generate install package lists

docker/autoware-openadk/Dockerfile

@@ -39,6 +39,33 @@ RUN --mount=type=ssh \
 # Create entrypoint
 CMD ["/bin/bash"]
 
+FROM $BASE_IMAGE as src-imported
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+
+WORKDIR /autoware
+COPY autoware.repos /autoware/
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get -y install --no-install-recommends \
+  ros-dev-tools \
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+RUN --mount=type=ssh \
+  mkdir src \
+  && vcs import src < autoware.repos
+
+# Generate install package lists
+RUN rosdep keys --dependency-types=build --ignore-src --from-paths src \
+    | xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
+    | grep -v '^#' \
+    | sed 's/ \+/\n/g'\
+    | sort \
+    > /rosdep-build-depend-packages.txt
+RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
+    | xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
+    | grep -v '^#' \
+    | sed 's/ \+/\n/g'\
+    | sort \
+    > /rosdep-exec-depend-packages.txt
+
 FROM base as prebuilt
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
@@ -56,27 +83,21 @@ RUN --mount=type=ssh \
   && find / -name 'libcu*.a' -delete \
   && find / -name 'libnv*.a' -delete
 
-# Copy repository files
-COPY autoware.repos /autoware/
-
 # Install rosdep dependencies
+COPY --from=src-imported /autoware/src /autoware/src
+COPY --from=src-imported /rosdep-build-depend-packages.txt /tmp/rosdep-build-depend-packages.txt
 RUN --mount=type=ssh \
-  mkdir src \
-  && vcs import src < autoware.repos \
-  && apt-get update \
-  && rosdep update \
-  && DEBIAN_FRONTEND=noninteractive rosdep install -y --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \
-  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
-
-# Build Autoware
-RUN source /opt/ros/"$ROS_DISTRO"/setup.bash \
+  apt-get update \
+  && cat /tmp/rosdep-build-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && source /opt/ros/"$ROS_DISTRO"/setup.bash \
   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --cmake-args \
     " -Wno-dev" \
     " --no-warn-unused-cli" \
     -DCMAKE_BUILD_TYPE=Release \
     -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
   && find /autoware/install -type d -exec chmod 777 {} \; \
   && chmod -R 777 /var/tmp/ccache \
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache \
   && rm -rf /autoware/build /autoware/src
 
 CMD ["/bin/bash"]
@@ -103,20 +124,18 @@ ARG LIB_DIR
 ARG SETUP_ARGS
 
 # Set up runtime environment and artifacts
-COPY autoware.repos /autoware/
+COPY --from=src-imported /rosdep-exec-depend-packages.txt /tmp/rosdep-exec-depend-packages.txt
 RUN --mount=type=ssh \
   ./setup-dev-env.sh -y --module all ${SETUP_ARGS} --download-artifacts --no-cuda-drivers --runtime openadk \
   && pip uninstall -y ansible ansible-core \
-  && mkdir src \
-  && vcs import src < autoware.repos \
-  && rosdep update \
-  && DEBIAN_FRONTEND=noninteractive rosdep install -y --dependency-types=exec --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \
+  && 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/* "$HOME"/.cache \
   && find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
   && find / -name "*.o" -type f -delete \
   && find / -name "*.h" -type f -delete \
   && find / -name "*.hpp" -type f -delete \
-  && rm -rf /autoware/src /autoware/ansible /autoware/autoware.repos \
+  && rm -rf /autoware/ansible \
     /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
     /etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
     /usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*