Merge remote-tracking branch 'upstream/main'

.devcontainer/base/devcontainer.json

@@ -1,8 +1,8 @@
 {
-  "name": "Autoware",
+  "name": "autoware:universe-devel",
   "build": {
     "dockerfile": "../Dockerfile",
-    "args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware:latest-devel" }
+    "args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware:universe-devel" }
   },
   "remoteUser": "autoware",
   "runArgs": [

.devcontainer/cuda/devcontainer.json

@@ -1,8 +1,8 @@
 {
-  "name": "Autoware-cuda",
+  "name": "autoware:universe-devel-cuda",
   "build": {
     "dockerfile": "../Dockerfile",
-    "args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware:latest-devel-cuda" }
+    "args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware:universe-devel-cuda" }
   },
   "remoteUser": "autoware",
   "hostRequirements": {

.dockerignore

@@ -13,11 +13,9 @@ docker
 # Ignore a part of files under src
 src/**/.*
 src/**/*.asc
-src/**/*.csv
 src/**/*.gif
 src/**/*.md
 src/**/*.pcd
-src/**/*.png
 src/**/*.svg
 
 # Ignore generated files by colcon

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

@@ -14,9 +14,6 @@ inputs:
   build-args:
     description: ""
     required: false
-  tag-prefix:
-    description: ""
-    required: false
   tag-suffix:
     description: ""
     required: false
@@ -70,79 +67,154 @@ runs:
           }
         skip-extraction: true
 
-    - name: Set Docker tags
-      id: set-docker-tags
-      run: |
-        tags=()
-        if [ "${{ github.event_name }}" == "push" ] && [ "${{ github.ref_type }}" == "tag" ]; then
-            tags+=("$(echo "${{ github.ref }}" | sed -E 's/.*([vV][0-9]+\.[0-9]+\.[0-9]+).*/\1/')")
-        fi
-
-        tags+=("{{date 'YYYYMMDD'}}")
-        tags+=("latest")
-        tags+=("latest-${{ inputs.tag-prefix }}")
-
-        # Output multiline strings: https://docs.github.com/en/actions/using-workflows/workflow-commands-for-github-actions#multiline-strings
-        EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
-        echo "tags<<$EOF" >> $GITHUB_OUTPUT
-        echo "$(printf "%s\n" "${tags[@]}")" >> $GITHUB_OUTPUT
-        echo "$EOF" >> $GITHUB_OUTPUT
+    - name: Get current date
+      id: date
+      run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT
       shell: bash
 
-    - name: Docker meta for base
+    - name: Docker meta for autoware:base
       id: meta-base
       uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        tags: |
+          type=raw,value=base${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=base${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
         bake-target: docker-metadata-action-base
         flavor: |
           latest=false
-          suffix=-base
 
-    - name: Docker meta for autoware-core
-      id: meta-autoware-core
+    - name: Docker meta for autoware:core-devel
+      id: meta-core-devel
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=core-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=core-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-core-devel
+        flavor: |
+          latest=false
+
+    - name: Docker meta for autoware:universe-sensing-perception-devel
+      id: meta-universe-sensing-perception-devel
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-sensing-perception-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-sensing-perception-devel
+        flavor: |
+          latest=false
+
+    - name: Docker meta for autoware:universe-sensing-perception
+      id: meta-universe-sensing-perception
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-sensing-perception${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-sensing-perception
+        flavor: |
+          latest=false
+
+    - name: Docker meta for autoware:universe-localization-mapping-devel
+      id: meta-universe-localization-mapping-devel
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-localization-mapping-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=universe-localization-mapping-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-localization-mapping-devel
+        flavor: |
+          latest=false
+
+    - name: Docker meta for autoware:universe-localization-mapping
+      id: meta-universe-localization-mapping
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-localization-mapping${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=universe-localization-mapping${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-localization-mapping
+        flavor: |
+          latest=false
+
+    - name: Docker meta for autoware:universe-planning-control-devel
+      id: meta-universe-planning-control-devel
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-planning-control-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=universe-planning-control-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-planning-control-devel
+        flavor: |
+          latest=false
+
+    - name: Docker meta for autoware:universe-planning-control
+      id: meta-universe-planning-control
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-planning-control${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=universe-planning-control${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-planning-control
+        flavor: |
+          latest=false
+
+    - name: Docker meta for autoware:universe-vehicle-system-devel
+      id: meta-universe-vehicle-system-devel
       uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-autoware-core
+        tags: |
+          type=raw,value=universe-vehicle-system-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}
+          type=raw,value=universe-vehicle-system-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}
+        bake-target: docker-metadata-action-universe-vehicle-system-devel
         flavor: |
           latest=false
-          suffix=-autoware-core${{ inputs.tag-suffix }}
 
-    - name: Docker meta for autoware-universe
-      id: meta-autoware-universe
+    - name: Docker meta for autoware:universe-vehicle-system
+      id: meta-universe-vehicle-system
       uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-autoware-universe
+        tags: |
+          type=raw,value=universe-vehicle-system${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}
+          type=raw,value=universe-vehicle-system${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}
+        bake-target: docker-metadata-action-universe-vehicle-system
         flavor: |
           latest=false
-          suffix=-autoware-universe${{ inputs.tag-suffix }}
 
-    - name: Docker meta for devel
-      id: meta-devel
+    - name: Docker meta for autoware:universe-devel
+      id: meta-universe-devel
       uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-devel
+        tags: |
+          type=raw,value=universe-devel${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=universe-devel${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-devel
         flavor: |
           latest=false
-          suffix=-devel${{ inputs.tag-suffix }}
 
-    - name: Docker meta for runtime
-      id: meta-runtime
+    - name: Docker meta for autoware:universe
+      id: meta-universe
       uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-runtime
+        tags: |
+          type=raw,value=universe${{ inputs.tag-suffix }}-${{ inputs.platform }}
+          type=raw,value=universe${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe
         flavor: |
           latest=auto
-          suffix=-runtime${{ inputs.tag-suffix }}
 
     - name: Login to GitHub Container Registry
       uses: docker/login-action@v3
@@ -158,10 +230,17 @@ runs:
         files: |
           docker/docker-bake.hcl
           ${{ steps.meta-base.outputs.bake-file }}
-          ${{ steps.meta-autoware-core.outputs.bake-file }}
-          ${{ steps.meta-autoware-universe.outputs.bake-file }}
-          ${{ steps.meta-devel.outputs.bake-file }}
-          ${{ steps.meta-runtime.outputs.bake-file }}
+          ${{ steps.meta-core-devel.outputs.bake-file }}
+          ${{ steps.meta-universe-sensing-perception-devel.outputs.bake-file }}
+          ${{ steps.meta-universe-sensing-perception.outputs.bake-file }}
+          ${{ steps.meta-universe-localization-mapping-devel.outputs.bake-file }}
+          ${{ steps.meta-universe-localization-mapping.outputs.bake-file }}
+          ${{ steps.meta-universe-planning-control-devel.outputs.bake-file }}
+          ${{ steps.meta-universe-planning-control.outputs.bake-file }}
+          ${{ steps.meta-universe-vehicle-system-devel.outputs.bake-file }}
+          ${{ steps.meta-universe-vehicle-system.outputs.bake-file }}
+          ${{ steps.meta-universe-devel.outputs.bake-file }}
+          ${{ steps.meta-universe.outputs.bake-file }}
         provenance: false
         set: |
           ${{ inputs.build-args }}

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

@@ -0,0 +1,31 @@
+name: create-prs-to-update-vcs-repositories
+
+on:
+  schedule:
+    - cron: 0 0,6,12,18 * * *
+  workflow_dispatch:
+
+jobs:
+  create-version-update-pr:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Generate GitHub App token
+        id: generate-token
+        uses: tibdex/github-app-token@v2
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Create PRs to update VCS repositories
+        uses: autowarefoundation/autoware-github-actions/create-prs-to-update-vcs-repositories@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          repo_name: autowarefoundation/autoware
+          parent_dir: .
+          targets: major minor patch
+          base_branch: main
+          new_branch_prefix: feat/update-
+          autoware_repos_file_name: autoware.repos
+          verbosity: 0

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

@@ -1,4 +1,4 @@
-name: docker-build-and-push-self-hosted
+name: docker-build-and-push-arm64
 
 on:
   push:
@@ -26,12 +26,12 @@ jobs:
             base_image_env: base_image
             lib_dir: aarch64
             setup-args: --no-nvidia
-            additional-tag-suffix: ""
+            tag-suffix: ""
           - name: cuda
             platform: arm64
             base_image_env: base_image
             lib_dir: aarch64
-            additional-tag-suffix: -cuda
+            tag-suffix: -cuda
     steps:
       # https://github.com/actions/checkout/issues/211
       - name: Change permission of workspace
@@ -51,7 +51,7 @@ jobs:
 
       - name: Get changed files
         id: changed-files
-        uses: tj-actions/changed-files@v44
+        uses: tj-actions/changed-files@v45
         with:
           files: |
             *.env
@@ -80,8 +80,7 @@ jobs:
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-${{ github.ref_name }}
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-main
             *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-${{ github.ref_name }},mode=max
-          tag-suffix: ${{ matrix.additional-tag-suffix }}-${{ matrix.platform }}
-          tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
+          tag-suffix: ${{ matrix.tag-suffix }}
 
       - name: Show disk space
         run: |

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

@@ -26,12 +26,12 @@ jobs:
             base_image_env: base_image
             lib_dir: x86_64
             setup-args: --no-nvidia
-            additional-tag-suffix: ""
+            tag-suffix: ""
           - name: cuda
             platform: amd64
             base_image_env: base_image
             lib_dir: x86_64
-            additional-tag-suffix: -cuda
+            tag-suffix: -cuda
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
@@ -46,7 +46,7 @@ jobs:
 
       - name: Get changed files
         id: changed-files
-        uses: tj-actions/changed-files@v44
+        uses: tj-actions/changed-files@v45
         with:
           files: |
             *.env
@@ -75,8 +75,7 @@ jobs:
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-${{ github.ref_name }}
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-main
             *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-${{ github.ref_name }},mode=max
-          tag-suffix: ${{ matrix.additional-tag-suffix }}-${{ matrix.platform }}
-          tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
+          tag-suffix: ${{ matrix.tag-suffix }}
 
       - name: Show disk space
         run: |

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

@@ -1,4 +1,4 @@
-name: health-check-self-hosted
+name: health-check-arm64
 
 on:
   schedule:
@@ -24,12 +24,10 @@ jobs:
             base_image_env: base_image
             lib_dir: aarch64
             setup-args: --no-nvidia
-            additional-tag-suffix: ""
           - name: cuda
             platform: arm64
             base_image_env: base_image
             lib_dir: aarch64
-            additional-tag-suffix: -cuda
     steps:
       # https://github.com/actions/checkout/issues/211
       - name: Change permission of workspace

.github/workflows/health-check.yaml

@@ -39,12 +39,10 @@ jobs:
             base_image_env: base_image
             lib_dir: x86_64
             setup-args: --no-nvidia
-            additional-tag-suffix: ""
           - name: cuda
             platform: amd64
             base_image_env: base_image
             lib_dir: x86_64
-            additional-tag-suffix: -cuda
     steps:
       - name: Check out repository
         uses: actions/checkout@v4