update dockerfile

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

.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 [ "${{ github.event_name }}" == "workflow_dispatch" ]; then
-          tags+=("latest")
-          tags+=("{{date 'YYYYMMDD'}}")
-        else
-          tags+=("type=schedule,pattern=latest")
-          tags+=("type=schedule,pattern={{date 'YYYYMMDD'}}")
-          tags+=("type=semver,pattern={{version}}")
-          tags+=("type=match,pattern=\d+.\d+")
-        fi
-
-        # Workaround for multiline strings
-        # https://git.luolix.topmunity/t/set-output-truncates-multiline-strings/16852
-        tags_multiline=$(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 }}

.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: ""

docker/autoware-universe/Dockerfile

@@ -1,6 +1,7 @@
 # hadolint global ignore=DL3006,DL3008
 ARG BASE_IMAGE
 
+# ==============================================================================
 FROM $BASE_IMAGE as devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
@@ -23,7 +24,7 @@ WORKDIR /autoware
 
 # 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 \
@@ -48,18 +49,25 @@ 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
-RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" > /etc/bash.bashrc
-CMD ["/bin/bash"]
-
+# ==============================================================================
 FROM devel as prebuilt
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 # 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 {} \; \
-  && rm -rf /autoware/build /autoware/src
+  && find /autoware/install -type d -exec chmod 777 {} \;
+
+# Create entrypoint
+RUN echo "source /autoware/install/setup.bash" > /etc/bash.bashrc
+CMD ["/bin/bash"]
+
+# ==============================================================================
+FROM devel as runtime
+
+# Remove setup files and copy install directory
+RUN rm -rf /autoware/*
+COPY --from=prebuilt /autoware/install/ /autoware/install/
 
 # Create entrypoint
 RUN echo "source /autoware/install/setup.bash" > /etc/bash.bashrc

docker/autoware-universe/docker-bake.hcl

@@ -1,10 +1,11 @@
 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" {
@@ -13,9 +14,16 @@ target "devel" {
   target = "devel"
 }
 
-// For install image
+// 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"
+}

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")
         ;;
@@ -27,22 +24,14 @@ 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
     setup_args="--no-cuda-drivers"
     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="$option_platform"
@@ -70,7 +59,7 @@ docker buildx bake --no-cache --load --progress=plain -f "$SCRIPT_DIR/autoware-u
     --set "*.args.ROS_DISTRO=$rosdistro" \
     --set "*.args.BASE_IMAGE=$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