feat(repos): re-introduce agnocast

ansible/playbooks/universe.yaml

@@ -45,6 +45,7 @@
     - role: autoware.dev_env.rmw_implementation
     - role: autoware.dev_env.gdown
     - role: autoware.dev_env.build_tools
+    - role: autoware.dev_env.agnocast
 
     # Autoware module dependencies
     - role: autoware.dev_env.geographiclib

ansible/roles/agnocast/README.md

@@ -0,0 +1,27 @@
+# agnocast
+
+This role installs [Agnocast](https://github.com/tier4/agnocast), true zero-copy communication middleware for all ROS 2 message types.
+
+## Inputs
+
+None.
+
+## Manual Installation
+
+```bash
+agnocast_version="2.1.0"
+agnocast_heaphook_package="agnocast-heaphook-v${agnocast_version}"
+agnocast_kmod_package="agnocast-kmod-v${agnocast_version}"
+
+sudo add-apt-repository -y ppa:t4-system-software/agnocast
+sudo apt update
+sudo apt install -y "${agnocast_heaphook_package}"
+
+if dkms status | grep agnocast | grep -q "{agnocast_version}"; then
+    echo "agnocast-kmod-v${agnocast_version} is already registered in dkms. Skipping purge and install."
+else
+    sudo apt purge -y "${agnocast_kmod_package}"
+    sudo apt install -y "${agnocast_kmod_package}"
+fi
+
+```

ansible/roles/agnocast/defaults/main.yaml

@@ -0,0 +1,3 @@
+agnocast_version: 2.1.0
+agnocast_heaphook_package: agnocast-heaphook-v{{ agnocast_version }}
+agnocast_kmod_package: agnocast-kmod-v{{ agnocast_version }}

ansible/roles/agnocast/tasks/main.yaml

@@ -0,0 +1,42 @@
+- name: Install linux headers for the running kernel
+  ansible.builtin.apt:
+    name: linux-headers-{{ ansible_kernel }}
+    state: present
+  become: true
+
+- name: Add agnocast PPA repository
+  ansible.builtin.apt_repository:
+    repo: ppa:t4-system-software/agnocast
+    state: present
+  become: true
+
+- name: Update apt cache
+  ansible.builtin.apt:
+    update_cache: true
+  become: true
+
+- name: Install {{ agnocast_heaphook_package }}
+  ansible.builtin.apt:
+    name: "{{ agnocast_heaphook_package }}"
+    state: present
+  become: true
+
+- name: Check if agnocast-kmod is installed in dkms with version v{{ agnocast_version }}
+  ansible.builtin.shell: dkms status | grep agnocast | grep {{ agnocast_version }} # noqa: risky-shell-pipe
+  register: dkms_status
+  failed_when: false
+  changed_when: false
+
+- name: Purge agnocast-kmod if not found in dkms for version v{{ agnocast_version }}
+  ansible.builtin.apt:
+    name: "{{ agnocast_kmod_package }}"
+    state: absent
+  become: true
+  when: dkms_status.rc != 0
+
+- name: Install agnocast-kmod if not found in dkms for version v{{ agnocast_version }}
+  ansible.builtin.apt:
+    name: "{{ agnocast_kmod_package }}"
+    state: present
+  become: true
+  when: dkms_status.rc != 0

autoware.repos

@@ -116,3 +116,12 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/autoware_individual_params.git
     version: 70000825155182d9261ce0980076b0e2c6dc3f51
+  # middleware
+  # TODO(TIER IV): During the transition period of Agnocast introduction,
+  # the Agnocast ROS packages are provided as a source build.
+  # Once the transition stabilizes, use the packages released from the official ROS repository.
+  # Issue: https://github.com/autowarefoundation/autoware/issues/5968
+  middleware/external/agnocast:
+    type: git
+    url: https://github.com/tier4/agnocast.git
+    version: 2.1.0

docker/Dockerfile

@@ -2,7 +2,7 @@
 ARG AUTOWARE_BASE_CUDA_IMAGE
 
 # hadolint ignore=DL3006
 FROM $AUTOWARE_BASE_IMAGE AS rosdep-depend
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 
@@ -48,6 +48,7 @@
 # trt_batched_nms depends on autoware_tensorrt_common and autoware_cuda_utils, which are not available in universe-common-devel stage
 RUN rm -rf /autoware/src/universe/external/trt_batched_nms
 COPY src/universe/autoware_universe/common /autoware/src/universe/autoware_universe/common
+COPY src/middleware/external /autoware/src/middleware/external
 RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
   > /rosdep-universe-common-depend-packages.txt \
   && cat /rosdep-universe-common-depend-packages.txt
@@ -155,7 +156,7 @@
   && cat /rosdep-exec-depend-packages.txt
 
 # hadolint ignore=DL3006
 FROM $AUTOWARE_BASE_IMAGE AS core-common-devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ENV CCACHE_DIR="/root/.ccache"
@@ -240,6 +241,7 @@
   --mount=type=bind,source=src/universe/external/rtklib_ros_bridge,target=/autoware/src/universe/external/rtklib_ros_bridge \
   --mount=type=bind,source=src/universe/external/tier4_ad_api_adaptor,target=/autoware/src/universe/external/tier4_ad_api_adaptor \
   --mount=type=bind,source=src/universe/external/tier4_autoware_msgs,target=/autoware/src/universe/external/tier4_autoware_msgs \
+  --mount=type=bind,source=src/middleware/external,target=/autoware/src/middleware/external \
   source /opt/ros/"$ROS_DISTRO"/setup.bash \
   && source /opt/autoware/setup.bash \
   && /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware
@@ -487,7 +489,7 @@
 CMD ["/bin/bash"]
 
 # hadolint ignore=DL3006
 FROM $AUTOWARE_BASE_IMAGE AS core
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
@@ -513,7 +515,7 @@
 CMD ["/bin/bash"]
 
 # hadolint ignore=DL3006
 FROM $AUTOWARE_BASE_IMAGE AS universe-sensing-perception
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
@@ -539,7 +541,7 @@
 CMD ["/bin/bash"]
 
 # hadolint ignore=DL3006
 FROM $AUTOWARE_BASE_CUDA_IMAGE AS universe-sensing-perception-cuda
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
@@ -561,7 +563,7 @@
 CMD ["/bin/bash"]
 
 # hadolint ignore=DL3006
 FROM $AUTOWARE_BASE_IMAGE AS universe-localization-mapping
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
@@ -587,7 +589,7 @@
 CMD ["/bin/bash"]
 
 # hadolint ignore=DL3006
 FROM $AUTOWARE_BASE_IMAGE AS universe-planning-control
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
@@ -613,7 +615,7 @@
 CMD ["/bin/bash"]
 
 # hadolint ignore=DL3006
 FROM $AUTOWARE_BASE_IMAGE AS universe-vehicle-system
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
@@ -639,7 +641,7 @@
 CMD ["/bin/bash"]
 
 # hadolint ignore=DL3006
 FROM $AUTOWARE_BASE_IMAGE AS universe-visualization
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
@@ -665,7 +667,7 @@
 CMD ["/bin/bash"]
 
 # hadolint ignore=DL3006
 FROM $AUTOWARE_BASE_IMAGE AS universe
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
@@ -691,7 +693,7 @@
 CMD ["/bin/bash"]
 
 # hadolint ignore=DL3006
 FROM $AUTOWARE_BASE_CUDA_IMAGE AS universe-cuda
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR

docker/README.md

@@ -121,6 +121,7 @@ This stage installs the dependency packages based on `/rosdep-universe-common-de
 
 - `universe/external`
 - `universe/autoware_universe/common`
+- `middleware/external`
 
 ### `universe-common-devel-cuda`