feat: upstream to origin

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

@@ -25,6 +25,19 @@ runs:
     - name: Setup Docker Buildx
       uses: docker/setup-buildx-action@v2
 
+    - name: Install jq and vcstool
+      run: |
+        sudo apt-get -y update
+        sudo apt-get -y install jq python3-pip
+        pip install --no-cache-dir vcstool
+      shell: bash
+
+    - name: Run vcs import
+      run: |
+        mkdir src
+        vcs import src < autoware.repos
+      shell: bash
+
     - name: Set Docker tags
       id: set-docker-tags
       run: |

.github/workflows/build-main-self-hosted.yaml

@@ -27,11 +27,13 @@ jobs:
           - cuda
         include:
           - name: no-cuda
+            platform: arm64
             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
@@ -44,12 +46,6 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
-      - name: Install vcstool
-        run: |
-          sudo apt-get -y update
-          sudo apt-get -y install python3-pip
-          pip install --no-cache-dir vcstool
-
       - name: Set git config
         uses: autowarefoundation/autoware-github-actions/set-git-config@v1
         with:
@@ -58,23 +54,18 @@ jobs:
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
 
-      - name: Run vcs import
-        run: |
-          mkdir src
-          vcs import src < autoware.repos
-
-      - name: Build 'autoware-universe'
+      - name: Build 'Autoware'
         uses: ./.github/actions/docker-build-and-push
         with:
           bake-target: autoware
           build-args: |
-            *.platform=linux/arm64
+            *.platform=linux/${{ matrix.platform }}
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
             *.args.LIB_DIR=${{ matrix.lib_dir }}
-            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-arm64
-            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-arm64,mode=max
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }}
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }},mode=max
           tag-suffix: ${{ matrix.additional-tag-suffix }}-arm64
           tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
           allow-push: false

.github/workflows/build-main.yaml

@@ -27,24 +27,20 @@ jobs:
           - cuda
         include:
           - name: no-cuda
+            platform: amd64
             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
 
-      - name: Install vcstool
-        run: |
-          sudo apt-get -y update
-          sudo apt-get -y install python3-pip
-          pip install --no-cache-dir vcstool
-
       - name: Set git config
         uses: autowarefoundation/autoware-github-actions/set-git-config@v1
         with:
@@ -53,23 +49,18 @@ jobs:
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
 
-      - name: Run vcs import
-        run: |
-          mkdir src
-          vcs import src < autoware.repos
-
-      - name: Build 'autoware-universe'
+      - name: Build 'Autoware'
         uses: ./.github/actions/docker-build-and-push
         with:
           bake-target: autoware
           build-args: |
-            *.platform=linux/amd64
+            *.platform=linux/${{ matrix.platform }}
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
             *.args.LIB_DIR=${{ matrix.lib_dir }}
-            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-amd64
-            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-amd64,mode=max
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }}
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }},mode=max
           tag-suffix: ${{ matrix.additional-tag-suffix }}-amd64
           tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
           allow-push: false

.github/workflows/dco.yaml

@@ -0,0 +1,21 @@
+name: DCO
+# ref: https://github.com/anchore/syft/pull/2926/files
+on:
+  pull_request:
+jobs:
+  dco:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Setup Python 3.x
+        uses: actions/setup-python@v5
+        with:
+          python-version: 3.x
+
+      - name: Check DCO
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          pip3 install -U dco-check
+          dco-check --verbose --exclude-pattern 'pre-commit-ci\[bot\]@users\.noreply\.github\.com'

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

@@ -24,7 +24,7 @@
 
   docker-build-and-push-main-self-hosted:
     needs: load-env
     runs-on: buildjet-16vcpu-ubuntu-2204-arm
     strategy:
       fail-fast: false
       matrix:
@@ -33,11 +33,13 @@
           - cuda
         include:
           - name: no-cuda
+            platform: arm64
             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
@@ -58,35 +60,24 @@
       - name: Check out repository
         uses: actions/checkout@v4
 
-      - name: Install vcstool
-        run: |
-          sudo apt-get -y update
-          sudo apt-get -y install python3-pip
-          pip install --no-cache-dir vcstool
-
       - name: Set git config
         uses: autowarefoundation/autoware-github-actions/set-git-config@v1
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Run vcs import
-        run: |
-          mkdir src
-          vcs import src < autoware.repos
-
       - name: Build 'Autoware'
         if: steps.author-check.outputs.author-found == 'true' || ${{ github.event_name == 'workflow_dispatch' }}
         uses: ./.github/actions/docker-build-and-push
         with:
           bake-target: autoware
           build-args: |
-            *.platform=linux/arm64
+            *.platform=linux/${{ matrix.platform }}
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
             *.args.LIB_DIR=${{ matrix.lib_dir }}
-            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-arm64
-            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-arm64,mode=max
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }}
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }},mode=max
           tag-suffix: ${{ matrix.additional-tag-suffix }}-arm64
           tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
           allow-push: true

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

@@ -24,7 +24,7 @@
 
   docker-build-and-push-main:
     needs: load-env
     runs-on: buildjet-16vcpu-ubuntu-2204
     strategy:
       fail-fast: false
       matrix:
@@ -33,11 +33,13 @@
           - cuda
         include:
           - name: no-cuda
+            platform: amd64
             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
@@ -58,35 +60,24 @@
       - name: Check out repository
         uses: actions/checkout@v4
 
-      - name: Install vcstool
-        run: |
-          sudo apt-get -y update
-          sudo apt-get -y install python3-pip
-          pip install --no-cache-dir vcstool
-
       - name: Set git config
         uses: autowarefoundation/autoware-github-actions/set-git-config@v1
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Run vcs import
-        run: |
-          mkdir src
-          vcs import src < autoware.repos
-
       - name: Build 'Autoware'
         if: steps.author-check.outputs.author-found == 'true' || ${{ github.event_name == 'workflow_dispatch' }}
         uses: ./.github/actions/docker-build-and-push
         with:
           bake-target: autoware
           build-args: |
-            *.platform=linux/amd64
+            *.platform=linux/${{ matrix.platform }}
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
             *.args.LIB_DIR=${{ matrix.lib_dir }}
-            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-amd64
-            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-amd64,mode=max
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }}
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }},mode=max
           tag-suffix: ${{ matrix.additional-tag-suffix }}-amd64
           tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
           allow-push: true

ansible/roles/artifacts/tasks/main.yaml

@@ -158,6 +158,38 @@
     dest: "{{ data_dir }}/lidar_centerpoint/deploy_metadata.yaml"
     mode: "644"
     checksum: sha256:152536f053c3750b60d349800e1b983b418029d6dadf087614a00c661942a178
+
+# lidar_transfusion
+- name: Create lidar_transfusion directory inside {{ data_dir }}
+  ansible.builtin.file:
+    path: "{{ data_dir }}/lidar_transfusion"
+    mode: "755"
+    state: directory
+
+- name: Download lidar_transfusion/transfusion.onnx
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/transfusion/v1/transfusion.onnx
+    dest: "{{ data_dir }}/lidar_transfusion/transfusion.onnx"
+    mode: "644"
+    checksum: sha256:8938999cf03770ffd3301027300ea2cbcf471c180450e0434121d7294c42aa0b
+
+- name: Download lidar_transfusion/transfusion.param.yaml
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/transfusion/v1/transfusion.param.yaml
+    dest: "{{ data_dir }}/lidar_transfusion/transfusion.param.yaml"
+    mode: "644"
+    checksum: sha256:0e18776040f14e380037ef6ecb500d1d1d151f21ff7d5c890606673f7e100e14
+
+- name: Download lidar_transfusion/detection_class_remapper.param.yaml
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/transfusion/v1/detection_class_remapper.param.yaml
+    dest: "{{ data_dir }}/lidar_transfusion/detection_class_remapper.param.yaml"
+    mode: "644"
+    checksum: sha256:c711f8875ece9b527dfe31ffc75f8c0de2e77945ef67860a959a4e04c36772d5
+
 # tensorrt_yolox
 - name: Create tensorrt_yolox directory inside {{ data_dir }}
   ansible.builtin.file:
@@ -229,11 +261,11 @@
     mode: "644"
     checksum: sha256:28cd6524d4bcdb2809592a225d28330433e58dc02c92169ea555b44c1a51a584
 
 - name: Download tensorrt_yolox/semseg_color_map.csv
   become: true
   ansible.builtin.get_url:
     url: https://awf.ml.dev.web.auto/perception/models/object_detection_semseg_yolox_s/v1/semseg_color_map.csv
     dest: "{{ data_dir }}/tensorrt_yolox/semseg_color_map.csv"
     mode: "644"
     checksum: sha256:3d93ca05f31b63424d7d7246a01a2365953705a0ed3323ba5b6fddd744a4bfea
 

ansible/roles/dev_tools/tasks/main.yaml

@@ -37,10 +37,23 @@
     state: latest
     update_cache: true
 
+- name: Hold check of ros-{{ rosdistro + '-plotjuggler-ros' }}
+  ansible.builtin.command: apt-mark showhold
+  register: held_ros_packages
+  changed_when: false
+
 - name: Install plotjuggler
   become: true
   ansible.builtin.apt:
     name:
       - ros-{{ rosdistro }}-plotjuggler-ros
     state: latest
     update_cache: true
+  when: "'ros-' + rosdistro + '-plotjuggler-ros' not in held_ros_packages.stdout"
+  register: install_result
+  failed_when: false
+
+- name: Display warning if plotjuggler-ros package is held
+  ansible.builtin.debug:
+    msg: ROS package 'ros-{{ rosdistro }}-plotjuggler-ros' is apt-mark hold. Skipping installation.
+  when: not install_result.changed

docker/Dockerfile

@@ -90,11 +90,11 @@ RUN --mount=type=ssh \
 COPY --from=src-imported /autoware/src /autoware/src
 RUN --mount=type=cache,target=${CCACHE_DIR} \
   source /opt/ros/"$ROS_DISTRO"/setup.bash \
-  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --cmake-args \
-    " -Wno-dev" \
-    " --no-warn-unused-cli" \
+  && colcon build --cmake-args \
     -DCMAKE_BUILD_TYPE=Release \
     -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+    " -Wno-dev" \
+    " --no-warn-unused-cli" \
   && find /autoware/install -type d -exec chmod 777 {} \; \
   && chmod -R 777 /var/tmp/ccache \
   && rm -rf /autoware/build /autoware/src

simulator.repos

@@ -2,4 +2,4 @@ repositories:
   simulator/scenario_simulator:
     type: git
     url: https://github.com/tier4/scenario_simulator_v2.git
-    version: master
+    version: RJD-736/autoware_msgs_support  # TODO(mitsudome-r): switch back to master once this branch is merged