feat(docker): add simulator-visualizer container

.dockerignore

@@ -10,6 +10,7 @@
 docker
 !docker/etc
 !docker/scripts
+!docker/tools
 
 # Ignore a part of files under src
 src/**/.*

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

@@ -0,0 +1,110 @@
+name: docker-build-and-push-tools
+description: Composite action to build and push tools images to registry.
+
+inputs:
+  platform:
+    description: Target platform.
+    required: true
+  target-image:
+    description: Target docker image name in the registry.
+    required: true
+  build-args:
+    description: Additional build args.
+    required: false
+
+runs:
+  using: composite
+  steps:
+    - 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: Setup Docker Buildx
+      uses: docker/setup-buildx-action@v3
+
+    - name: Restore ccache
+      uses: actions/cache/restore@v4
+      with:
+        path: |
+          root-ccache
+        key: ccache-${{ inputs.platform }}-${{ hashFiles('src/**/*.cpp') }}
+        restore-keys: |
+          ccache-${{ inputs.platform }}-
+
+    - name: Restore apt-get
+      uses: actions/cache/restore@v4
+      with:
+        path: |
+          var-cache-apt
+        key: apt-get-${{ inputs.platform }}-${{ hashFiles('src/**/package.xml') }}
+        restore-keys: |
+          apt-get-${{ inputs.platform }}-
+
+    - name: Inject cache into docker
+      uses: reproducible-containers/[email protected]
+      with:
+        cache-map: |
+          {
+            "root-ccache": "/root/.ccache",
+            "var-cache-apt": "/var/cache/apt"
+          }
+        skip-extraction: true
+
+    - name: Get current date
+      id: date
+      run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT
+      shell: bash
+
+    - name: Docker meta for autoware:visualizer
+      id: meta-visualizer
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.target-image }}
+        tags: |
+          type=raw,value=visualizer-${{ inputs.platform }}
+          type=raw,value=visualizer-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=visualizer-,suffix=-${{ inputs.platform }}
+        bake-target: docker-metadata-action-visualizer
+        flavor: |
+          latest=false
+
+    - name: Docker meta for autoware:simulator
+      id: meta-simulator
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.target-image }}
+        tags: |
+          type=raw,value=simulator-${{ inputs.platform }}
+          type=raw,value=simulator-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=simulator-,suffix=-${{ inputs.platform }}
+        bake-target: docker-metadata-action-simulator
+        flavor: |
+          latest=false
+
+    - name: Login to GitHub Container Registry
+      uses: docker/login-action@v3
+      with:
+        registry: ghcr.io
+        username: ${{ github.repository_owner }}
+        password: ${{ github.token }}
+
+    - name: Build and Push to GitHub Container Registry
+      uses: docker/bake-action@v5
+      with:
+        push: true
+        files: |
+          docker/docker-bake-tools.hcl
+          ${{ steps.meta-simulator.outputs.bake-file }}
+          ${{ steps.meta-visualizer.outputs.bake-file }}
+        provenance: false
+        set: |
+          ${{ inputs.build-args }}

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

@@ -181,6 +181,32 @@ runs:
         flavor: |
           latest=false
 
+    - name: Docker meta for autoware:visualizer
+      id: meta-visualizer
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.target-image }}
+        tags: |
+          type=raw,value=visualizer-${{ inputs.platform }}
+          type=raw,value=visualizer-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=visualizer-,suffix=-${{ inputs.platform }}
+        bake-target: docker-metadata-action-visualizer
+        flavor: |
+          latest=false
+
+    - name: Docker meta for autoware:simulator
+      id: meta-simulator
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.target-image }}
+        tags: |
+          type=raw,value=simulator-${{ inputs.platform }}
+          type=raw,value=simulator-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=simulator-,suffix=-${{ inputs.platform }}
+        bake-target: docker-metadata-action-simulator
+        flavor: |
+          latest=false
+
     - name: Docker meta for autoware:universe-devel
       id: meta-universe-devel
       uses: docker/metadata-action@v5
@@ -220,6 +246,7 @@ runs:
         push: true
         files: |
           docker/docker-bake.hcl
+          docker/docker-bake-tools.hcl
           ${{ steps.meta-core-devel.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception-devel.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception.outputs.bake-file }}
@@ -231,6 +258,8 @@ runs:
           ${{ steps.meta-universe-vehicle-system.outputs.bake-file }}
           ${{ steps.meta-universe-devel.outputs.bake-file }}
           ${{ steps.meta-universe.outputs.bake-file }}
+          ${{ steps.meta-simulator.outputs.bake-file }}
+          ${{ steps.meta-visualizer.outputs.bake-file }}
         provenance: false
         set: |
           ${{ inputs.build-args }}

.github/workflows/docker-build-and-push-arm64.yaml

@@ -67,6 +67,22 @@ jobs:
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-main
             *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }},mode=max
 
+      - name: Build 'Tools'
+        uses: ./.github/actions/docker-build-and-push-tools
+        with:
+          platform: arm64
+          target-image: autoware-tools
+          build-args: |
+            *.platform=linux/arm64
+            *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
+            *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
+            *.args.AUTOWARE_BASE_IMAGE=${{ needs.load-env.outputs.autoware_base_image }}
+            *.args.AUTOWARE_BASE_CUDA_IMAGE=${{ needs.load-env.outputs.autoware_base_cuda_image }}
+            *.args.LIB_DIR=aarch64
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }}
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-main
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }},mode=max
+
       - name: Show disk space
         if: always()
         run: |

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

@@ -62,6 +62,22 @@ jobs:
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-main
             *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-${{ github.ref_name }},mode=max
 
+      - name: Build 'Tools'
+        uses: ./.github/actions/docker-build-and-push-tools
+        with:
+          platform: amd64
+          target-image: autoware-tools
+          build-args: |
+            *.platform=linux/amd64
+            *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
+            *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
+            *.args.AUTOWARE_BASE_IMAGE=${{ needs.load-env.outputs.autoware_base_image }}
+            *.args.AUTOWARE_BASE_CUDA_IMAGE=${{ needs.load-env.outputs.autoware_base_cuda_image }}
+            *.args.LIB_DIR=x86_64
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-${{ github.ref_name }}
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-main
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-${{ github.ref_name }},mode=max
+
       - name: Show disk space
         if: always()
         run: |

docker/docker-bake-tools.hcl

@@ -0,0 +1,22 @@
+group "default" {
+  targets = [
+    "simulator",
+    "visualizer"
+  ]
+}
+
+// For docker/metadata-action
+target "docker-metadata-action-simulator" {}
+target "docker-metadata-action-visualizer" {}
+
+target "simulator" {
+  inherits = ["docker-metadata-action-simulator"]
+  dockerfile = "docker/tools/Dockerfile"
+  target = "simulator"
+}
+
+target "visualizer" {
+  inherits = ["docker-metadata-action-visualizer"]
+  dockerfile = "docker/tools/Dockerfile"
+  target = "visualizer"
+}

docker/tools/Dockerfile

@@ -0,0 +1,104 @@
+ARG ROS_DISTRO
+
+### Builder
+FROM ghcr.io/autowarefoundation/autoware:universe-devel AS builder
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ENV CCACHE_DIR="/root/.ccache"
+WORKDIR /autoware
+COPY src /autoware/src
+COPY simulator.repos /autoware/simulator.repos
+COPY docker/scripts/resolve_rosdep_keys.sh /autoware/resolve_rosdep_keys.sh
+RUN chmod +x /autoware/resolve_rosdep_keys.sh
+
+# Install dependencies and build the simulator
+RUN --mount=type=ssh \
+    --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    vcs import src < simulator.repos \
+    && apt-get update \
+    && rosdep update && rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO \
+    && source /opt/ros/"$ROS_DISTRO"/setup.bash && source /opt/autoware/setup.bash \
+    && colcon build --cmake-args \
+      "-Wno-dev" \
+      "--no-warn-unused-cli" \
+      --install-base /opt/autoware \
+      --merge-install \
+      --mixin release compile-commands ccache \
+      --base-paths /autoware/src/simulator \
+    && 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
+
+# Extract rosdep dependencies for simulator
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src/simulator ${ROS_DISTRO} \
+    > /rosdep-simulator-depend-packages.txt \
+    && cat /rosdep-simulator-depend-packages.txt
+
+### Simulator
+FROM ghcr.io/autowarefoundation/autoware:universe AS simulator
+WORKDIR /autoware
+COPY --from=builder /opt/autoware /opt/autoware
+COPY --from=builder /rosdep-simulator-depend-packages.txt /tmp/rosdep-simulator-depend-packages.txt
+
+RUN --mount=type=ssh \
+    --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    apt-get update && apt-get install -y curl unzip \
+    && source /opt/ros/"$ROS_DISTRO"/setup.bash && source /opt/autoware/setup.bash \
+    && rosdep update \
+    # Remove xmlschema and yamale from rosdep packages since we install via pip
+    && sed -i '/\(xmlschema\|yamale\)/d' /tmp/rosdep-simulator-depend-packages.txt \
+    && pip install yamale xmlschema \
+    && cat /tmp/rosdep-simulator-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/* "$HOME"/.cache && \
+    echo "source /opt/autoware/setup.bash" > /etc/bash.bashrc
+
+COPY docker/tools/etc/entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["/bin/bash"]
+
+### Visualizer
+FROM simulator AS visualizer
+WORKDIR /autoware
+
+# Install openbox and VNC requirements
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
+    curl unzip openbox tigervnc-standalone-server tigervnc-common \
+    novnc websockify python3-numpy python3-xdg \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+# # Set up VNC password
+# RUN mkdir -p ~/.vnc && \
+#     echo "openadkit" | vncpasswd -f > ~/.vnc/passwd && \
+#     chmod 600 ~/.vnc/passwd
+
+# Create SSL certificate for NoVNC
+RUN openssl req -x509 -nodes -newkey rsa:2048 \
+    -keyout /etc/ssl/private/novnc.key \
+    -out /etc/ssl/certs/novnc.crt \
+    -days 365 \
+    -subj "/O=Autoware-OpenADKit/CN=localhost"
+
+# Install ngrok for optional public access if no public ip available
+RUN curl -sSL https://ngrok-agent.s3.amazonaws.com/ngrok.asc \
+    | tee /etc/apt/trusted.gpg.d/ngrok.asc >/dev/null && \
+    echo "deb https://ngrok-agent.s3.amazonaws.com buster main" \
+    | tee /etc/apt/sources.list.d/ngrok.list && \
+    apt update && \
+    apt install ngrok
+
+# Need to expose VNC and NoVNC ports when running the container
+EXPOSE 5900 6080
+
+# Add source commands to bash startup
+RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /root/.bashrc && \
+    echo "source /opt/autoware/setup.bash" >> /root/.bashrc
+
+# Copy startup scripts
+COPY docker/tools/etc/xstartup /root/.vnc/xstartup
+COPY docker/tools/etc/entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh && chmod +x /root/.vnc/xstartup
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["/bin/bash"]