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feat(docker): add sensing/perception launch files to autoware:universe-sensing-perception images #5582

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feat(docker): add sensing/perception launch files to autoware:universe-sensing-perception images #5582

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4 changes: 4 additions & 0 deletions docker/Dockerfile
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Expand Up @@ -3,7 +3,7 @@
ARG AUTOWARE_BASE_CUDA_IMAGE

# hadolint ignore=DL3006
FROM $BASE_IMAGE AS rosdep-depend

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

Expand Down Expand Up @@ -39,6 +39,8 @@
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

COPY src/universe/autoware.universe/launch/tier4_perception_launch /autoware/src/universe/autoware.universe/launch/tier4_perception_launch
COPY src/universe/autoware.universe/launch/tier4_sensing_launch /autoware/src/universe/autoware.universe/launch/tier4_sensing_launch
COPY src/universe/autoware.universe/perception /autoware/src/universe/autoware.universe/perception
COPY src/universe/autoware.universe/sensing /autoware/src/universe/autoware.universe/sensing
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
Expand Down Expand Up @@ -113,7 +115,7 @@
&& cat /rosdep-exec-depend-packages.txt

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS core-devel

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ENV CCACHE_DIR="/root/.ccache"
Expand Down Expand Up @@ -199,6 +201,8 @@

# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_perception_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_perception_launch \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_sensing_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_sensing_launch \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception,target=/autoware/src/universe/autoware.universe/perception \
--mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/sensing,target=/autoware/src/universe/autoware.universe/sensing \
source /opt/ros/"$ROS_DISTRO"/setup.bash \
Expand Down Expand Up @@ -369,7 +373,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-sensing-perception

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
Expand All @@ -395,7 +399,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_CUDA_IMAGE AS universe-sensing-perception-cuda

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
Expand All @@ -417,7 +421,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-localization-mapping

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
Expand All @@ -443,7 +447,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-planning-control

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
Expand All @@ -469,7 +473,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-vehicle-system

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
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CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
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CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_CUDA_IMAGE AS universe-cuda

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
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