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feat: add launch files to component containers #5395

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feat: add launch files to component containers #5395

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28 changes: 28 additions & 0 deletions docker/Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -100,6 +100,10 @@ ARG ROS_DISTRO

COPY src/universe/autoware.universe/localization /autoware/src/universe/autoware.universe/localization
COPY src/universe/autoware.universe/map /autoware/src/universe/autoware.universe/map
COPY src/universe/autoware.universe/launch/tier4_localization_launch /autoware/src/universe/autoware.universe/launch/tier4_localization_launch
COPY src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor /autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor
COPY src/universe/autoware.universe/sensing/autoware_pcl_extensions /autoware/src/universe/autoware.universe/sensing/autoware_pcl_extensions
COPY src/universe/autoware.universe/system/default_ad_api_helpers/automatic_pose_initializer /autoware/src/universe/autoware.universe/system/default_ad_api_helpers/automatic_pose_initializer
RUN rosdep keys --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
Expand All @@ -126,6 +130,15 @@ COPY src/universe/autoware.universe/map/map_loader /autoware/src/universe/autowa
COPY src/universe/autoware.universe/map/autoware_map_projection_loader /autoware/src/universe/autoware.universe/map/autoware_map_projection_loader
COPY src/universe/autoware.universe/sensing/autoware_pcl_extensions /autoware/src/universe/autoware.universe/sensing/autoware_pcl_extensions
COPY src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor /autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor
# Control Launch Dependencies
COPY src/universe/autoware.universe/launch/tier4_control_launch /autoware/src/universe/autoware.universe/launch/tier4_control_launch
COPY src/universe/autoware.universe/evaluator/autoware_control_evaluator /autoware/src/universe/autoware.universe/evaluator/autoware_control_evaluator
# Planning Launch Dependencies
COPY src/universe/autoware.universe/launch/tier4_planning_launch /autoware/src/universe/autoware.universe/launch/tier4_planning_launch
COPY src/universe/autoware.universe/evaluator/autoware_evaluator_utils /autoware/src/universe/autoware.universe/evaluator/autoware_evaluator_utils
COPY src/universe/autoware.universe/evaluator/autoware_planning_evaluator /autoware/src/universe/autoware.universe/evaluator/autoware_planning_evaluator
COPY src/universe/autoware.universe/vehicle/autoware_external_cmd_converter /autoware/src/universe/autoware.universe/vehicle/autoware_external_cmd_converter
COPY src/universe/autoware.universe/vehicle/autoware_raw_vehicle_cmd_converter /autoware/src/universe/autoware.universe/vehicle/autoware_raw_vehicle_cmd_converter
RUN rosdep keys --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
Expand All @@ -149,6 +162,7 @@ COPY src/universe/autoware.universe/vehicle /autoware/src/universe/autoware.univ
COPY src/universe/autoware.universe/system /autoware/src/universe/autoware.universe/system
COPY src/universe/autoware.universe/map/autoware_map_height_fitter /autoware/src/universe/autoware.universe/map/autoware_map_height_fitter
COPY src/universe/autoware.universe/localization/autoware_pose2twist /autoware/src/universe/autoware.universe/localization/autoware_pose2twist
COPY src/universe/autoware.universe/launch/tier4_system_launch /autoware/src/universe/autoware.universe/launch/tier4_system_launch
RUN rosdep keys --ignore-src --from-paths src \
| xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
| grep -v '^#' \
Expand Down Expand Up @@ -309,6 +323,10 @@ RUN --mount=type=ssh \
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/localization,target=/autoware/src/universe/autoware.universe/localization \
--mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/map,target=/autoware/src/universe/autoware.universe/map \
--mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_localization_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_localization_launch \
--mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor,target=/autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor \
--mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/sensing/autoware_pcl_extensions,target=/autoware/src/universe/autoware.universe/sensing/autoware_pcl_extensions \
--mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/system/default_ad_api_helpers/automatic_pose_initializer,target=/autoware/src/universe/autoware.universe/system/default_ad_api_helpers/automatic_pose_initializer \
source /opt/ros/"$ROS_DISTRO"/setup.bash \
&& source /opt/autoware/setup.bash \
&& du -sh ${CCACHE_DIR} && ccache -s \
Expand Down Expand Up @@ -343,6 +361,15 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/map/autoware_map_projection_loader,target=/autoware/src/universe/autoware.universe/map/autoware_map_projection_loader \
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/sensing/autoware_pcl_extensions,target=/autoware/src/universe/autoware.universe/sensing/autoware_pcl_extensions \
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor,target=/autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor \
# Control Launch Dependencies
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_control_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_control_launch \
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/evaluator/autoware_control_evaluator,target=/autoware/src/universe/autoware.universe/evaluator/autoware_control_evaluator \
# Planning Launch Dependencies
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_planning_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_planning_launch \
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/evaluator/autoware_evaluator_utils,target=/autoware/src/universe/autoware.universe/evaluator/autoware_evaluator_utils \
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/evaluator/autoware_planning_evaluator,target=/autoware/src/universe/autoware.universe/evaluator/autoware_planning_evaluator \
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/vehicle/autoware_external_cmd_converter,target=/autoware/src/universe/autoware.universe/vehicle/autoware_external_cmd_converter \
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/vehicle/autoware_raw_vehicle_cmd_converter,target=/autoware/src/universe/autoware.universe/vehicle/autoware_raw_vehicle_cmd_converter \
source /opt/ros/"$ROS_DISTRO"/setup.bash \
&& source /opt/autoware/setup.bash \
&& du -sh ${CCACHE_DIR} && ccache -s \
Expand Down Expand Up @@ -377,6 +404,7 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-universe-vehicle-system-depend,source=/autoware/src/universe/autoware.universe/system,target=/autoware/src/universe/autoware.universe/system \
--mount=type=bind,from=rosdep-universe-vehicle-system-depend,source=/autoware/src/universe/autoware.universe/map/autoware_map_height_fitter,target=/autoware/src/universe/autoware.universe/map/autoware_map_height_fitter \
--mount=type=bind,from=rosdep-universe-vehicle-system-depend,source=/autoware/src/universe/autoware.universe/localization/autoware_pose2twist,target=/autoware/src/universe/autoware.universe/localization/autoware_pose2twist \
--mount=type=bind,from=rosdep-universe-vehicle-system-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_system_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_system_launch \
source /opt/ros/"$ROS_DISTRO"/setup.bash \
&& source /opt/autoware/setup.bash \
&& du -sh ${CCACHE_DIR} && ccache -s \
Expand Down
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