Fix/docker cleanup

.gitlab-ci.yml

@@ -84,7 +84,7 @@ build_cross:
     - docker:dind
   variables:
     ROS_DISTRO: kinetic
-    AUTOWARE_DOCKER_DATE: 20190102
+    AUTOWARE_DOCKER_DATE: 20190211
     AUTOWARE_HOME: $CI_PROJECT_DIR
     AUTOWARE_TARGET_ARCH: aarch64
     AUTOWARE_TARGET_PLATFORM: generic-aarch64
@@ -115,7 +115,7 @@ build_cross:
                   "
                   '
   retry: 1
-  
+
 pages:
   stage: deploy
   image: alpine

.gitmodules

@@ -1,10 +1,17 @@
 [submodule "ros/src/sensing/drivers/lidar/packages/robosense"]
 	path = ros/src/sensing/drivers/lidar/packages/robosense
 	url = https://github.com/CPFL/robosense
+	branch = develop-curves-function
 [submodule "ros/src/msgs/lgsvl_msgs"]
 	path = ros/src/msgs/lgsvl_msgs
 	url = https://github.com/lgsvl/lgsvl_msgs.git
 [submodule "ros/src/sensing/drivers/lidar/packages/ouster"]
 	path = ros/src/sensing/drivers/lidar/packages/ouster
 	url = https://github.com/CPFL/ouster
 	branch = autoware_branch
+[submodule "ros/src/simulation/gazebo_simulator/worlds/external/osrf_citysim"]
+	path = ros/src/simulation/gazebo_simulator/worlds/external/osrf_citysim
+	url = https://github.com/CPFL/osrf_citysim.git
+[submodule "ros/src/simulation/gazebo_simulator/worlds/external/car_demo"]
+	path = ros/src/simulation/gazebo_simulator/worlds/external/car_demo
+	url = https://github.com/CPFL/car_demo.git

docker/crossbuild/Dockerfile.kinetic-crossbuild

@@ -100,7 +100,19 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-kinetic-tf2-ros \
     ros-kinetic-visualization-msgs \
     ros-kinetic-xacro \
-    ros-kinetic-rosbridge-server
+    ros-kinetic-rosbridge-server \
+    ros-kinetic-gazebo-ros \ 
+    ros-kinetic-gazebo-msgs \ 
+    ros-kinetic-gazebo-ros-control \ 
+    ros-kinetic-urdf \ 
+    ros-kinetic-xacro \ 
+    ros-kinetic-position-controllers \ 
+    ros-kinetic-transmission-interface \ 
+    ros-kinetic-velocity-controllers \ 
+    ros-kinetic-effort-controllers \ 
+    ros-kinetic-controller-manager \
+    ros-kinetic-robot-state-publisher \
+    ros-kinetic-joint-state-controller
 
 RUN find / -depth -xdev -type l -lname '/*' -exec sh -c 'linkpath="$(readlink {})" && rm -f {} && ln -frsv "$linkpath" "{}"' \;
 

docker/generic/Dockerfile

@@ -9,7 +9,7 @@ COPY --chown=autoware ./ /home/$USERNAME/Autoware
 RUN su -c "bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
                   cd /home/$USERNAME/Autoware/ros; \
                   ./colcon_release'" $USERNAME
-RUN echo "source /home/$USERNAME/Autoware/ros/devel/setup.bash" >> \
+RUN echo "source /home/$USERNAME/Autoware/ros/install/local_setup.bash" >> \
     /home/$USERNAME/.bashrc
 
 COPY ./docker/generic/entrypoint.sh /tmp

docker/generic/Dockerfile.cuda

@@ -77,10 +77,8 @@ COPY --from=nvidia/opengl:1.0-glvnd-runtime-ubuntu16.04 \
   /usr/local/share/glvnd/egl_vendor.d/10_nvidia.json \
   /usr/local/share/glvnd/egl_vendor.d/10_nvidia.json
 RUN echo '/usr/local/lib/x86_64-linux-gnu' >> /etc/ld.so.conf.d/glvnd.conf && \
-    ldconfig && \
-    echo '/usr/$LIB/libGL.so.1' >> /etc/ld.so.preload && \
-    echo '/usr/$LIB/libEGL.so.1' >> /etc/ld.so.preload
-RUN apt update
+    ldconfig
+RUN apt-get update
 # nvidia-container-runtime
 ENV NVIDIA_VISIBLE_DEVICES \
     ${NVIDIA_VISIBLE_DEVICES:-all}

docker/generic/build.sh

@@ -76,6 +76,7 @@ echo -e "\tBase only: $BASE_ONLY"
 BASE=$IMAGE_NAME:$TAG_PREFIX-$ROS_DISTRO-base
 
 docker build \
+	--rm \
     --tag $BASE \
     --build-arg ROS_DISTRO=$ROS_DISTRO \
     --file Dockerfile.base ./../..
@@ -84,6 +85,7 @@ CUDA_SUFFIX=""
 if [ $CUDA == "on" ]; then
     CUDA_SUFFIX="-cuda"
     docker build \
+		--rm \
         --tag $BASE$CUDA_SUFFIX \
         --build-arg FROM_ARG=$BASE \
         --file Dockerfile.cuda .
@@ -95,6 +97,7 @@ if [ "$BASE_ONLY" == "true" ]; then
 fi
 
 docker build \
+	--rm \
     --tag $IMAGE_NAME:$TAG_PREFIX-$ROS_DISTRO$CUDA_SUFFIX \
     --build-arg FROM_ARG=$BASE$CUDA_SUFFIX \
     --build-arg ROS_DISTRO=$ROS_DISTRO \

ros/catkin_make_release

@@ -12,10 +12,15 @@ if [[ -d devel ]]; then
     rm -rf devel
 fi
 
-CATKIN_OPTS="-DCMAKE_BUILD_TYPE=Release -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs"
+if [[ -d install ]]; then
+    rm -rf install
+fi
+
+if [[ -d log ]]; then
+    rm -rf log
+fi
 
-catkin_make clean $CATKIN_OPTS
-source devel/setup.bash
+CATKIN_OPTS="-DCMAKE_BUILD_TYPE=Release -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs install"
 
 export LIBRARY_PATH=/usr/lib/OpenNI2/Drivers:$LIBRARY_PATH
 catkin_make $CATKIN_OPTS $@

ros/colcon_release

@@ -1,6 +1,10 @@
 #!/usr/bin/env bash
 set -e
 
+if [[ -d devel ]]; then
+    rm -rf devel
+fi
+
 if [[ -d build ]]; then
     rm -rf build
 fi
@@ -9,6 +13,10 @@ if [[ -d install ]]; then
     rm -rf install
 fi
 
+if [[ -d log ]]; then
+    rm -rf log
+fi
+
 if [ -f src/CMakeLists.txt ]; then
 	rm -r src/CMakeLists.txt
 fi

ros/run

@@ -42,8 +42,8 @@ if [ "$?" == "0" ]; then
   export ROS_IP=$ADDR
 fi
 
-# boot ros-master
-${TERMINAL} ${MASTER_DISPLAY_OPTION} ${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; roscore'"&
+# boot ros-master & health_checker
+${TERMINAL} ${MASTER_DISPLAY_OPTION} ${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; roslaunch autoware_health_checker health_checker.launch'"&
 
 # boot runtime_manager
 ${TERMINAL} ${RUNMGR_DISPLAY_OPTION} ${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; rosrun runtime_manager runtime_manager_dialog.py'"