perf(docker): reduce prebuilt docker image size

.github/workflows/docker-build-and-push-main-self-hosted.yaml

@@ -54,6 +54,7 @@ jobs:
             *.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

.github/workflows/docker-build-and-push-main.yaml

@@ -49,6 +49,7 @@ 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

amd64.env

@@ -2,6 +2,7 @@ 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

ansible/playbooks/universe.yaml

@@ -31,8 +31,10 @@
     # Core
     - role: autoware.dev_env.autoware_core
     - role: autoware.dev_env.ccache
+      when: install_devel == 'true'
     - role: autoware.dev_env.plotjuggler
     - role: autoware.dev_env.pre_commit
+      when: install_devel == 'true'
     - role: autoware.dev_env.ros2
     - role: autoware.dev_env.ros2_dev_tools
     - role: autoware.dev_env.rmw_implementation

docker/autoware-universe/Dockerfile

@@ -1,4 +1,6 @@
+# Image args should come at the beginning.
 ARG BASE_IMAGE
+ARG PREBUILT_BASE_IMAGE
 # hadolint ignore=DL3006
 FROM $BASE_IMAGE as devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
@@ -58,14 +60,69 @@ RUN mkdir -p /etc/OpenCL/vendors \
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" > /etc/bash.bashrc
 CMD ["/bin/bash"]
 
-FROM devel as prebuilt
+FROM devel as builder
 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 {} \;
 
+# 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/
+
+## 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
+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
+
 ## Create entrypoint
+# hadolint ignore=DL3059
 RUN echo "source /autoware/install/setup.bash" > /etc/bash.bashrc
 CMD ["/bin/bash"]

docker/build.sh

@@ -69,6 +69,7 @@ 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/autowarefoundation/autoware-universe:$rosdistro-latest$image_name_suffix" \
     --set "prebuilt.tags=ghcr.io/autowarefoundation/autoware-universe:$rosdistro-latest-prebuilt$image_name_suffix" \