Add files to run autoware.proj on a Docker container (#215)

Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

.pre-commit-config.yaml

@@ -50,8 +50,8 @@ repos:
       - id: shellcheck
 
   - repo: https://github.com/hadolint/hadolint
-    rev: v2.6.1
+    rev: v2.6.0
     hooks:
-      - id: hadolint
+      - id: hadolint-docker
 
 exclude: ".svg"

docker/Dockerfile.base

@@ -0,0 +1,35 @@
+FROM ubuntu:20.04
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+## Install APT packages
+# hadolint ignore=DL3008
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends \
+  ansible \
+  curl \
+  git \
+  gnupg \
+  lsb-release \
+  python3-pip \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+## Install vcstool
+# hadolint ignore=DL3008
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg \
+  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
+  && apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends python3-vcstool \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+## Setup build environment in a temporary directory
+# hadolint ignore=DL3003
+RUN --mount=type=ssh \
+  mkdir -m 0600 ~/.ssh && ssh-keyscan github.com >> ~/.ssh/known_hosts \
+  && git clone git@github.com:tier4/autoware.proj.git -b main /tmp/autoware.proj \
+  && cd /tmp/autoware.proj \
+  && mkdir src \
+  && vcs import src < autoware.proj.repos \
+  && ./setup_ubuntu20.04.sh -c \
+  && rm -rf /tmp/autoware.proj \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*

docker/Dockerfile.pre-built

@@ -0,0 +1,19 @@
+FROM autoware:base
+# SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+## Copy autoware.proj.repos to the workspace
+COPY autoware.proj.repos /autoware/autoware.proj.repos
+WORKDIR /autoware
+
+## Build
+# hadolint ignore=DL3003,SC1091
+RUN --mount=type=ssh \
+  mkdir src \
+  && vcs import src < autoware.proj.repos \
+  && source /opt/ros/galactic/setup.bash \
+  && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+## Create entrypoint
+COPY docker/entrypoint.sh /
+ENTRYPOINT [ "/entrypoint.sh" ]
+CMD ["/bin/bash"]

docker/README.md

@@ -0,0 +1,59 @@
+# Dockerfile for autoware.proj
+
+This directory contains files to run autoware.proj on Docker.
+
+## Build
+
+Just run `build.sh` in this directory. This takes some time.
+
+```sh
+./docker/build.sh
+```
+
+## Run
+
+### Prerequisites
+
+- [rocker](https://github.com/osrf/rocker)
+
+  To enable GUI applications on Docker Containers, this script uses `rocker`.
+  Please see [here](http://wiki.ros.org/docker/Tutorials/GUI) for more details.
+
+  ```sh
+  sudo apt-get install python3-rocker
+  ```
+
+### Examples
+
+#### How to do a rosbag Simulation
+
+```sh
+# Build your docker image
+cd ~/
+git clone git@github.com:tier4/autoware.proj.git
+~/autoware.proj/docker/build.sh
+
+# Create and move to a workspace
+mkdir ~/rosbag_simulation
+cd ~/rosbag_simulation
+
+# Download a sample map
+gdown --id 1ovrJcFS5CZ2H51D8xVWNtEvj_oiXW-zk
+unzip rosbag_sample_map.zip -d map
+
+# Download a sample rosbag file
+mkdir sample
+cd sample
+gdown --id 1wLWyOlfH_-k4VYBgae1KAFlKdwJnH_si
+
+# Accept X-access from localhost
+xhost +local:
+
+# Run Autoware in the simulation mode
+rocker --nvidia --x11 --user --volume ~/rosbag_simulation -- autoware:pre-built
+ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/rosbag_simulation/map vehicle_model:=lexus sensor_model:=aip_xx1
+
+# Play the sample rosbag file in another terminal
+rocker --nvidia --x11 --user --volume ~/rosbag_simulation -- autoware:pre-built
+ros2 bag play ~/rosbag_simulation/sample/sample.625-2.bag2_0.db3 -r 0.2
+```

docker/build.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+
+SCRIPT_DIR=$(readlink -f "$(dirname "$0")")
+
+AUTOWARE_PROJ_ROOT="$SCRIPT_DIR/../"
+DOCKER_BUILDKIT=1 docker build -t autoware:base --ssh default -f "$SCRIPT_DIR/Dockerfile.base" "$AUTOWARE_PROJ_ROOT"
+DOCKER_BUILDKIT=1 docker build -t autoware:pre-built --ssh default -f "$SCRIPT_DIR/Dockerfile.pre-built" "$AUTOWARE_PROJ_ROOT"

docker/entrypoint.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+
+# shellcheck disable=SC1091
+source /autoware/install/setup.bash
+exec "$@"