Merge pull request #1522 from tier4/feature/docker/traffic_simulator

add Dockerfile for traffic_simulator
tier4 · Feb 5, 2025 · 17759d8 · 17759d8
2 parents 132c03d + 8040a27
commit 17759d8
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diff --git a/.github/workflows/Docker.yaml b/.github/workflows/Docker.yaml
@@ -18,6 +18,61 @@ on:
         required: true
 
 jobs:
+  push_traffic_sim_docker:
+    name: Push Docker Image for traffic_simulator
+    runs-on: ubuntu-22.04
+    timeout-minutes: 720
+    strategy:
+      matrix:
+        rosdistro: [humble]
+
+    steps:
+      - name: Free Disk Space (Ubuntu)
+        uses: jlumbroso/free-disk-space@main
+        with:
+          tool-cache: false
+
+      - name: Install docker for ubuntu runner
+        uses: docker/setup-buildx-action@v3
+
+      - uses: actions/checkout@v4
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build
+        if: github.event_name == 'pull_request'
+        uses: docker/[email protected]
+        with:
+          files: |
+            ./docker-bake.hcl
+          workdir: .
+          set: |
+            *.cache-to=type=gha,mode=max
+            *.cache-from=type=gha
+          push: false
+          targets: |
+            traffic_simulator_${{ matrix.rosdistro }}
+
+      - name: Build and push
+        if: github.event_name == 'workflow_dispatch'
+        uses: docker/[email protected]
+        with:
+          files: |
+            ./docker-bake.hcl
+          workdir: .
+          set: |
+            *.cache-to=type=gha,mode=max
+            *.cache-from=type=gha
+            *.tags=ghcr.io/tier4/scenario_simulator_v2:traffic_simulator_${{ matrix.rosdistro }}-${{ github.event.inputs.version }}
+          push: true
+          targets: |
+            traffic_simulator_${{ matrix.rosdistro }}
+
   push_docker:
     name: Push Docker Image
     runs-on: ubuntu-22.04

diff --git a/Dockerfile.traffic_simulator b/Dockerfile.traffic_simulator
@@ -0,0 +1,47 @@
+ARG ROS_DISTRO="humble"
+FROM ros:${ROS_DISTRO} as build-stage
+SHELL ["/bin/bash", "-c"]
+ENV DEBIAN_FRONTEND=noninteractive
+ENV DEBCONF_NOWARNINGS=yes
+
+# cspell: ignore kisak
+RUN --mount=type=cache,id=apt-cache-amd64,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,id=apt-lib-amd64,target=/var/lib/apt,sharing=locked \
+    apt-get update && apt-get -y install python3-pip python3-rospkg python3-rosdep software-properties-common ccache && \
+    add-apt-repository ppa:kisak/kisak-mesa -y && \
+    apt-get update && apt-get install libegl-mesa0 -y
+
+RUN rm -f /etc/apt/apt.conf.d/docker-clean && \
+    echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/keep-cache
+
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator
+COPY ./simulation/traffic_simulator /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator/simulation/traffic_simulator
+COPY ./simulation/traffic_simulator_msgs /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator/simulation/traffic_simulator_msgs
+COPY ./simulation/simulation_interface /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator/simulation/simulation_interface
+COPY ./external/concealer /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator/external/concealer
+COPY ./common /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator/common
+COPY ./dependency_${ROS_DISTRO}.repos /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator/dependency_${ROS_DISTRO}.repos
+RUN vcs import external < dependency_${ROS_DISTRO}.repos
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src
+RUN --mount=type=cache,id=apt-cache-amd64,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,id=apt-lib-amd64,target=/var/lib/apt,sharing=locked \
+    source /opt/ros/${ROS_DISTRO}/setup.bash \
+    && apt-get update \
+    && rosdep install -iy --from-paths . --rosdistro ${ROS_DISTRO} -t build -t buildtool -t exec
+
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws
+
+ENV CC="/usr/lib/ccache/gcc"
+ENV CXX="/usr/lib/ccache/g++"
+ENV CCACHE_DIR="/ccache"
+RUN --mount=type=cache,target=/ccache source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    colcon build --symlink-install \
+    --cmake-args \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_C_COMPILER_LAUNCHER=ccache \
+    -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+    -DBUILD_TESTING=OFF
+COPY ./docker-entrypoint.sh /
+RUN chmod a+x /docker-entrypoint.sh
+
+ENTRYPOINT ["/docker-entrypoint.sh"]
diff --git a/docker-bake.hcl b/docker-bake.hcl
@@ -24,3 +24,12 @@ target "humble" {
     base = ["base_amd64", "base_arm64"]
   }
 }
+
+target "traffic_simulator" {
+  name = "traffic_simulator_humble"
+  tags = ["ghcr.io/tier4/scenario_simulator_v2:traffic_simulator_humble"]
+  args = {"ROS_DISTRO" : "humble"}
+  group = ["humble"]
+  matrix = {}
+  dockerfile = "Dockerfile.traffic_simulator"
+}