Dockerfile

# FROM osrf/ros:humble-desktop AS common
FROM ghcr.io/automotiveaichallenge/autoware-universe:humble-latest AS common

RUN apt-get update
RUN apt-get -y install libgl1-mesa-glx libgl1-mesa-dri
RUN apt-get -y install iproute2
RUN apt-get -y install wmctrl
RUN apt-get -y install ros-humble-rqt-tf-tree
RUN apt-get -y install ros-humble-rqt-graph

# PATH="$PATH:/root/.local/bin"
# PATH="/usr/local/cuda/bin:$PATH"
ENV XDG_RUNTIME_DIR=/tmp/xdg
ENV ROS_LOCALHOST_ONLY=1
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

FROM common AS dev

ENV RCUTILS_COLORIZED_OUTPUT=1

FROM common AS eval

ENV RCUTILS_COLORIZED_OUTPUT=0

RUN mkdir /ws
RUN git clone --depth 1 https://github.com/AutomotiveAIChallenge/aichallenge-2024 /ws/repository
RUN mv /ws/repository/aichallenge /aichallenge
RUN rm -rf /aichallenge/simulator
RUN rm -rf /aichallenge/workspace/src/aichallenge_submit
RUN chmod 757 /aichallenge

COPY aichallenge/simulator/ /aichallenge/simulator/
COPY submit/aichallenge_submit.tar.gz /ws
RUN tar zxf /ws/aichallenge_submit.tar.gz -C /aichallenge/workspace/src
RUN rm -rf /ws

RUN bash -c ' \
  source /autoware/install/setup.bash; \
  cd /aichallenge/workspace; \
  rosdep update; \
  rosdep install -y -r -i --from-paths src --ignore-src --rosdistro $ROS_DISTRO; \
  colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'

ENTRYPOINT []
CMD ["bash", "/aichallenge/run_evaluation.bash"]