@github.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com>
Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp>

---------

Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp>
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Signed-off-by: GitHub <noreply@github.com>
Co-authored-by: Yu Asabe <yuasabe@g.ecc.u-tokyo.ac.jp>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com>
Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 .ansible-lint                                 |  5 ++++-
 .pre-commit-config-ansible.yaml               |  4 +++-
 ansible/playbooks/core.yaml                   |  3 ++-
 ansible/playbooks/docker.yaml                 |  3 ++-
 ansible/playbooks/universe.yaml               |  3 ++-
 ansible/roles/cuda/tasks/main.yaml            | 20 +++++++++----------
 ansible/roles/docker_engine/tasks/main.yaml   |  8 ++++----
 ansible/roles/git_lfs/tasks/main.yaml         |  9 +++++----
 ansible/roles/nvidia_docker/tasks/main.yaml   |  4 ++--
 ansible/roles/pacmod/tasks/main.yaml          |  4 ++--
 .../roles/rmw_implementation/tasks/main.yaml  |  6 +++---
 ansible/roles/rocker/tasks/main.yaml          |  7 ++++---
 ansible/roles/ros2/tasks/main.yaml            |  9 +++++----
 autoware.repos                                |  2 +-
 14 files changed, 49 insertions(+), 38 deletions(-)

diff --git a/.ansible-lint b/.ansible-lint
index 61bd4a2c58c..a1083e74c61 100644
--- a/.ansible-lint
+++ b/.ansible-lint
@@ -1,8 +1,11 @@
 exclude_paths:
   - src/
+  - build/
+  - install/
+  - log/
 
 skip_list:
-  - meta-no-info # We don't publish to Ansible Galaxy.
+  - galaxy # We don't publish to Ansible Galaxy.
   - package-latest # Since this is a development environment, we allow the latest versions.
 
 warn_list: []
diff --git a/.pre-commit-config-ansible.yaml b/.pre-commit-config-ansible.yaml
index 8e446c97a43..cfad1ff9d68 100644
--- a/.pre-commit-config-ansible.yaml
+++ b/.pre-commit-config-ansible.yaml
@@ -1,5 +1,7 @@
 repos:
   - repo: https://github.com/ansible/ansible-lint.git
-    rev: v6.9.0
+    rev: v6.16.1
     hooks:
       - id: ansible-lint
+        additional_dependencies:
+          - ansible
diff --git a/ansible/playbooks/core.yaml b/ansible/playbooks/core.yaml
index 4f63b33bf9e..dd37be36253 100644
--- a/ansible/playbooks/core.yaml
+++ b/ansible/playbooks/core.yaml
@@ -1,4 +1,5 @@
-- hosts: localhost
+- name: Set up source development environments for Autoware Core
+  hosts: localhost
   connection: local
   pre_tasks:
     - name: Verify OS
diff --git a/ansible/playbooks/docker.yaml b/ansible/playbooks/docker.yaml
index 538315cd3e8..434d800c106 100644
--- a/ansible/playbooks/docker.yaml
+++ b/ansible/playbooks/docker.yaml
@@ -1,4 +1,5 @@
-- hosts: localhost
+- name: Set up Docker development environments for Autoware
+  hosts: localhost
   connection: local
   vars_prompt:
     - name: prompt_install_nvidia
diff --git a/ansible/playbooks/universe.yaml b/ansible/playbooks/universe.yaml
index e062a29308b..43333357743 100644
--- a/ansible/playbooks/universe.yaml
+++ b/ansible/playbooks/universe.yaml
@@ -1,4 +1,5 @@
-- hosts: localhost
+- name: Set up source development environments for Autoware Universe
+  hosts: localhost
   connection: local
   vars_prompt:
     - name: prompt_install_nvidia
diff --git a/ansible/roles/cuda/tasks/main.yaml b/ansible/roles/cuda/tasks/main.yaml
index 8060d455c9d..30e19d41d00 100644
--- a/ansible/roles/cuda/tasks/main.yaml
+++ b/ansible/roles/cuda/tasks/main.yaml
@@ -38,22 +38,22 @@
 
 - name: Get dash-case name of cuda_version
   ansible.builtin.shell: bash -c 'sed -e "s/\./-/g" <<< $(echo {{ cuda_version }})'
-  register: dash_case_cuda_version
+  register: cuda__dash_case_cuda_version
   changed_when: false
 
 - name: Install CUDA libraries except for cuda-drivers
   become: true
   ansible.builtin.apt:
     name:
-      - cuda-cudart-dev-{{ dash_case_cuda_version.stdout }}
-      - cuda-command-line-tools-{{ dash_case_cuda_version.stdout }}
-      - cuda-minimal-build-{{ dash_case_cuda_version.stdout }}
-      - cuda-libraries-dev-{{ dash_case_cuda_version.stdout }}
-      - cuda-nvml-dev-{{ dash_case_cuda_version.stdout }}
-      - cuda-nvprof-{{ dash_case_cuda_version.stdout }}
-      - libnpp-dev-{{ dash_case_cuda_version.stdout }}
-      - libcusparse-dev-{{ dash_case_cuda_version.stdout }}
-      - libcublas-dev-{{ dash_case_cuda_version.stdout }}
+      - cuda-cudart-dev-{{ cuda__dash_case_cuda_version.stdout }}
+      - cuda-command-line-tools-{{ cuda__dash_case_cuda_version.stdout }}
+      - cuda-minimal-build-{{ cuda__dash_case_cuda_version.stdout }}
+      - cuda-libraries-dev-{{ cuda__dash_case_cuda_version.stdout }}
+      - cuda-nvml-dev-{{ cuda__dash_case_cuda_version.stdout }}
+      - cuda-nvprof-{{ cuda__dash_case_cuda_version.stdout }}
+      - libnpp-dev-{{ cuda__dash_case_cuda_version.stdout }}
+      - libcusparse-dev-{{ cuda__dash_case_cuda_version.stdout }}
+      - libcublas-dev-{{ cuda__dash_case_cuda_version.stdout }}
       - libnccl-dev
     update_cache: true
 
diff --git a/ansible/roles/docker_engine/tasks/main.yaml b/ansible/roles/docker_engine/tasks/main.yaml
index fffd86c3e3e..6fe822fa575 100644
--- a/ansible/roles/docker_engine/tasks/main.yaml
+++ b/ansible/roles/docker_engine/tasks/main.yaml
@@ -37,24 +37,24 @@
 
 - name: Save result of 'dpkg --print-architecture'
   ansible.builtin.command: dpkg --print-architecture
-  register: deb_architecture
+  register: docker_engine__deb_architecture
   changed_when: false
 
 - name: Save result of 'lsb_release -cs'
   ansible.builtin.command: lsb_release -cs
-  register: lsb_release_cs
+  register: docker_engine__lsb_release_cs
   changed_when: false
 
 - name: Save result of 'lsb_release -is'
   ansible.builtin.command: lsb_release -is
-  register: lsb_release_is
+  register: docker_engine__lsb_release_is
   changed_when: false
 
 # echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/$(lsb_release -is | tr '[:upper:]' '[:lower:]') $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
 - name: Add Docker apt repository to source list
   become: true
   ansible.builtin.apt_repository:
-    repo: deb [arch={{ deb_architecture.stdout }} signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/{{ lsb_release_is.stdout | lower }} {{ lsb_release_cs.stdout }} stable
+    repo: deb [arch={{ docker_engine__deb_architecture.stdout }} signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/{{ docker_engine__lsb_release_is.stdout | lower }} {{ docker_engine__lsb_release_cs.stdout }} stable
     filename: docker
     state: present
     update_cache: true
diff --git a/ansible/roles/git_lfs/tasks/main.yaml b/ansible/roles/git_lfs/tasks/main.yaml
index fa1700913d1..b416dc3237d 100644
--- a/ansible/roles/git_lfs/tasks/main.yaml
+++ b/ansible/roles/git_lfs/tasks/main.yaml
@@ -8,11 +8,12 @@
 
 # ref: https://github.com/ansible/ansible-lint/issues/1780
 - name: Check if git lfs is installed # https://github.com/git-lfs/git-lfs/issues/901
-  git_config:
+  community.general.git_config:
     list_all: true
     scope: global
-  register: git_global_config
+  register: git_lfs__git_global_config
 
 - name: Setup Git LFS
-  command: git lfs install
-  when: "'filter.lfs.required' not in git_global_config.config_values"
+  ansible.builtin.command: git lfs install
+  when: "'filter.lfs.required' not in git_lfs__git_global_config.config_values"
+  changed_when: true
diff --git a/ansible/roles/nvidia_docker/tasks/main.yaml b/ansible/roles/nvidia_docker/tasks/main.yaml
index 7193324b356..215354fbffe 100644
--- a/ansible/roles/nvidia_docker/tasks/main.yaml
+++ b/ansible/roles/nvidia_docker/tasks/main.yaml
@@ -5,12 +5,12 @@
 
 - name: Save result of '. /etc/os-release;echo $ID$VERSION_ID'
   ansible.builtin.shell: . /etc/os-release;echo $ID$VERSION_ID
-  register: distribution
+  register: nvidia_docker__distribution
   changed_when: false
 
 - name: Save result of 'curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list'
   ansible.builtin.uri:
-    url: https://nvidia.github.io/nvidia-docker/{{ distribution.stdout }}/nvidia-docker.list
+    url: https://nvidia.github.io/nvidia-docker/{{ nvidia_docker__distribution.stdout }}/nvidia-docker.list
     return_content: true
   register: nvidia_docker_list
 
diff --git a/ansible/roles/pacmod/tasks/main.yaml b/ansible/roles/pacmod/tasks/main.yaml
index d7d96c549b5..ed96c249ef4 100644
--- a/ansible/roles/pacmod/tasks/main.yaml
+++ b/ansible/roles/pacmod/tasks/main.yaml
@@ -6,14 +6,14 @@
 
 - name: Save result of 'lsb_release -sc'
   ansible.builtin.command: lsb_release -sc
-  register: lsb_release
+  register: pacmod__lsb_release
   changed_when: false
 
 # echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list
 - name: Add AutonomouStuff apt repository to source list
   become: true
   ansible.builtin.apt_repository:
-    repo: deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ {{ lsb_release.stdout }} main
+    repo: deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ {{ pacmod__lsb_release.stdout }} main
     filename: autonomoustuff-public
     state: present
     update_cache: true
diff --git a/ansible/roles/rmw_implementation/tasks/main.yaml b/ansible/roles/rmw_implementation/tasks/main.yaml
index 1c5faea1d70..bdbb7fa8a01 100644
--- a/ansible/roles/rmw_implementation/tasks/main.yaml
+++ b/ansible/roles/rmw_implementation/tasks/main.yaml
@@ -1,12 +1,12 @@
 - name: Get dash-case name of rmw_implementation
   ansible.builtin.shell: bash -c 'sed -e "s/_/-/g" <<< $(echo {{ rmw_implementation }})'
-  register: dash_case_rmw_implementation
+  register: rmw_implementation__dash_case_rmw_implementation
   changed_when: false
 
-- name: Install ros-{{ rosdistro }}-{{ dash_case_rmw_implementation.stdout }}
+- name: Install ros-{{ rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout }}
   become: true
   ansible.builtin.apt:
-    name: ros-{{ rosdistro }}-{{ dash_case_rmw_implementation.stdout }}
+    name: ros-{{ rosdistro }}-{{ rmw_implementation__dash_case_rmw_implementation.stdout }}
     state: latest
     update_cache: true
 
diff --git a/ansible/roles/rocker/tasks/main.yaml b/ansible/roles/rocker/tasks/main.yaml
index 57f1432710c..885d2895342 100644
--- a/ansible/roles/rocker/tasks/main.yaml
+++ b/ansible/roles/rocker/tasks/main.yaml
@@ -4,22 +4,23 @@
   ansible.builtin.get_url:
     url: https://raw.githubusercontent.com/ros/rosdistro/master/ros.key
     dest: /usr/share/keyrings/ros-archive-keyring.gpg
+    mode: 644
 
 - name: Save result of 'dpkg --print-architecture'
   ansible.builtin.command: dpkg --print-architecture
-  register: deb_architecture
+  register: rocker__deb_architecture
   changed_when: false
 
 - name: Save result of 'lsb_release -cs'
   ansible.builtin.command: lsb_release -cs
-  register: lsb_release_cs
+  register: rocker__lsb_release_cs
   changed_when: false
 
 # echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 - name: Add ROS 2 apt repository to source list
   become: true
   ansible.builtin.apt_repository:
-    repo: deb [arch={{ deb_architecture.stdout }} signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu {{ lsb_release_cs.stdout }} main
+    repo: deb [arch={{ rocker__deb_architecture.stdout }} signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu {{ rocker__lsb_release_cs.stdout }} main
     filename: ros2
     state: present
     update_cache: true
diff --git a/ansible/roles/ros2/tasks/main.yaml b/ansible/roles/ros2/tasks/main.yaml
index 1e208cf7015..679f5dc4c90 100644
--- a/ansible/roles/ros2/tasks/main.yaml
+++ b/ansible/roles/ros2/tasks/main.yaml
@@ -13,27 +13,28 @@
   ansible.builtin.get_url:
     url: https://raw.githubusercontent.com/ros/rosdistro/master/ros.key
     dest: /usr/share/keyrings/ros-archive-keyring.gpg
+    mode: 644
 
 - name: Save result of 'dpkg --print-architecture'
   ansible.builtin.command: dpkg --print-architecture
-  register: deb_architecture
+  register: ros2__deb_architecture
   changed_when: false
 
 - name: Save result of 'source /etc/os-release && echo $UBUNTU_CODENAME'
   ansible.builtin.shell: bash -c 'source /etc/os-release && echo $UBUNTU_CODENAME'
-  register: ubuntu_codename
+  register: ros2__ubuntu_codename
   changed_when: false
 
 # echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 - name: Add ROS 2 apt repository to source list
   become: true
   ansible.builtin.apt_repository:
-    repo: deb [arch={{ deb_architecture.stdout }} signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu {{ ubuntu_codename.stdout }} main
+    repo: deb [arch={{ ros2__deb_architecture.stdout }} signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu {{ ros2__ubuntu_codename.stdout }} main
     filename: ros2
     state: present
     update_cache: true
 
-- name: Install ros-{{ rosdistro }}-{{ installation_type }}
+- name: Install ros-{{ rosdistro + '-' + installation_type }}
   become: true
   ansible.builtin.apt:
     name: ros-{{ rosdistro }}-{{ installation_type }}
diff --git a/autoware.repos b/autoware.repos
index 7d510f4cbb1..bf1a1c14b43 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -11,7 +11,7 @@ repositories:
   core/autoware_common:
     type: git
     url: https://github.com/autowarefoundation/autoware_common.git
-    version: 34338c0d9e68ea8c7598a66f319cdcb6d92873a3
+    version: awsim-stable
   core/autoware.core:
     type: git
     url: https://github.com/autowarefoundation/autoware.core.git

From d6db15aa2b3d8efcc7eda7103f08ae7d46289ebc Mon Sep 17 00:00:00 2001
From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com>
Date: Wed, 3 Apr 2024 21:11:08 +0900
Subject: [PATCH 10/13] feat: update repos file and workflow (#5)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
---
 .github/workflows/build-main-self-hosted.yaml | 47 --------------
 ...ocker-build-and-push-main-self-hosted.yaml | 64 -------------------
 .../workflows/docker-build-and-push-main.yaml |  9 ---
 autoware.repos                                | 31 ---------
 docker/build.sh                               |  4 +-
 5 files changed, 2 insertions(+), 153 deletions(-)
 delete mode 100644 .github/workflows/build-main-self-hosted.yaml
 delete mode 100644 .github/workflows/docker-build-and-push-main-self-hosted.yaml

diff --git a/.github/workflows/build-main-self-hosted.yaml b/.github/workflows/build-main-self-hosted.yaml
deleted file mode 100644
index 3f0fdb23b13..00000000000
--- a/.github/workflows/build-main-self-hosted.yaml
+++ /dev/null
@@ -1,47 +0,0 @@
-name: build-main-self-hosted
-
-on:
-  schedule:
-    - cron: 0 12 * * *
-  workflow_dispatch:
-
-jobs:
-  load-env:
-    uses: ./.github/workflows/load-env.yaml
-
-  build-main-self-hosted:
-    needs: load-env
-    runs-on: [self-hosted, linux, ARM64]
-    container: ${{ needs.load-env.outputs.base-image }}
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v3
-
-      - name: Run setup script
-        run: |
-          ./setup-dev-env.sh -y
-
-      - name: Set git config
-        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
-        with:
-          token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Run vcs import
-        run: |
-          mkdir src
-          vcs import src < autoware.repos
-
-      - name: Run vcs export
-        run: |
-          vcs export --exact src || true
-
-      - name: Run rosdep install
-        run: |
-          sudo apt-get -y update
-          rosdep update
-          DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths src --ignore-src --rosdistro ${{ needs.load-env.outputs.rosdistro }}
-
-      - name: Build
-        run: |
-          . /opt/ros/${{ needs.load-env.outputs.rosdistro }}/setup.sh
-          colcon build --event-handlers console_cohesion+ --cmake-args -DCMAKE_BUILD_TYPE=Release
diff --git a/.github/workflows/docker-build-and-push-main-self-hosted.yaml b/.github/workflows/docker-build-and-push-main-self-hosted.yaml
deleted file mode 100644
index e2c435fc0ee..00000000000
--- a/.github/workflows/docker-build-and-push-main-self-hosted.yaml
+++ /dev/null
@@ -1,64 +0,0 @@
-name: docker-build-and-push-main-self-hosted
-
-on:
-  push:
-    tags:
-      - v*
-      - "[0-9]+.[0-9]+*"
-  schedule:
-    - cron: 0 0 1,15 * *
-  workflow_dispatch:
-
-jobs:
-  docker-build-and-push-main-self-hosted:
-    runs-on: [self-hosted, linux, ARM64]
-    strategy:
-      fail-fast: false
-      matrix:
-        name:
-          - no-cuda
-          - cuda
-        include:
-          - name: no-cuda
-            base_image_env: base_image
-            setup-args: --no-nvidia
-            additional-tag-suffix: ""
-          - name: cuda
-            base_image_env: cuda_base_image
-            setup-args: --no-cuda-drivers
-            additional-tag-suffix: -cuda
-    steps:
-      # https://github.com/actions/checkout/issues/211
-      - name: Change permission of workspace
-        run: |
-          sudo chown -R $USER:$USER ${{ github.workspace }}
-
-      - name: Check out repository
-        uses: actions/checkout@v3
-
-      - name: Free disk space
-        uses: ./.github/actions/free-disk-space
-
-      - name: Load env
-        run: |
-          cat amd64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
-          if [ "$(uname -m)" = "aarch64" ]; then
-            cat arm64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
-          fi
-
-      - name: Build 'autoware-universe'
-        uses: ./.github/actions/docker-build-and-push
-        with:
-          bake-target: autoware-universe
-          build-args: |
-            *.platform=linux/arm64
-            *.args.ROS_DISTRO=${{ env.rosdistro }}
-            *.args.BASE_IMAGE=${{ env[format('{0}', matrix.base_image_env)] }}
-            *.args.PREBUILT_BASE_IMAGE=${{ env.prebuilt_base_image }}
-            *.args.SETUP_ARGS=${{ matrix.setup-args }}
-          tag-prefix: ${{ env.rosdistro }}-
-          tag-suffix: ${{ matrix.additional-tag-suffix }}-arm64
-
-      - name: Show disk space
-        run: |
-          df -h
diff --git a/.github/workflows/docker-build-and-push-main.yaml b/.github/workflows/docker-build-and-push-main.yaml
index 6f71ac71560..0dc3df7f6af 100644
--- a/.github/workflows/docker-build-and-push-main.yaml
+++ b/.github/workflows/docker-build-and-push-main.yaml
@@ -1,10 +1,6 @@
 name: docker-build-and-push-main
 
 on:
-  push:
-    tags:
-      - v*
-      - "[0-9]+.[0-9]+*"
   schedule:
     - cron: 0 0 1,15 * *
   workflow_dispatch:
@@ -17,16 +13,11 @@ jobs:
       matrix:
         name:
           - no-cuda
-          - cuda
         include:
           - name: no-cuda
             base_image_env: base_image
             setup-args: --no-nvidia
             additional-tag-suffix: ""
-          - name: cuda
-            base_image_env: cuda_base_image
-            setup-args: --no-cuda-drivers
-            additional-tag-suffix: -cuda
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
diff --git a/autoware.repos b/autoware.repos
index bf1a1c14b43..d67fb0c3415 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -54,37 +54,6 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/autoware_launch.git
     version: awsim-stable
-  # sensor_component
-  sensor_component/external/sensor_component_description:
-    type: git
-    url: https://github.com/tier4/sensor_component_description.git
-    version: 475857daeb4c4883ab0295336713364b326e8278
-  sensor_component/external/tamagawa_imu_driver:
-    type: git
-    url: https://github.com/tier4/tamagawa_imu_driver.git
-    version: de4bf6be79aa2968cf2f62e0ebe1ff8a5797e6ad
-  sensor_component/external/velodyne_vls:
-    type: git
-    url: https://github.com/tier4/velodyne_vls.git
-    version: 55dffdf3b3ef889e149977dc6ab1da124b5176c9
-  # sensor_kit
-  sensor_kit/sample_sensor_kit_launch:
-    type: git
-    url: https://github.com/autowarefoundation/sample_sensor_kit_launch.git
-    version: 06330e6b07449a3609ced295c0a9ce6a1805ef99
-  sensor_kit/external/awsim_sensor_kit_launch: # TODO: Integrate into sample_sensor_kit_launch
-    type: git
-    url: https://github.com/RobotecAI/awsim_sensor_kit_launch.git
-    version: a1f5993407ffeb4abcf97a49cd1b4034768d97b4
-  # vehicle
-  vehicle/sample_vehicle_launch:
-    type: git
-    url: https://github.com/autowarefoundation/sample_vehicle_launch.git
-    version: 157238ca77de7b0a59f71a0b28f456741fab3ca2
-  vehicle/external/pacmod_interface:
-    type: git
-    url: https://github.com/tier4/pacmod_interface.git
-    version: 3db50a2abc68576308289cc84d83d14376144d64
   # param
   param/autoware_individual_params:
     type: git
diff --git a/docker/build.sh b/docker/build.sh
index 803040ad41a..36b31b17ba7 100755
--- a/docker/build.sh
+++ b/docker/build.sh
@@ -71,7 +71,7 @@ docker buildx bake --no-cache --load --progress=plain -f "$SCRIPT_DIR/autoware-u
     --set "*.args.BASE_IMAGE=$base_image" \
     --set "*.args.PREBUILT_BASE_IMAGE=$prebuilt_base_image" \
     --set "*.args.SETUP_ARGS=$setup_args" \
-    --set "devel.tags=ghcr.io/autowarefoundation/autoware-universe:$rosdistro-latest$image_name_suffix" \
-    --set "prebuilt.tags=ghcr.io/autowarefoundation/autoware-universe:$rosdistro-latest-prebuilt$image_name_suffix" \
+    --set "devel.tags=ghcr.io/automotiveaichallenge/autoware-universe:$rosdistro-latest$image_name_suffix" \
+    --set "prebuilt.tags=ghcr.io/automotiveaichallenge/autoware-universe:$rosdistro-latest-prebuilt$image_name_suffix" \
     "${targets[@]}"
 set +x

From 104b078c15eb4bbc9ad869c60bfefc6a37ec41f3 Mon Sep 17 00:00:00 2001
From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com>
Date: Wed, 24 Apr 2024 21:14:22 +0900
Subject: [PATCH 11/13] feat: update dockerfile (#6)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
---
 .../actions/docker-build-and-push/action.yaml |  52 ++------
 .../workflows/docker-build-and-push-main.yaml |   7 +-
 amd64.env                                     |   1 -
 docker/autoware-universe/Dockerfile           | 118 +++++-------------
 docker/autoware-universe/docker-bake.hcl      |  12 +-
 docker/build.sh                               |  22 +---
 6 files changed, 57 insertions(+), 155 deletions(-)

diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
index c0b9634baba..b79da13fa23 100644
--- a/.github/actions/docker-build-and-push/action.yaml
+++ b/.github/actions/docker-build-and-push/action.yaml
@@ -27,57 +27,20 @@ runs:
         sudo apt-get -y install jq
       shell: bash
 
-    # workflow_dispatch: latest, date
-    # schedule: latest, date
-    # tag: semver
-    - name: Set Docker tags
-      id: set-docker-tags
-      run: |
-        tags=()
-        if [ "${{ github.event_name }}" == "workflow_dispatch" ]; then
-          tags+=("latest")
-          tags+=("{{date 'YYYYMMDD'}}")
-        else
-          tags+=("type=schedule,pattern=latest")
-          tags+=("type=schedule,pattern={{date 'YYYYMMDD'}}")
-          tags+=("type=semver,pattern={{version}}")
-          tags+=("type=match,pattern=\d+.\d+")
-        fi
-
-        # Workaround for multiline strings
-        # https://github.community/t/set-output-truncates-multiline-strings/16852
-        tags_multiline=$(printf "%s\n" "${tags[@]}")
-        tags_multiline="${tags_multiline//'%'/'%25'}"
-        tags_multiline="${tags_multiline//$'\n'/'%0A'}"
-        tags_multiline="${tags_multiline//$'\r'/'%0D'}"
-
-        echo ::set-output name=tags::$tags_multiline
-      shell: bash
-
-    - name: Docker meta for devel
-      id: meta-devel
+    - name: Docker meta for runtime
+      id: meta-runtime
       uses: docker/metadata-action@v4
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-devel
+        tags: |
+          type=raw,value=latest
+          type=raw,value={{date 'YYYYMMDD'}}
+        bake-target: docker-metadata-action-runtime
         flavor: |
           latest=false
           prefix=${{ inputs.tag-prefix }}
           suffix=${{ inputs.tag-suffix }}
 
-    - name: Docker meta for prebuilt
-      id: meta-prebuilt
-      uses: docker/metadata-action@v4
-      with:
-        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-prebuilt
-        flavor: |
-          latest=false
-          prefix=${{ inputs.tag-prefix }}
-          suffix=-prebuilt${{ inputs.tag-suffix }}
-
     - name: Login to GitHub Container Registry
       if: ${{ github.event_name != 'pull_request' }}
       uses: docker/login-action@v2
@@ -93,7 +56,6 @@ runs:
         push: ${{ github.event_name == 'schedule' || github.ref_name == github.event.repository.default_branch || github.event_name == 'push'}}
         files: |
           docker/${{ inputs.bake-target }}/docker-bake.hcl
-          ${{ steps.meta-devel.outputs.bake-file }}
-          ${{ steps.meta-prebuilt.outputs.bake-file }}
+          ${{ steps.meta-runtime.outputs.bake-file }}
         set: |
           ${{ inputs.build-args }}
diff --git a/.github/workflows/docker-build-and-push-main.yaml b/.github/workflows/docker-build-and-push-main.yaml
index 0dc3df7f6af..87a3337fe0b 100644
--- a/.github/workflows/docker-build-and-push-main.yaml
+++ b/.github/workflows/docker-build-and-push-main.yaml
@@ -1,8 +1,6 @@
 name: docker-build-and-push-main
 
 on:
-  schedule:
-    - cron: 0 0 1,15 * *
   workflow_dispatch:
 
 jobs:
@@ -12,9 +10,9 @@ jobs:
       fail-fast: false
       matrix:
         name:
-          - no-cuda
+          - no-nvidia
         include:
-          - name: no-cuda
+          - name: no-nvidia
             base_image_env: base_image
             setup-args: --no-nvidia
             additional-tag-suffix: ""
@@ -40,7 +38,6 @@ jobs:
             *.platform=linux/amd64
             *.args.ROS_DISTRO=${{ env.rosdistro }}
             *.args.BASE_IMAGE=${{ env[format('{0}', matrix.base_image_env)] }}
-            *.args.PREBUILT_BASE_IMAGE=${{ env.prebuilt_base_image }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
           tag-prefix: ${{ env.rosdistro }}-
           tag-suffix: ${{ matrix.additional-tag-suffix }}-amd64
diff --git a/amd64.env b/amd64.env
index afa17255034..1366bd83c91 100644
--- a/amd64.env
+++ b/amd64.env
@@ -2,7 +2,6 @@ rosdistro=humble
 rmw_implementation=rmw_cyclonedds_cpp
 base_image=ubuntu:22.04
 cuda_base_image=ubuntu:22.04
-prebuilt_base_image=ubuntu:22.04
 cuda_version=11.6
 cudnn_version=8.4.1.50-1+cuda11.6
 tensorrt_version=8.4.2-1+cuda11.6
diff --git a/docker/autoware-universe/Dockerfile b/docker/autoware-universe/Dockerfile
index 9af0b8293fe..a53632b0dcd 100644
--- a/docker/autoware-universe/Dockerfile
+++ b/docker/autoware-universe/Dockerfile
@@ -1,128 +1,74 @@
-# Image args should come at the beginning.
+# hadolint global ignore=DL3006,DL3008
 ARG BASE_IMAGE
-ARG PREBUILT_BASE_IMAGE
-# hadolint ignore=DL3006
+
+# ==============================================================================
 FROM $BASE_IMAGE as devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
-
 ARG ROS_DISTRO
 ARG SETUP_ARGS
 
-## Install apt packages
-# hadolint ignore=DL3008
+# Install apt packages
 RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get -y install --no-install-recommends \
   git \
   ssh \
-  && apt-get clean \
-  && rm -rf /var/lib/apt/lists/*
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+
+# Add GitHub to known hosts for private repositories
+RUN mkdir -p ~/.ssh \
+  && ssh-keyscan github.com >> ~/.ssh/known_hosts
 
-## Copy files
+# Copy files
 COPY autoware.repos setup-dev-env.sh ansible-galaxy-requirements.yaml amd64.env arm64.env /autoware/
 COPY ansible/ /autoware/ansible/
 WORKDIR /autoware
-RUN ls /autoware
-
-## Add GitHub to known hosts for private repositories
-RUN mkdir -p ~/.ssh \
-  && ssh-keyscan github.com >> ~/.ssh/known_hosts
 
-## Set up development environment
+# Set up development environment
 RUN --mount=type=ssh \
-  ./setup-dev-env.sh -y $SETUP_ARGS universe \
+  ./setup-dev-env.sh -y --runtime $SETUP_ARGS universe \
   && pip uninstall -y ansible ansible-core \
   && mkdir src \
   && vcs import src < autoware.repos \
   && rosdep update \
   && DEBIAN_FRONTEND=noninteractive rosdep install -y --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \
-  && apt-get clean \
-  && rm -rf /var/lib/apt/lists/*
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
 
-## Clean up unnecessary files
+# Clean up unnecessary files
 RUN rm -rf \
-  "$HOME"/.cache \
   /etc/apt/sources.list.d/cuda*.list \
   /etc/apt/sources.list.d/docker.list \
   /etc/apt/sources.list.d/nvidia-docker.list
 
-## Register Vulkan GPU vendors
-RUN curl https://gitlab.com/nvidia/container-images/vulkan/raw/dc389b0445c788901fda1d85be96fd1cb9410164/nvidia_icd.json -o /etc/vulkan/icd.d/nvidia_icd.json \
-  && chmod 644 /etc/vulkan/icd.d/nvidia_icd.json
-RUN curl https://gitlab.com/nvidia/container-images/opengl/raw/5191cf205d3e4bb1150091f9464499b076104354/glvnd/runtime/10_nvidia.json -o /etc/glvnd/egl_vendor.d/10_nvidia.json \
-  && chmod 644 /etc/glvnd/egl_vendor.d/10_nvidia.json
+# Register Vulkan GPU vendors
+ADD "https://gitlab.com/nvidia/container-images/vulkan/raw/dc389b0445c788901fda1d85be96fd1cb9410164/nvidia_icd.json" /etc/vulkan/icd.d/nvidia_icd.json
+RUN chmod 644 /etc/vulkan/icd.d/nvidia_icd.json
+ADD "https://gitlab.com/nvidia/container-images/opengl/raw/5191cf205d3e4bb1150091f9464499b076104354/glvnd/runtime/10_nvidia.json" /etc/glvnd/egl_vendor.d/10_nvidia.json
+RUN chmod 644 /etc/glvnd/egl_vendor.d/10_nvidia.json
 
-## Register OpenCL GPU vendors
+# Register OpenCL GPU vendors
 RUN mkdir -p /etc/OpenCL/vendors \
   && echo "libnvidia-opencl.so.1" > /etc/OpenCL/vendors/nvidia.icd \
   && chmod 644 /etc/OpenCL/vendors/nvidia.icd
 
-## Create entrypoint
-# hadolint ignore=DL3059
-RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" > /etc/bash.bashrc
-CMD ["/bin/bash"]
-
-FROM devel as builder
+# ==============================================================================
+FROM devel as prebuilt
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
-## Build and change permission for runtime data conversion
+# Build and change permission for runtime data conversion
 RUN source /opt/ros/"$ROS_DISTRO"/setup.bash \
   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release \
   && find /autoware/install -type d -exec chmod 777 {} \;
 
-# hadolint ignore=DL3006
-FROM $PREBUILT_BASE_IMAGE as prebuilt
-
-SHELL ["/bin/bash", "-o", "pipefail", "-c"]
-
-ARG ROS_DISTRO
-ARG SETUP_ARGS
-
-## Install apt packages
-# hadolint ignore=DL3008
-RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get -y install --no-install-recommends \
-  git \
-  ssh \
-  && apt-get clean \
-  && rm -rf /var/lib/apt/lists/*
-
-## Copy files
-COPY autoware.repos setup-dev-env.sh ansible-galaxy-requirements.yaml amd64.env arm64.env /autoware/
-COPY ansible/ /autoware/ansible/
-WORKDIR /autoware
-RUN ls /autoware
-
-## Add GitHub to known hosts for private repositories
-RUN mkdir -p ~/.ssh \
-  && ssh-keyscan github.com >> ~/.ssh/known_hosts
-
-## Set up runtime environment
-RUN --mount=type=ssh \
-  ./setup-dev-env.sh -y $SETUP_ARGS --no-cuda-drivers --runtime universe \
-  && pip uninstall -y ansible ansible-core \
-  && mkdir src \
-  && vcs import src < autoware.repos \
-  && rosdep update \
-  && DEBIAN_FRONTEND=noninteractive rosdep install -y --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \
-  && rm -rf src \
-  && apt-get clean \
-  && rm -rf /var/lib/apt/lists/*
-
-## Copy install folder from builder
-COPY --from=builder /autoware/install/ /autoware/install/
+# Create entrypoint
+RUN echo "source /autoware/install/setup.bash" > /etc/bash.bashrc
+CMD ["/bin/bash"]
 
-## Clean up unnecessary files
-RUN rm -rf \
-  "$HOME"/.cache \
-  /etc/apt/sources.list.d/cuda*.list \
-  /etc/apt/sources.list.d/docker.list \
-  /etc/apt/sources.list.d/nvidia-docker.list
+# ==============================================================================
+FROM devel as runtime
 
-## Register Vulkan GPU vendors
-ADD "https://gitlab.com/nvidia/container-images/vulkan/raw/dc389b0445c788901fda1d85be96fd1cb9410164/nvidia_icd.json" /etc/vulkan/icd.d/nvidia_icd.json
-RUN chmod 644 /etc/vulkan/icd.d/nvidia_icd.json
-ADD "https://gitlab.com/nvidia/container-images/opengl/raw/5191cf205d3e4bb1150091f9464499b076104354/glvnd/runtime/10_nvidia.json" /etc/glvnd/egl_vendor.d/10_nvidia.json
-RUN chmod 644 /etc/glvnd/egl_vendor.d/10_nvidia.json
+# Remove setup files and copy install directory
+RUN rm -rf /autoware/*
+COPY --from=prebuilt /autoware/install/ /autoware/install/
 
-## Create entrypoint
-# hadolint ignore=DL3059
+# Create entrypoint
 RUN echo "source /autoware/install/setup.bash" > /etc/bash.bashrc
 CMD ["/bin/bash"]
diff --git a/docker/autoware-universe/docker-bake.hcl b/docker/autoware-universe/docker-bake.hcl
index fa5b3dff25f..35ce50486fd 100644
--- a/docker/autoware-universe/docker-bake.hcl
+++ b/docker/autoware-universe/docker-bake.hcl
@@ -1,19 +1,29 @@
 group "default" {
-  targets = ["devel", "prebuilt"]
+  targets = ["devel", "prebuilt", "runtime"]
 }
 
 // For docker/metadata-action
 target "docker-metadata-action-devel" {}
 target "docker-metadata-action-prebuilt" {}
+target "docker-metadata-action-runtime" {}
 
+// For source image
 target "devel" {
   inherits = ["docker-metadata-action-devel"]
   dockerfile = "docker/autoware-universe/Dockerfile"
   target = "devel"
 }
 
+// For prebuilt image
 target "prebuilt" {
   inherits = ["docker-metadata-action-prebuilt"]
   dockerfile = "docker/autoware-universe/Dockerfile"
   target = "prebuilt"
 }
+
+// For runtime image
+target "runtime" {
+  inherits = ["docker-metadata-action-runtime"]
+  dockerfile = "docker/autoware-universe/Dockerfile"
+  target = "runtime"
+}
diff --git a/docker/build.sh b/docker/build.sh
index 36b31b17ba7..71eea907a7f 100755
--- a/docker/build.sh
+++ b/docker/build.sh
@@ -9,16 +9,13 @@ WORKSPACE_ROOT="$SCRIPT_DIR/../"
 args=()
 while [ "$1" != "" ]; do
     case "$1" in
-    --no-cuda)
-        option_no_cuda=true
+    --no-nvidia)
+        option_no_nvidia=true
         ;;
     --platform)
         option_platform="$2"
         shift
         ;;
-    --no-prebuilt)
-        option_no_prebuilt=true
-        ;;
     *)
         args+=("$1")
         ;;
@@ -27,7 +24,7 @@ while [ "$1" != "" ]; do
 done
 
 # Set CUDA options
-if [ "$option_no_cuda" = "true" ]; then
+if [ "$option_no_nvidia" = "true" ]; then
     setup_args="--no-nvidia"
     image_name_suffix=""
 else
@@ -35,14 +32,6 @@ else
     image_name_suffix="-cuda"
 fi
 
-# Set prebuilt options
-if [ "$option_no_prebuilt" = "true" ]; then
-    targets=("devel")
-else
-    # default targets include devel and prebuilt
-    targets=()
-fi
-
 # Set platform
 if [ -n "$option_platform" ]; then
     platform="$option_platform"
@@ -69,9 +58,8 @@ docker buildx bake --no-cache --load --progress=plain -f "$SCRIPT_DIR/autoware-u
     --set "*.platform=$platform" \
     --set "*.args.ROS_DISTRO=$rosdistro" \
     --set "*.args.BASE_IMAGE=$base_image" \
-    --set "*.args.PREBUILT_BASE_IMAGE=$prebuilt_base_image" \
     --set "*.args.SETUP_ARGS=$setup_args" \
-    --set "devel.tags=ghcr.io/automotiveaichallenge/autoware-universe:$rosdistro-latest$image_name_suffix" \
+    --set "devel.tags=ghcr.io/automotiveaichallenge/autoware-universe:$rosdistro-latest-devel$image_name_suffix" \
     --set "prebuilt.tags=ghcr.io/automotiveaichallenge/autoware-universe:$rosdistro-latest-prebuilt$image_name_suffix" \
-    "${targets[@]}"
+    --set "runtime.tags=ghcr.io/automotiveaichallenge/autoware-universe:$rosdistro-latest-runtime$image_name_suffix"
 set +x

From b62b06443b991cdb72ecde1a10a9fec72d1df957 Mon Sep 17 00:00:00 2001
From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com>
Date: Thu, 25 Apr 2024 21:20:00 +0900
Subject: [PATCH 12/13] feat: update docker ci (#8)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
---
 .github/actions/docker-build-and-push/action.yaml | 3 ++-
 .github/workflows/docker-build-and-push-main.yaml | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
index b79da13fa23..251868ac790 100644
--- a/.github/actions/docker-build-and-push/action.yaml
+++ b/.github/actions/docker-build-and-push/action.yaml
@@ -53,7 +53,8 @@ runs:
       uses: docker/bake-action@v2
       with:
         # Checking event_name for https://github.com/autowarefoundation/autoware/issues/2796
-        push: ${{ github.event_name == 'schedule' || github.ref_name == github.event.repository.default_branch || github.event_name == 'push'}}
+        push: ${{ github.ref_name == github.event.repository.default_branch}}
+        targets: runtime
         files: |
           docker/${{ inputs.bake-target }}/docker-bake.hcl
           ${{ steps.meta-runtime.outputs.bake-file }}
diff --git a/.github/workflows/docker-build-and-push-main.yaml b/.github/workflows/docker-build-and-push-main.yaml
index 87a3337fe0b..c9458937c73 100644
--- a/.github/workflows/docker-build-and-push-main.yaml
+++ b/.github/workflows/docker-build-and-push-main.yaml
@@ -40,7 +40,7 @@ jobs:
             *.args.BASE_IMAGE=${{ env[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
           tag-prefix: ${{ env.rosdistro }}-
-          tag-suffix: ${{ matrix.additional-tag-suffix }}-amd64
+          tag-suffix: ${{ matrix.additional-tag-suffix }}
 
       - name: Show disk space
         run: |

From 50a5a3da2efdf0145cdbc6a2b77a1c4dec429641 Mon Sep 17 00:00:00 2001
From: taikitanaka3 <taiki.tanaka@tier4.jp>
Date: Fri, 17 May 2024 13:01:18 +0900
Subject: [PATCH 13/13] ci: change action interval from daily to monthly

---
 .github/dependabot.yaml                               | 2 +-
 .github/workflows/build-main.yaml                     | 2 +-
 .github/workflows/pre-commit-ansible-autoupdate.yaml  | 2 +-
 .github/workflows/pre-commit-autoupdate.yaml          | 2 +-
 .github/workflows/pre-commit-optional-autoupdate.yaml | 2 +-
 .github/workflows/sync-files.yaml                     | 2 +-
 .github/workflows/update-tool-versions.yaml           | 2 +-
 7 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml
index 3f3bf243f63..f15f91ae54a 100644
--- a/.github/dependabot.yaml
+++ b/.github/dependabot.yaml
@@ -3,7 +3,7 @@ updates:
   - package-ecosystem: github-actions
     directory: /
     schedule:
-      interval: daily
+      interval: monthly
     open-pull-requests-limit: 1
     labels:
       - bot
diff --git a/.github/workflows/build-main.yaml b/.github/workflows/build-main.yaml
index a57934080b0..fcda3b92dce 100644
--- a/.github/workflows/build-main.yaml
+++ b/.github/workflows/build-main.yaml
@@ -2,7 +2,7 @@ name: build-main
 
 on:
   schedule:
-    - cron: 0 12 * * *
+    - cron: "0 0 1 * *"
   workflow_dispatch:
 
 jobs:
diff --git a/.github/workflows/pre-commit-ansible-autoupdate.yaml b/.github/workflows/pre-commit-ansible-autoupdate.yaml
index 5595c69d563..349584b4dc5 100644
--- a/.github/workflows/pre-commit-ansible-autoupdate.yaml
+++ b/.github/workflows/pre-commit-ansible-autoupdate.yaml
@@ -2,7 +2,7 @@ name: pre-commit-ansible-autoupdate
 
 on:
   schedule:
-    - cron: 0 0 * * *
+    - cron: "0 0 1 * *"
   workflow_dispatch:
 
 jobs:
diff --git a/.github/workflows/pre-commit-autoupdate.yaml b/.github/workflows/pre-commit-autoupdate.yaml
index 02e3ab2c678..18252f1b360 100644
--- a/.github/workflows/pre-commit-autoupdate.yaml
+++ b/.github/workflows/pre-commit-autoupdate.yaml
@@ -2,7 +2,7 @@ name: pre-commit-autoupdate
 
 on:
   schedule:
-    - cron: 0 0 * * *
+    - cron: "0 0 1 * *"
   workflow_dispatch:
 
 jobs:
diff --git a/.github/workflows/pre-commit-optional-autoupdate.yaml b/.github/workflows/pre-commit-optional-autoupdate.yaml
index 12f9c3c0d24..25e25fe3305 100644
--- a/.github/workflows/pre-commit-optional-autoupdate.yaml
+++ b/.github/workflows/pre-commit-optional-autoupdate.yaml
@@ -2,7 +2,7 @@ name: pre-commit-optional-autoupdate
 
 on:
   schedule:
-    - cron: 0 0 * * *
+    - cron: "0 0 1 * *"
   workflow_dispatch:
 
 jobs:
diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml
index b9dc5907a50..3bc599076e3 100644
--- a/.github/workflows/sync-files.yaml
+++ b/.github/workflows/sync-files.yaml
@@ -2,7 +2,7 @@ name: sync-files
 
 on:
   schedule:
-    - cron: 0 0 * * *
+    - cron: "0 0 1 * *"
   workflow_dispatch:
 
 jobs:
diff --git a/.github/workflows/update-tool-versions.yaml b/.github/workflows/update-tool-versions.yaml
index 8c4b5875b43..39a42e5dcdf 100644
--- a/.github/workflows/update-tool-versions.yaml
+++ b/.github/workflows/update-tool-versions.yaml
@@ -2,7 +2,7 @@ name: update-tool-versions
 
 on:
   schedule:
-    - cron: 0 0 * * *
+    - cron: "0 0 1 * *"
   workflow_dispatch:
 
 jobs: