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Merge remote-tracking branch 'upstream/main'
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‎.devcontainer/base/devcontainer.json

+2-2
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,8 @@
11
{
2-
"name": "Autoware",
2+
"name": "autoware:universe-devel",
33
"build": {
44
"dockerfile": "../Dockerfile",
5-
"args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware:latest-devel" }
5+
"args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware:universe-devel" }
66
},
77
"remoteUser": "autoware",
88
"runArgs": [

‎.devcontainer/cuda/devcontainer.json

+2-2
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,8 @@
11
{
2-
"name": "Autoware-cuda",
2+
"name": "autoware:universe-devel-cuda",
33
"build": {
44
"dockerfile": "../Dockerfile",
5-
"args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware:latest-devel-cuda" }
5+
"args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware:universe-devel-cuda" }
66
},
77
"remoteUser": "autoware",
88
"hostRequirements": {

‎.dockerignore

-2
Original file line numberDiff line numberDiff line change
@@ -13,11 +13,9 @@ docker
1313
# Ignore a part of files under src
1414
src/**/.*
1515
src/**/*.asc
16-
src/**/*.csv
1716
src/**/*.gif
1817
src/**/*.md
1918
src/**/*.pcd
20-
src/**/*.png
2119
src/**/*.svg
2220

2321
# Ignore generated files by colcon

‎.github/actions/docker-build-and-push/action.yaml

+126-47
Original file line numberDiff line numberDiff line change
@@ -14,9 +14,6 @@ inputs:
1414
build-args:
1515
description: ""
1616
required: false
17-
tag-prefix:
18-
description: ""
19-
required: false
2017
tag-suffix:
2118
description: ""
2219
required: false
@@ -70,79 +67,154 @@ runs:
7067
}
7168
skip-extraction: true
7269

73-
- name: Set Docker tags
74-
id: set-docker-tags
75-
run: |
76-
tags=()
77-
if [ "${{ github.event_name }}" == "push" ] && [ "${{ github.ref_type }}" == "tag" ]; then
78-
tags+=("$(echo "${{ github.ref }}" | sed -E 's/.*([vV][0-9]+\.[0-9]+\.[0-9]+).*/\1/')")
79-
fi
80-
81-
tags+=("{{date 'YYYYMMDD'}}")
82-
tags+=("latest")
83-
tags+=("latest-${{ inputs.tag-prefix }}")
84-
85-
# Output multiline strings: https://docs.github.com/en/actions/using-workflows/workflow-commands-for-github-actions#multiline-strings
86-
EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
87-
echo "tags<<$EOF" >> $GITHUB_OUTPUT
88-
echo "$(printf "%s\n" "${tags[@]}")" >> $GITHUB_OUTPUT
89-
echo "$EOF" >> $GITHUB_OUTPUT
70+
- name: Get current date
71+
id: date
72+
run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT
9073
shell: bash
9174

92-
- name: Docker meta for base
75+
- name: Docker meta for autoware:base
9376
id: meta-base
9477
uses: docker/metadata-action@v5
9578
with:
9679
images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
97-
tags: ${{ steps.set-docker-tags.outputs.tags }}
80+
tags: |
81+
type=raw,value=base${{ inputs.tag-suffix }}-${{ inputs.platform }}
82+
type=raw,value=base${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
9883
bake-target: docker-metadata-action-base
9984
flavor: |
10085
latest=false
101-
suffix=-base
10286
103-
- name: Docker meta for autoware-core
104-
id: meta-autoware-core
87+
- name: Docker meta for autoware:core-devel
88+
id: meta-core-devel
89+
uses: docker/metadata-action@v5
90+
with:
91+
images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
92+
tags: |
93+
type=raw,value=core-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
94+
type=raw,value=core-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
95+
bake-target: docker-metadata-action-core-devel
96+
flavor: |
97+
latest=false
98+
99+
- name: Docker meta for autoware:universe-sensing-perception-devel
100+
id: meta-universe-sensing-perception-devel
101+
uses: docker/metadata-action@v5
102+
with:
103+
images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
104+
tags: |
105+
type=raw,value=universe-sensing-perception-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
106+
type=raw,value=universe-sensing-perception-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
107+
bake-target: docker-metadata-action-universe-sensing-perception-devel
108+
flavor: |
109+
latest=false
110+
111+
- name: Docker meta for autoware:universe-sensing-perception
112+
id: meta-universe-sensing-perception
113+
uses: docker/metadata-action@v5
114+
with:
115+
images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
116+
tags: |
117+
type=raw,value=universe-sensing-perception${{ inputs.tag-suffix }}-${{ inputs.platform }}
118+
type=raw,value=universe-sensing-perception${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
119+
bake-target: docker-metadata-action-universe-sensing-perception
120+
flavor: |
121+
latest=false
122+
123+
- name: Docker meta for autoware:universe-localization-mapping-devel
124+
id: meta-universe-localization-mapping-devel
125+
uses: docker/metadata-action@v5
126+
with:
127+
images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
128+
tags: |
129+
type=raw,value=universe-localization-mapping-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
130+
type=raw,value=universe-localization-mapping-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
131+
bake-target: docker-metadata-action-universe-localization-mapping-devel
132+
flavor: |
133+
latest=false
134+
135+
- name: Docker meta for autoware:universe-localization-mapping
136+
id: meta-universe-localization-mapping
137+
uses: docker/metadata-action@v5
138+
with:
139+
images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
140+
tags: |
141+
type=raw,value=universe-localization-mapping${{ inputs.tag-suffix }}-${{ inputs.platform }}
142+
type=raw,value=universe-localization-mapping${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
143+
bake-target: docker-metadata-action-universe-localization-mapping
144+
flavor: |
145+
latest=false
146+
147+
- name: Docker meta for autoware:universe-planning-control-devel
148+
id: meta-universe-planning-control-devel
149+
uses: docker/metadata-action@v5
150+
with:
151+
images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
152+
tags: |
153+
type=raw,value=universe-planning-control-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
154+
type=raw,value=universe-planning-control-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
155+
bake-target: docker-metadata-action-universe-planning-control-devel
156+
flavor: |
157+
latest=false
158+
159+
- name: Docker meta for autoware:universe-planning-control
160+
id: meta-universe-planning-control
161+
uses: docker/metadata-action@v5
162+
with:
163+
images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
164+
tags: |
165+
type=raw,value=universe-planning-control${{ inputs.tag-suffix }}-${{ inputs.platform }}
166+
type=raw,value=universe-planning-control${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
167+
bake-target: docker-metadata-action-universe-planning-control
168+
flavor: |
169+
latest=false
170+
171+
- name: Docker meta for autoware:universe-vehicle-system-devel
172+
id: meta-universe-vehicle-system-devel
105173
uses: docker/metadata-action@v5
106174
with:
107175
images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
108-
tags: ${{ steps.set-docker-tags.outputs.tags }}
109-
bake-target: docker-metadata-action-autoware-core
176+
tags: |
177+
type=raw,value=universe-vehicle-system-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}
178+
type=raw,value=universe-vehicle-system-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}
179+
bake-target: docker-metadata-action-universe-vehicle-system-devel
110180
flavor: |
111181
latest=false
112-
suffix=-autoware-core${{ inputs.tag-suffix }}
113182
114-
- name: Docker meta for autoware-universe
115-
id: meta-autoware-universe
183+
- name: Docker meta for autoware:universe-vehicle-system
184+
id: meta-universe-vehicle-system
116185
uses: docker/metadata-action@v5
117186
with:
118187
images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
119-
tags: ${{ steps.set-docker-tags.outputs.tags }}
120-
bake-target: docker-metadata-action-autoware-universe
188+
tags: |
189+
type=raw,value=universe-vehicle-system${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}
190+
type=raw,value=universe-vehicle-system${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}
191+
bake-target: docker-metadata-action-universe-vehicle-system
121192
flavor: |
122193
latest=false
123-
suffix=-autoware-universe${{ inputs.tag-suffix }}
124194
125-
- name: Docker meta for devel
126-
id: meta-devel
195+
- name: Docker meta for autoware:universe-devel
196+
id: meta-universe-devel
127197
uses: docker/metadata-action@v5
128198
with:
129199
images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
130-
tags: ${{ steps.set-docker-tags.outputs.tags }}
131-
bake-target: docker-metadata-action-devel
200+
tags: |
201+
type=raw,value=universe-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
202+
type=raw,value=universe-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
203+
bake-target: docker-metadata-action-universe-devel
132204
flavor: |
133205
latest=false
134-
suffix=-devel${{ inputs.tag-suffix }}
135206
136-
- name: Docker meta for runtime
137-
id: meta-runtime
207+
- name: Docker meta for autoware:universe
208+
id: meta-universe
138209
uses: docker/metadata-action@v5
139210
with:
140211
images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
141-
tags: ${{ steps.set-docker-tags.outputs.tags }}
142-
bake-target: docker-metadata-action-runtime
212+
tags: |
213+
type=raw,value=universe${{ inputs.tag-suffix }}-${{ inputs.platform }}
214+
type=raw,value=universe${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
215+
bake-target: docker-metadata-action-universe
143216
flavor: |
144217
latest=auto
145-
suffix=-runtime${{ inputs.tag-suffix }}
146218
147219
- name: Login to GitHub Container Registry
148220
uses: docker/login-action@v3
@@ -158,10 +230,17 @@ runs:
158230
files: |
159231
docker/docker-bake.hcl
160232
${{ steps.meta-base.outputs.bake-file }}
161-
${{ steps.meta-autoware-core.outputs.bake-file }}
162-
${{ steps.meta-autoware-universe.outputs.bake-file }}
163-
${{ steps.meta-devel.outputs.bake-file }}
164-
${{ steps.meta-runtime.outputs.bake-file }}
233+
${{ steps.meta-core-devel.outputs.bake-file }}
234+
${{ steps.meta-universe-sensing-perception-devel.outputs.bake-file }}
235+
${{ steps.meta-universe-sensing-perception.outputs.bake-file }}
236+
${{ steps.meta-universe-localization-mapping-devel.outputs.bake-file }}
237+
${{ steps.meta-universe-localization-mapping.outputs.bake-file }}
238+
${{ steps.meta-universe-planning-control-devel.outputs.bake-file }}
239+
${{ steps.meta-universe-planning-control.outputs.bake-file }}
240+
${{ steps.meta-universe-vehicle-system-devel.outputs.bake-file }}
241+
${{ steps.meta-universe-vehicle-system.outputs.bake-file }}
242+
${{ steps.meta-universe-devel.outputs.bake-file }}
243+
${{ steps.meta-universe.outputs.bake-file }}
165244
provenance: false
166245
set: |
167246
${{ inputs.build-args }}

‎.github/workflows/create-prs-to-update-vcs-repositories.yaml

+31
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,31 @@
1+
name: create-prs-to-update-vcs-repositories
2+
3+
on:
4+
schedule:
5+
- cron: 0 0,6,12,18 * * *
6+
workflow_dispatch:
7+
8+
jobs:
9+
create-version-update-pr:
10+
runs-on: ubuntu-latest
11+
steps:
12+
- uses: actions/checkout@v4
13+
14+
- name: Generate GitHub App token
15+
id: generate-token
16+
uses: tibdex/github-app-token@v2
17+
with:
18+
app_id: ${{ secrets.APP_ID }}
19+
private_key: ${{ secrets.PRIVATE_KEY }}
20+
21+
- name: Create PRs to update VCS repositories
22+
uses: autowarefoundation/autoware-github-actions/create-prs-to-update-vcs-repositories@v1
23+
with:
24+
token: ${{ steps.generate-token.outputs.token }}
25+
repo_name: autowarefoundation/autoware
26+
parent_dir: .
27+
targets: major minor patch
28+
base_branch: main
29+
new_branch_prefix: feat/update-
30+
autoware_repos_file_name: autoware.repos
31+
verbosity: 0

‎.github/workflows/docker-build-and-push-self-hosted.yaml ‎.github/workflows/docker-build-and-push-arm64.yaml

+5-6
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
name: docker-build-and-push-self-hosted
1+
name: docker-build-and-push-arm64
22

33
on:
44
push:
@@ -26,12 +26,12 @@ jobs:
2626
base_image_env: base_image
2727
lib_dir: aarch64
2828
setup-args: --no-nvidia
29-
additional-tag-suffix: ""
29+
tag-suffix: ""
3030
- name: cuda
3131
platform: arm64
3232
base_image_env: base_image
3333
lib_dir: aarch64
34-
additional-tag-suffix: -cuda
34+
tag-suffix: -cuda
3535
steps:
3636
# https://github.com/actions/checkout/issues/211
3737
- name: Change permission of workspace
@@ -51,7 +51,7 @@ jobs:
5151

5252
- name: Get changed files
5353
id: changed-files
54-
uses: tj-actions/changed-files@v44
54+
uses: tj-actions/changed-files@v45
5555
with:
5656
files: |
5757
*.env
@@ -80,8 +80,7 @@ jobs:
8080
*.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-${{ github.ref_name }}
8181
*.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-main
8282
*.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-${{ github.ref_name }},mode=max
83-
tag-suffix: ${{ matrix.additional-tag-suffix }}-${{ matrix.platform }}
84-
tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
83+
tag-suffix: ${{ matrix.tag-suffix }}
8584

8685
- name: Show disk space
8786
run: |

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

+4-5
Original file line numberDiff line numberDiff line change
@@ -26,12 +26,12 @@ jobs:
2626
base_image_env: base_image
2727
lib_dir: x86_64
2828
setup-args: --no-nvidia
29-
additional-tag-suffix: ""
29+
tag-suffix: ""
3030
- name: cuda
3131
platform: amd64
3232
base_image_env: base_image
3333
lib_dir: x86_64
34-
additional-tag-suffix: -cuda
34+
tag-suffix: -cuda
3535
steps:
3636
- name: Check out repository
3737
uses: actions/checkout@v4
@@ -46,7 +46,7 @@ jobs:
4646

4747
- name: Get changed files
4848
id: changed-files
49-
uses: tj-actions/changed-files@v44
49+
uses: tj-actions/changed-files@v45
5050
with:
5151
files: |
5252
*.env
@@ -75,8 +75,7 @@ jobs:
7575
*.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-${{ github.ref_name }}
7676
*.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-main
7777
*.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-${{ github.ref_name }},mode=max
78-
tag-suffix: ${{ matrix.additional-tag-suffix }}-${{ matrix.platform }}
79-
tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
78+
tag-suffix: ${{ matrix.tag-suffix }}
8079

8180
- name: Show disk space
8281
run: |

‎.github/workflows/health-check-self-hosted.yaml ‎.github/workflows/health-check-arm64.yaml

+1-3
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
name: health-check-self-hosted
1+
name: health-check-arm64
22

33
on:
44
schedule:
@@ -24,12 +24,10 @@ jobs:
2424
base_image_env: base_image
2525
lib_dir: aarch64
2626
setup-args: --no-nvidia
27-
additional-tag-suffix: ""
2827
- name: cuda
2928
platform: arm64
3029
base_image_env: base_image
3130
lib_dir: aarch64
32-
additional-tag-suffix: -cuda
3331
steps:
3432
# https://github.com/actions/checkout/issues/211
3533
- name: Change permission of workspace

‎.github/workflows/health-check.yaml

-2
Original file line numberDiff line numberDiff line change
@@ -39,12 +39,10 @@ jobs:
3939
base_image_env: base_image
4040
lib_dir: x86_64
4141
setup-args: --no-nvidia
42-
additional-tag-suffix: ""
4342
- name: cuda
4443
platform: amd64
4544
base_image_env: base_image
4645
lib_dir: x86_64
47-
additional-tag-suffix: -cuda
4846
steps:
4947
- name: Check out repository
5048
uses: actions/checkout@v4

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