autowarefoundation · ykataya-fsi · Aug 6, 2024 · Aug 6, 2024 · Aug 6, 2024 · Aug 6, 2024
@@ -16,11 +16,19 @@ artifacts:
           repositories_files:
             - autoware.repos
             - simulator.repos
+            - tools.repos
           import_path: src
       environment_variables:
-        AUTOWARE_PATH: /opt/autoware
+        AUTOWARE_PATH: /home/autoware/pilot-auto
+        ML_MODELS_PATH: /opt/autoware/mlmodels
         DEBIAN_FRONTEND: noninteractive
         LANG: C.UTF-8
+      developer_options:
+        - name: webauto:ci:caret_enabled
+          environment_variables:
+            WEBAUTO_CI_BUILD_OPTION_CARET_ENABLED: ENABLED
+      linux_parameters:
+        kernel_version: 5.15.0-72-generic
       phases:
         - name: environment-setup
           user: root
@@ -66,14 +74,59 @@ artifacts:
             key_files:
               - .webauto-ci/main/autoware-build/**/*
               - src/**/*
+              - "!src/ecu_system_setup/**"
+          incremental_build:
+            enabled: true
+        - name: ecu-system-setup
+          user: autoware
+          exec: ./.webauto-ci/main/ecu-system-setup/run.sh
+          environment_variables:
+            ECU_SYSTEM_SETUP_SOURCE_PATH: ansible
+            ECU_SYSTEM_SETUP_ANSIBLE_PLAYBOOK: ansible/playbooks/ecu_setup.yaml
+          caches:
+            - name: apt-lists
+              mountpoint: /var/lib/apt/lists
+            - name: apt-archives
+              mountpoint: /var/cache/apt/archives
+          build_result_reuse:
+            key_files:
+              - .webauto-ci/main/ecu-system-setup/**/*
+              - src/ecu_system_setup/**/*
+              - ansible/**/*
+              - ansible-galaxy-requirements.yaml
       base_container_image:
         from: ubuntu:22.04
+        # from: ghcr.io/tier4/pilot-auto/base-image:latest # use base image
       output_container_image:
         from: autoware-build
-        workdir: /opt/autoware
+        workdir: /home/autoware/pilot-auto
         user: autoware
+      output_rootfs_image:
+        from: ecu-system-setup
+        persistent_file_path: /home/autoware/pilot-auto/.webauto-ci/main/ecu-system-setup/persistents.txt
+      output_installer_image:
+        from: ecu-system-setup
+        type: iso
+        base_iso: ubuntu-20.04.3-live-server-amd64
 
 simulations:
+  - name: perception
+    type: perception
+    simulator:
+      deployment:
+        type: container
+        artifact: main
+      runtime:
+        type: gpu1/amd64/large
+      pre_tasks:
+        - exec: source /home/autoware/autoware.proj/install/setup.bash && ros2 launch lidar_centerpointlidar_centerpoint.launch.xml model_name:=centerpoint_tiny model_path:=/home/autoware/autoware_data/lidar_centerpoint model_param_path:=$(ros2 pkg prefixlidar_centerpoint --share)/config/centerpoint_tiny.param.yaml build_only:=true
+      mounts:
+        - volume: model
+      volumes:
+        - name: model
+          path: /home/autoware/autoware_data/lidar_centerpoint
+          preserve_original_files: true
+
   - name: lexus_planning_sim
     type: planning_sim_v2
     simulator:
@@ -91,6 +144,15 @@ simulations:
         sensor_model: sample_sensor_kit
         initialize_duration: "90"
 
+  - name: localization
+    type: localization
+    simulator:
+      deployment:
+        type: container
+        artifact: main
+      runtime:
+        type: standard1/amd64/large
+
 release:
   components:
     - name: planning

@@ -0,0 +1,16 @@
+#!/bin/bash -e
+
+: "${WEBAUTO_CI_ML_PACKAGES_PATH:=}"
+
+: "${ML_MODELS_PATH:=}"
+
+if [ -n "$WEBAUTO_CI_ML_PACKAGES_PATH" ] && [ -n "$ML_MODELS_PATH" ]; then
+    sudo mkdir -p "$(dirname "$ML_MODELS_PATH")"
+    sudo chown "$(whoami):" "$(dirname "$ML_MODELS_PATH")"
+    cp -r "$WEBAUTO_CI_ML_PACKAGES_PATH" "$ML_MODELS_PATH"
+    find "$ML_MODELS_PATH" -type d -exec chmod 777 {} \;
+    find "$ML_MODELS_PATH" -type f -exec chmod 644 {} \;
+
+    echo "The following ML models have been deployed:"
+    ls "$ML_MODELS_PATH"
+fi
@@ -8,10 +8,57 @@
 : "${CCACHE_SIZE:=1G}"
 : "${PARALLEL_WORKERS:=4}"
 
-sudo mkdir "$AUTOWARE_PATH"
-sudo chown "$(whoami)": "$AUTOWARE_PATH"
-cd "$WEBAUTO_CI_SOURCE_PATH"
-cp -r src .webauto-ci.* "$AUTOWARE_PATH"
+# get installed ros distro
+# shellcheck disable=SC2012
+ROS_DISTRO=$(ls -1 /opt/ros | head -1)
+
+# CARET build
+if [ "$WEBAUTO_CI_BUILD_OPTION_CARET_ENABLED" = "ENABLED" ]; then
+    echo "CARET ENABLED"
+
+    cd "$HOME"
+    rm -rf ros2_caret_ws
+
+    # download CARET
+    echo "===== GET CARET ====="
+    CARET_VERSION="rc/v0.5.2_for_evaluator"
+    export GITHUB_TOKEN="$WEBAUTO_CI_GITHUB_TOKEN"
+    git clone https://github.com/tier4/caret.git ros2_caret_ws
+    cd ros2_caret_ws
+    git checkout "$CARET_VERSION"
+
+    # setup CARET
+    echo "===== Setup CARET ====="
+    mkdir src
+    vcs import src <caret.repos
+    # shellcheck disable=SC1090
+    source "/opt/ros/${ROS_DISTRO}/setup.bash"
+    ./setup_caret.sh -c
+
+    # build caret
+    echo "===== Build CARET ====="
+    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF
+
+fi
+
+# For incremental builds, the source files used in previous builds are already in place.
+# Delete any files that have been removed from the new source, except for files specified in .gitignore.
+# Also, to take advantage of incremental builds, preserve the timestamps of files with the same checksum.
+src=$(mktemp -p /tmp -d src.XXXXX)
+cp -rfT "$WEBAUTO_CI_SOURCE_PATH" "$src"
+# shellcheck disable=SC2016
+find "$src" -name '.gitignore' -printf '%P\0' | xargs -0 -I {} sh -c "sed -n "'s/^!//gp'" $src/{} > $src/"'$(dirname {})'"/.rsync-include"
+# shellcheck disable=SC2016
+find "$src" -name '.gitignore' -printf '%P\0' | xargs -0 -I {} sh -c "sed -n "'/^[^!]/p'" $src/{} > $src/"'$(dirname {})'"/.rsync-exclude"
+rsync -rlpc -f":+ .rsync-include" -f":- .rsync-exclude" --del "$src"/ "$AUTOWARE_PATH"
+# The `src` directory is excluded from the root .gitignore and must be synchronized separately.
+rsync -rlpc -f":+ .rsync-include" -f":- .rsync-exclude" --del "$src"/src/ "$AUTOWARE_PATH"/src
+# `.rsync-include` and `.rsync-exclude` must be included in the output of this phase for reference in the next incremental build.
+# These files are removed in the ecu-system-setup phase.
+#find "$AUTOWARE_PATH" \( -name ".rsync-include" -or -name ".rsync-exclude" \) -print0 | xargs -0 rm
+rm -rf "$src"
+
+chmod 755 "$AUTOWARE_PATH"
 cd "$AUTOWARE_PATH"
 
 if [ -n "$CCACHE_DIR" ]; then
@@ -25,20 +72,63 @@ fi
 
 sudo -E apt-get -y update
 
-# shellcheck disable=SC2012
-ROS_DISTRO=$(ls -1 /opt/ros | head -1)
 # shellcheck disable=SC1090
-source "/opt/ros/$ROS_DISTRO/setup.bash"
+source "/opt/ros/${ROS_DISTRO}/setup.bash"
 rosdep update
 rosdep install -y --from-paths src --ignore-src --rosdistro "$ROS_DISTRO"
 
+# CARET setup
+ADDITIONAL_OPTIONS=""
+if [ "$WEBAUTO_CI_BUILD_OPTION_CARET_ENABLED" = "ENABLED" ]; then
+    echo "===== Modify ament_cmake_auto as workaround ====="
+    backup_date="$(date +"%Y%m%d_%H%M%S")"
+    cd /opt/ros/humble/share/ament_cmake_auto/cmake &&
+        sudo cp ament_auto_add_executable.cmake ament_auto_add_executable.cmake_"$backup_date" &&
+        sudo cp ament_auto_add_library.cmake ament_auto_add_library.cmake_"$backup_date" &&
+        sudo sed -i -e 's/SYSTEM//g' ament_auto_add_executable.cmake &&
+        sudo sed -i -e 's/SYSTEM//g' ament_auto_add_library.cmake
+
+    # cspell: ignore libtracetools
+    echo "===== Modify pcl_ros (libtracetools.so) as workaround ====="
+    cd /opt/ros/humble/share/pcl_ros/cmake &&
+        sudo cp export_pcl_rosExport.cmake export_pcl_rosExport.cmake_"$backup_date" &&
+        sudo sed -i -e 's/\/opt\/ros\/humble\/lib\/libtracetools.so;//g' export_pcl_rosExport.cmake
+
+    echo "===== Modify pcl_ros (rclcpp) as workaround ====="
+    cd /opt/ros/humble/share/pcl_ros/cmake &&
+        sudo cp export_pcl_rosExport.cmake export_pcl_rosExport.cmake_"$backup_date"_2 &&
+        sudo sed -i -e 's/\/opt\/ros\/humble\/include\/rclcpp;//g' export_pcl_rosExport.cmake
+
+    cd "$AUTOWARE_PATH"
+    rm -f caret_topic_filter.bash
+    wget https://raw.githubusercontent.com/tier4/caret_report/main/sample_autoware/caret_topic_filter.bash
+
+    # shellcheck disable=SC1090
+    source "/opt/ros/${ROS_DISTRO}/setup.bash"
+    # shellcheck disable=SC1091
+    source "$HOME/ros2_caret_ws/install/local_setup.sh"
+    echo "===== Finish CARET SETUP ====="
+
+    ADDITIONAL_OPTIONS="--packages-skip rclcpp rclcpp_action rclcpp_components rclcpp_lifecycle"
+fi
+cd "$AUTOWARE_PATH"
+
 [[ $WEBAUTO_CI_DEBUG_BUILD == "true" ]] && build_type="RelWithDebInfo" || build_type="Release"
 
+# shellcheck disable=SC2086
 colcon build \
-    --cmake-args -DCMAKE_BUILD_TYPE="$build_type" -DBUILD_TESTING=off -Wno-dev --no-warn-unused-cli \
     --symlink-install \
+    --cmake-args -DCMAKE_BUILD_TYPE="$build_type" -DCMAKE_CXX_FLAGS="-w" -DBUILD_TESTING=off \
     --catkin-skip-building-tests \
     --executor parallel \
-    --parallel-workers "$PARALLEL_WORKERS"
+    --parallel-workers "$PARALLEL_WORKERS" \
+    $ADDITIONAL_OPTIONS
 
-sudo -E apt-get -y autoremove
+if [ "$WEBAUTO_CI_BUILD_OPTION_CARET_ENABLED" = "ENABLED" ]; then
+    echo "===== Check CARET SETUP ====="
+    # shellcheck disable=SC1090,SC1091,SC2015
+    source "/opt/ros/${ROS_DISTRO}/setup.sh" &&
+        source "$HOME/ros2_caret_ws/install/local_setup.sh" &&
+        ros2 caret check_caret_rclcpp ./ ||
+        (echo "CARET build is failed" && exit 1)
+fi
@@ -1,11 +1,49 @@
 #!/bin/bash -e
+: "${WEBAUTO_CI_GITHUB_TOKEN:?is not set}"
+
+sudo 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 $(source /etc/os-release && echo "$UBUNTU_CODENAME") main" | sudo tee /etc/apt/sources.list.d/ros2.list >/dev/null
+sudo -E apt-get -y update
+sudo -E apt-get -y install usbutils # For kvaser
+
+export GITHUB_TOKEN="$WEBAUTO_CI_GITHUB_TOKEN"
+git config --global --add url."https://${GITHUB_TOKEN}:[email protected]/".insteadOf "https://github.com/"
+git config --global --add url."https://${GITHUB_TOKEN}:[email protected]/".insteadOf "[email protected]:"
+
+ansible_args=()
+ansible_args+=("--extra-vars" "prompt_install_nvidia=y")
+ansible_args+=("--extra-vars" "prompt_download_artifacts=y")
+ansible_args+=("--extra-vars" "data_dir=$HOME/autoware_data")
+
+# read amd64 env file and expand ansible arguments
+source 'amd64.env'
+while read -r env_name; do
+    ansible_args+=("--extra-vars" "${env_name}=${!env_name}")
+done < <(sed "s/=.*//" <amd64.env)
+
+ansible-galaxy collection install -f -r "ansible-galaxy-requirements.yaml"
+ansible-playbook "ansible/playbooks/local_dev_env.yaml" \
+    "${ansible_args[@]}" \
+    -e WORKSPACE_ROOT="$(pwd)" \
+    -e install_devel="y" \
+    --skip-tags vcs
+
+git config --global --unset-all url."https://${GITHUB_TOKEN}:[email protected]/".insteadOf
+: "${WEBAUTO_CI_GITHUB_TOKEN:?is not set}"
+
+sudo 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 $(source /etc/os-release && echo "$UBUNTU_CODENAME") main" | sudo tee /etc/apt/sources.list.d/ros2.list >/dev/null
+sudo -E apt-get -y update
+sudo -E apt-get -y install usbutils # For kvaser
+
+export GITHUB_TOKEN="$WEBAUTO_CI_GITHUB_TOKEN"
+git config --global --add url."https://${GITHUB_TOKEN}:[email protected]/".insteadOf "https://github.com/"
+git config --global --add url."https://${GITHUB_TOKEN}:[email protected]/".insteadOf "[email protected]:"
 
 ansible_args=()
 ansible_args+=("--extra-vars" "prompt_install_nvidia=y")
 ansible_args+=("--extra-vars" "prompt_download_artifacts=y")
 ansible_args+=("--extra-vars" "data_dir=$HOME/autoware_data")
-ansible_args+=("--extra-vars" "ros2_installation_type=ros-base")
-ansible_args+=("--extra-vars" "install_devel=false")
 
 # read amd64 env file and expand ansible arguments
 source 'amd64.env'
@@ -14,7 +52,10 @@ while read -r env_name; do
 done < <(sed "s/=.*//" <amd64.env)
 
 ansible-galaxy collection install -f -r "ansible-galaxy-requirements.yaml"
-ansible-playbook "ansible/playbooks/universe.yaml" \
+ansible-playbook "ansible/playbooks/local_dev_env.yaml" \
     "${ansible_args[@]}" \
     -e WORKSPACE_ROOT="$(pwd)" \
+    -e install_devel="y" \
     --skip-tags vcs
+
+git config --global --unset-all url."https://${GITHUB_TOKEN}:[email protected]/".insteadOf
@@ -0,0 +1,17 @@
+'/etc/hosts'
+'/etc/hostname'
+'/etc/resolv.conf'
+'/etc/netplan'
+'/etc/udev/rules.d/70-persistent-disk.rules'
+'/etc/dhcpd.conf'
+'/etc/nftables.conf'
+'/etc/tpm2_pkcs11/tpm2_pkcs11.sqlite3'
+'/etc/usbguard/rules.conf'
+'/etc/nftables.conf'
+'/home/autoware/vehicle.env'
+'/greengrass/config/config.json'
+'/greengrass/certs'
+'/opt/autoware/maps'
+'/opt/autoware/area_map'
+'/opt/devtools'
+'/opt/dssad/'
@@ -0,0 +1,40 @@
+#!/bin/bash -e
+
+: "${WEBAUTO_CI_SOURCE_PATH:?is not set}"
+: "${WEBAUTO_CI_GITHUB_TOKEN:?is not set}"
+
+: "${AUTOWARE_PATH:?is not set}"
+: "${ECU_SYSTEM_SETUP_SOURCE_PATH:?is not set}"
+: "${ECU_SYSTEM_SETUP_ANSIBLE_PLAYBOOK:?is not set}"
+
+cd "$AUTOWARE_PATH"
+# Delete files for incremental builds created in the autoware-build phase.
+find "$AUTOWARE_PATH" \( -name ".rsync-include" -or -name ".rsync-exclude" \) -print0 | xargs -0 rm
+
+rm -rf "$ECU_SYSTEM_SETUP_SOURCE_PATH"
+cp -r "${WEBAUTO_CI_SOURCE_PATH}/${ECU_SYSTEM_SETUP_SOURCE_PATH}" "$ECU_SYSTEM_SETUP_SOURCE_PATH"
+
+sudo -E apt-get -y update
+sudo -E apt-get -y install "linux-image-$(uname -r)" "linux-headers-$(uname -r)" "linux-modules-extra-$(uname -r)"
+sudo -E apt-get -y install systemd udev kmod
+sudo -E apt-get -y install ubuntu-minimal openssh-server fonts-ubuntu systemd-coredump vim grub-efi-amd64
+sudo -E apt-get -y install ubuntu-desktop-minimal --no-install-recommends
+
+# Disable auto suspend
+sudo sed -i 's/\(.*sleep-inactive-ac-timeout=.*\)/sleep-inactive-ac-timeout=0/g' /etc/gdm3/greeter.dconf-defaults
+sudo sed -i 's/\(.*sleep-inactive-battery-timeout=.*\)/sleep-inactive-battery-timeout=0/g' /etc/gdm3/greeter.dconf-defaults
+
+export GITHUB_TOKEN="$WEBAUTO_CI_GITHUB_TOKEN"
+git config --global --add url."https://${GITHUB_TOKEN}:[email protected]/".insteadOf "https://github.com/"
+git config --global --add url."https://${GITHUB_TOKEN}:[email protected]/".insteadOf "[email protected]:"
+
+readonly dummy_vehicle_id=default # Reconfigure during OTA update
+ansible-galaxy collection install -f -r "ansible-galaxy-requirements.yaml"
+ansible-playbook "${ECU_SYSTEM_SETUP_ANSIBLE_PLAYBOOK}" \
+    -e autoware_install_dir="$(pwd)" \
+    -e vehicle_id="${dummy_vehicle_id}" \
+    -e reload_systemd=no
+
+git config --global --unset-all url."https://${GITHUB_TOKEN}:[email protected]/".insteadOf
+
+sudo sed -i '/^autoware\sALL=(ALL)\sNOPASSWD:ALL/d' /etc/sudoers
@@ -2,7 +2,7 @@
 
 apt-get update
 
-apt-get -y install sudo curl wget unzip gnupg lsb-release ccache python3-apt python3-pip apt-utils software-properties-common jq
+apt-get -y install sudo curl wget unzip gnupg lsb-release git ccache python3-apt python3-pip apt-utils software-properties-common jq rsync
 add-apt-repository universe
 
 pip install --no-cache-dir 'ansible==6.*'

@@ -0,0 +1,4 @@
+- ansible.builtin.import_playbook: autoware.dev_env.universe
+- hosts: localhost
+  connection: local
+  roles: