refactor(docker-build-and-push): refine autoware-tools workflow (#5941)

Author: youtalk

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

@@ -31,6 +31,34 @@ runs:
     - name: Setup Docker Buildx
       uses: docker/setup-buildx-action@v3
 
+    - name: Cache ccache
+      uses: actions/cache@v4
+      with:
+        path: |
+          root-ccache
+        key: ccache-tools-${{ inputs.platform }}-${{ hashFiles('src/**/*.cpp') }}
+        restore-keys: |
+          ccache-tools-${{ inputs.platform }}-
+
+    - name: Cache apt-get
+      uses: actions/cache@v4
+      with:
+        path: |
+          var-cache-apt
+        key: apt-get-tools-${{ inputs.platform }}-${{ hashFiles('src/**/package.xml') }}
+        restore-keys: |
+          apt-get-tools-${{ inputs.platform }}-
+
+    - name: Inject cache into docker
+      uses: reproducible-containers/buildkit-cache-dance@v3.1.2
+      with:
+        cache-map: |
+          {
+            "root-ccache": "/root/.ccache",
+            "var-cache-apt": "/var/cache/apt"
+          }
+        skip-extraction: ${{ steps.cache-ccache.outputs.cache-hit && steps.cache-apt-get.outputs.cache-hit }}
+
     - name: Get current date
       id: date
       run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT
@@ -74,7 +102,7 @@ runs:
       with:
         push: true
         files: |
-          docker/docker-bake-tools.hcl
+          docker/tools/docker-bake.hcl
           ${{ steps.meta-visualizer.outputs.bake-file }}
           ${{ steps.meta-scenario-simulator.outputs.bake-file }}
         provenance: false

docker/docker-bake-tools.hcl renamed to docker/tools/docker-bake.hcl

@@ -11,12 +11,12 @@ target "docker-metadata-action-scenario-simulator" {}
 
 target "visualizer" {
   inherits = ["docker-metadata-action-visualizer"]
-  dockerfile = "docker/tools/visualizer/Dockerfile.visualizer"
+  dockerfile = "docker/tools/visualizer/Dockerfile"
   target = "visualizer"
 }
 
 target "scenario-simulator" {
   inherits = ["docker-metadata-action-scenario-simulator"]
-  dockerfile = "docker/tools/scenario-simulator/Dockerfile.scenario-simulator"
+  dockerfile = "docker/tools/scenario-simulator/Dockerfile"
   target = "scenario-simulator"
 }

docker/tools/scenario-simulator/Dockerfile.scenario-simulator renamed to docker/tools/scenario-simulator/Dockerfile

@@ -2,57 +2,52 @@
 FROM ghcr.io/autowarefoundation/autoware:universe-devel AS builder
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
-ARG LIB_DIR
 ENV CCACHE_DIR="/root/.ccache"
-WORKDIR /autoware
-COPY src/simulator /autoware/src/simulator
+
 COPY docker/scripts/resolve_rosdep_keys.sh /autoware/resolve_rosdep_keys.sh
 RUN chmod +x /autoware/resolve_rosdep_keys.sh
+COPY src/simulator /autoware/src/simulator
+WORKDIR /autoware
 
 # Install dependencies and build the scenario simulator
 # hadolint ignore=SC1091
-RUN --mount=type=ssh \
-    --mount=type=cache,target=/var/cache/apt,sharing=locked \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     apt-get update \
-    && source /opt/ros/"$ROS_DISTRO"/setup.bash && source /opt/autoware/setup.bash \
+    && source /opt/autoware/setup.bash \
     && rosdep update && rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO \
-    && colcon build --cmake-args \
-      "-Wno-dev" \
-      "--no-warn-unused-cli" \
-      --install-base /opt/autoware \
-      --merge-install \
-      --mixin release compile-commands ccache \
+    && /autoware/cleanup_apt.sh
+
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=${CCACHE_DIR} \
+    source /opt/autoware/setup.bash \
+    && /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware \
     && find /opt/autoware/lib -type f -name "*.py" -exec chmod +x {} \; \
-    && find /opt/autoware/share -type f -name "*.py" -exec chmod +x {} \; \
-    && apt-get clean \
-    && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+    && find /opt/autoware/share -type f -name "*.py" -exec chmod +x {} \;
 
 # Extract rosdep dependencies for simulator
 # hadolint ignore=SC1091
-RUN source /opt/ros/"$ROS_DISTRO"/setup.bash && source /opt/autoware/setup.bash \
-    && /autoware/resolve_rosdep_keys.sh /autoware/src/simulator ${ROS_DISTRO} --dependency-types=exec \
-    > /rosdep-simulator-depend-packages.txt \
-    && cat /rosdep-simulator-depend-packages.txt
+RUN source /opt/autoware/setup.bash \
+    && /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-types=exec \
+    > /rosdep-simulator-exec-depend-packages.txt \
+    && cat /rosdep-simulator-exec-depend-packages.txt
 
 ### Scenario Simulator
 FROM ghcr.io/autowarefoundation/autoware:core AS scenario-simulator
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
-WORKDIR /autoware
+
 COPY --from=builder /opt/autoware /opt/autoware
-COPY --from=builder /rosdep-simulator-depend-packages.txt /tmp/rosdep-simulator-depend-packages.txt
+COPY --from=builder /rosdep-simulator-exec-depend-packages.txt /tmp/rosdep-simulator-exec-depend-packages.txt
 
 # hadolint ignore=SC2002
 RUN --mount=type=ssh \
     --mount=type=cache,target=/var/cache/apt,sharing=locked \
-    apt-get update && apt-get install -y curl unzip \
-    && source /opt/ros/"$ROS_DISTRO"/setup.bash && source /opt/autoware/setup.bash \
-    && rosdep update \
+    apt-get update \
     # Remove xmlschema and yamale from rosdep packages since we install via pip
-    && sed -i '/\(xmlschema\|yamale\)/d' /tmp/rosdep-simulator-depend-packages.txt \
+    && sed -i '/\(xmlschema\|yamale\)/d' /tmp/rosdep-simulator-exec-depend-packages.txt \
     && pip install --no-cache-dir yamale xmlschema \
-    && cat /tmp/rosdep-simulator-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+    && cat /tmp/rosdep-simulator-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
     && /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO
 
 COPY docker/tools/scenario-simulator/entrypoint.sh /entrypoint.sh

docker/tools/visualizer/Dockerfile

@@ -0,0 +1,52 @@
+# cspell:ignore openbox, VNC, tigervnc, novnc, websockify, newkey, xstartup, keyout
+FROM ghcr.io/autowarefoundation/autoware:universe AS universe
+
+# Extract RViz configs for visualizer
+# hadolint ignore=SC1091
+RUN source /opt/autoware/setup.bash \
+  && RVIZ_PATH="$(ros2 pkg prefix --share autoware_launch)/rviz" \
+  && cp -r "$RVIZ_PATH" /autoware/rviz
+
+### visualizer
+FROM ghcr.io/autowarefoundation/autoware:universe-visualization AS visualizer
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ARG LIB_DIR
+
+COPY --from=universe /autoware/rviz /autoware/rviz
+WORKDIR /autoware
+
+# Install openbox, VNC, and simulator dependencies
+# hadolint ignore=SC2002
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
+  curl \
+  unzip \
+  openbox \
+  tigervnc-standalone-server \
+  tigervnc-common \
+  novnc \
+  websockify \
+  python3-numpy \
+  python3-xdg \
+  && pip install --no-cache-dir yamale xmlschema \
+  && /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO
+
+# Create SSL certificate for NoVNC
+RUN openssl req -x509 -nodes -newkey rsa:2048 \
+  -keyout /etc/ssl/private/novnc.key \
+  -out /etc/ssl/certs/novnc.crt \
+  -days 365 \
+  -subj "/O=Autoware-OpenADKit/CN=localhost"
+
+# Need to expose VNC and NoVNC ports when running the container
+EXPOSE 5900 6080
+
+# Add source commands to bash startup
+RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /root/.bashrc && \
+  echo "source /opt/autoware/setup.bash" >> /root/.bashrc
+
+# Copy startup scripts
+COPY docker/tools/visualizer/xstartup /root/.vnc/xstartup
+COPY docker/tools/visualizer/entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh && chmod +x /root/.vnc/xstartup
+ENTRYPOINT ["/entrypoint.sh"]