Merge remote-tracking branch 'upstream/main' into universe-launch-ver…

…sioning Signed-off-by: Yutaka Kondo <[email protected]>
autowarefoundation · Nov 19, 2024 · a7bf538 · a7bf538
2 parents 3746713 + abb6b8d
commit a7bf538
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diff --git a/.clang-tidy b/.clang-tidy
@@ -202,6 +202,9 @@ WarningsAsErrors: "
 
 HeaderFilterRegex: ^(?!\/usr)(?!\/opt)
 
+ExtraArgs:
+  - -std=c++17
+
 FormatStyle: none
 
 CheckOptions:

diff --git a/.clang-tidy-ci b/.clang-tidy-ci
@@ -225,6 +225,9 @@ WarningsAsErrors: "
 
 HeaderFilterRegex: ^(?!\/usr)(?!\/opt)
 
+ExtraArgs:
+  - -std=c++17
+
 CheckOptions:
   - key: bugprone-argument-comment.CommentBoolLiterals
     value: "0"

diff --git a/.github/actions/docker-build/action.yaml b/.github/actions/docker-build/action.yaml
@@ -8,10 +8,10 @@ inputs:
   cache-tag-suffix:
     description: Suffix of the target cache tag.
     required: true
-  repos:
-    description: Target .repos file.
-    default: autoware.repos
-    required: true
+  additional-repos:
+    description: Additional target .repos file.
+    default: ""
+    required: false
   build-args:
     description: Additional build args.
     required: false
@@ -32,12 +32,18 @@ runs:
     - name: Run vcs import
       run: |
         mkdir src
-        vcs import src < ${{ inputs.repos }}
+        vcs import src < autoware.repos
+      shell: bash
+
+    - name: Import additional repositories
+      if: ${{ inputs.additional-repos != '' }}
+      run: |
+        vcs import src < ${{ inputs.additional-repos }}
       shell: bash
 
     - name: Cache ccache
       uses: actions/cache@v4
-      if: ${{ github.ref == 'refs/heads/main' }}
+      if: ${{ github.ref == 'refs/heads/main' && inputs.additional-repos == '' }}
       id: cache-ccache
       with:
         path: |
@@ -48,7 +54,7 @@ runs:
 
     - name: Cache apt-get
       uses: actions/cache@v4
-      if: ${{ github.ref == 'refs/heads/main' }}
+      if: ${{ github.ref == 'refs/heads/main' && inputs.additional-repos == '' }}
       id: cache-apt-get
       with:
         path: |
@@ -59,7 +65,7 @@ runs:
 
     - name: Restore ccache
       uses: actions/cache/restore@v4
-      if: ${{ github.ref != 'refs/heads/main' }}
+      if: ${{ github.ref != 'refs/heads/main' || inputs.additional-repos != '' }}
       with:
         path: |
           root-ccache
@@ -69,7 +75,7 @@ runs:
 
     - name: Restore apt-get
       uses: actions/cache/restore@v4
-      if: ${{ github.ref != 'refs/heads/main' }}
+      if: ${{ github.ref != 'refs/heads/main' || inputs.additional-repos != '' }}
       with:
         path: |
           var-cache-apt

diff --git a/.github/workflows/health-check-nightly.yaml b/.github/workflows/health-check-nightly.yaml
@@ -46,7 +46,7 @@ jobs:
         with:
           platform: amd64
           cache-tag-suffix: nightly
-          repos: autoware-nightly.repos
+          additional-repos: autoware-nightly.repos
           build-args: |
             ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             BASE_IMAGE=${{ needs.load-env.outputs.base_image }}

diff --git a/ansible/roles/cuda/README.md b/ansible/roles/cuda/README.md
@@ -1,6 +1,6 @@
 # cuda
 
-This role installs [CUDA Toolkit](https://developer.nvidia.com/cuda-toolkit) following [this page](https://developer.nvidia.com/cuda-downloads?target_os=Linux&target_arch=x86_64&Distribution=Ubuntu&target_version=22.04&target_type=deb_network) and [this page](https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#post-installation-actions).
+This role installs [CUDA Toolkit](https://developer.nvidia.com/cuda-toolkit) following [this page](https://developer.nvidia.com/cuda-12-3-0-download-archive?target_os=Linux&target_arch=x86_64&Distribution=Ubuntu&target_version=22.04&target_type=deb_network) and [this page](https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#post-installation-actions).
 
 This role also registers Vulkan, OpenGL, and OpenCL GPU vendors for future use.
 
@@ -13,22 +13,36 @@ This role also registers Vulkan, OpenGL, and OpenCL GPU vendors for future use.
 
 ## Manual Installation
 
-Follow these instructions to download and install the CUDA Toolkit and the corresponding NVIDIA Driver for Ubuntu 20.04.
+### Version compatibility
 
-For Universe, the `cuda_version` version can also be found in:
-[../../playbooks/universe.yaml](../../playbooks/universe.yaml)
+Autoware currently uses CUDA `12.3` and from this [CUDA Application Compatibility Support Matrix](https://docs.nvidia.com/deploy/cuda-compatibility/#use-the-right-compat-package) that only the NVIDIA driver version `545` is compatible with this version of CUDA.
+
+#### 🛠️ For Advanced Users
+
+⚠️ **Proceed with caution**: Avoid removing essential system components.
+
+To prevent conflicts during NVIDIA installation, we recommend completely removing old NVIDIA Drivers and CUDA by following this guide: [How can I uninstall a NVIDIA driver completely?](https://askubuntu.com/a/206289/761440).
+
+- **Important**: If you remove the previous NVIDIA drivers, ensure you install the recommended versions listed below **before restarting your system**.
+
+Once the drivers are installed correctly, you may safely restart your system.
+
+### CUDA Toolkit and Driver
+
+Follow these instructions to download and install the CUDA Toolkit.
+
+From: <https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#network-repo-installation-for-ubuntu>
 
 ```bash
 wget -O /tmp/amd64.env https://raw.githubusercontent.com/autowarefoundation/autoware/main/amd64.env && source /tmp/amd64.env
 
-# From: https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#network-repo-installation-for-ubuntu
-
 os=ubuntu2204
 wget https://developer.download.nvidia.com/compute/cuda/repos/$os/$(uname -m)/cuda-keyring_1.1-1_all.deb
 sudo dpkg -i cuda-keyring_1.1-1_all.deb
 sudo apt-get update
 cuda_version_dashed=$(eval sed -e "s/[.]/-/g" <<< "${cuda_version}")
-sudo apt-get -y install cuda-${cuda_version_dashed}
+sudo apt-get -y install cuda-toolkit-${cuda_version_dashed}
+sudo apt-get install -y cuda-drivers-545
 ```
 
 Perform the post installation actions:
@@ -37,9 +51,13 @@ Perform the post installation actions:
 # Taken from: https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#post-installation-actions
 echo 'export PATH=/usr/local/cuda/bin${PATH:+:${PATH}}' >> ~/.bashrc
 echo 'export LD_LIBRARY_PATH=/usr/local/cuda/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}' >> ~/.bashrc
+```
+
+### GPU Vendors
 
-# Register Vulkan, OpenGL, and OpenCL GPU vendors
+Register Vulkan, OpenGL, and OpenCL GPU vendors following the instructions below.
 
+```bash
 # Create Vulkan directory
 sudo mkdir -p /etc/vulkan/icd.d
 sudo chmod 0755 /etc/vulkan/icd.d

diff --git a/ansible/roles/dev_tools/README.md b/ansible/roles/dev_tools/README.md
@@ -12,34 +12,27 @@ This role installs optional development tools for Autoware.
 
 ## Inputs
 
-| Name          | Required | Description                             |
-| ------------- | -------- | --------------------------------------- |
-| clang-version | true     | The version of clang-format to install. |
-| ros-distro    | true     | The ROS distribution.                   |
+| Name                            | Required | Description                             |
+| ------------------------------- | -------- | --------------------------------------- |
+| pre_commit_clang_format_version | true     | The version of clang-format to install. |
+| rosdistro                       | true     | The ROS distribution.                   |
 
 ## Manual Installation
 
 ```bash
-#!/bin/bash
+# For the environment variables
+wget -O /tmp/amd64.env https://raw.githubusercontent.com/autowarefoundation/autoware/main/amd64.env && source /tmp/amd64.env
 
-# Update package lists
 sudo apt-get update
 
-# Install Git LFS
+sudo apt install python3-pip
+sudo apt-get install -y golang
+sudo apt-get install -y ros-${rosdistro}-plotjuggler-ros
 sudo apt-get install -y git-lfs
 
 # Setup Git LFS
 git lfs install
 
-# Install pre-commit using pip3
 pip3 install pre-commit
-
-# Install a specific version of clang-format using pip3
 pip3 install clang-format==${pre_commit_clang_format_version}
-
-# Install Go
-sudo apt-get install -y golang
-
-# Install PlotJuggler
-sudo apt-get install -y ros-${ROS_DISTRO}-plotjuggler-ros
 ```
diff --git a/ansible/roles/tensorrt/README.md b/ansible/roles/tensorrt/README.md
@@ -1,6 +1,6 @@
 # tensorrt
 
-This role installs TensorRT and cuDNN following [this page](https://docs.nvidia.com/deeplearning/tensorrt/install-guide/index.html#installing).
+This role installs TensorRT and cuDNN following [the official NVIDIA TensorRT Installation Guide](https://docs.nvidia.com/deeplearning/tensorrt/install-guide/index.html#installing).
 
 ## Inputs
 
@@ -11,29 +11,16 @@ This role installs TensorRT and cuDNN following [this page](https://docs.nvidia.
 
 ## Manual Installation
 
-For Universe, the `cudnn_version` and `tensorrt_version` variables should be copied from
-[amd64.env](../../../amd64.env) or [arm64.env](../../../arm64.env) depending on the architecture used.
-
 ```bash
+# For the environment variables
 wget -O /tmp/amd64.env https://raw.githubusercontent.com/autowarefoundation/autoware/main/amd64.env && source /tmp/amd64.env
 
-# Can also be found at: https://docs.nvidia.com/deeplearning/tensorrt/install-guide/index.html#installing
-
 sudo apt-get install -y \
 libcudnn8=${cudnn_version} \
 libnvinfer8=${tensorrt_version} \
 libnvinfer-plugin8=${tensorrt_version} \
 libnvparsers8=${tensorrt_version} \
 libnvonnxparsers8=${tensorrt_version} \
-
-sudo apt-mark hold \
-libcudnn8 \
-libnvinfer8 \
-libnvinfer-plugin8 \
-libnvparsers8 \
-libnvonnxparsers8
-
-sudo apt-get install -y \
 libcudnn8-dev=${cudnn_version} \
 libnvinfer-dev=${tensorrt_version} \
 libnvinfer-plugin-dev=${tensorrt_version} \
@@ -43,6 +30,11 @@ libnvparsers-dev=${tensorrt_version} \
 libnvonnxparsers-dev=${tensorrt_version}
 
 sudo apt-mark hold \
+libcudnn8 \
+libnvinfer8 \
+libnvinfer-plugin8 \
+libnvparsers8 \
+libnvonnxparsers8 \
 libcudnn8-dev \
 libnvinfer-dev \
 libnvinfer-plugin-dev \

diff --git a/autoware-nightly.repos b/autoware-nightly.repos
@@ -1,109 +1,16 @@
 repositories:
-  # core
-  core/autoware_msgs:
-    type: git
-    url: https://github.com/autowarefoundation/autoware_msgs.git
-    version: main
-  core/autoware_adapi_msgs:
-    type: git
-    url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
-    version: main
-  core/autoware_internal_msgs:
-    type: git
-    url: https://github.com/autowarefoundation/autoware_internal_msgs.git
-    version: main
-  # TODO(youtalk): Remove autoware_common when https://github.com/autowarefoundation/autoware/issues/4911 is closed
-  core/autoware_common:
-    type: git
-    url: https://github.com/autowarefoundation/autoware_common.git
-    version: remove-autoware-cmake-utils
-  core/autoware_cmake:
-    type: git
-    url: https://github.com/autowarefoundation/autoware_cmake.git
-    version: main
-  core/autoware_utils:
-    type: git
-    url: https://github.com/autowarefoundation/autoware_utils.git
-    version: main
-  core/autoware_lanelet2_extension:
-    type: git
-    url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git
-    version: main
   core/autoware.core:
     type: git
     url: https://github.com/autowarefoundation/autoware.core.git
     version: main
-  # universe
   universe/autoware.universe:
     type: git
     url: https://github.com/autowarefoundation/autoware.universe.git
     version: main
-  universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Migrate to AD API
-    type: git
-    url: https://github.com/tier4/tier4_ad_api_adaptor.git
-    version: tier4/universe
-  universe/external/tier4_autoware_msgs:
-    type: git
-    url: https://github.com/tier4/tier4_autoware_msgs.git
-    version: tier4/universe
-  # Fix the version not to merge https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs/pull/9
-  universe/external/morai_msgs:
-    type: git
-    url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git
-    version: e2e75fc1603a9798773e467a679edf68b448e705
-  universe/external/muSSP:
-    type: git
-    url: https://github.com/tier4/muSSP.git
-    version: tier4/main
-  universe/external/pointcloud_to_laserscan:
-    type: git
-    url: https://github.com/tier4/pointcloud_to_laserscan.git
-    version: tier4/main
-  universe/external/eagleye:
-    type: git
-    url: https://github.com/MapIV/eagleye.git
-    version: autoware-main
-  universe/external/rtklib_ros_bridge:
-    type: git
-    url: https://github.com/MapIV/rtklib_ros_bridge.git
-    version: ros2-v0.1.0
-  universe/external/llh_converter:
-    type: git
-    url: https://github.com/MapIV/llh_converter.git
-    version: ros2
-  universe/external/glog:  # TODO(Horibe): to use isGoogleInitialized() API in v0.6.0. Remove when the rosdep glog version is updated to v0.6.0 (already updated in Ubuntu 24.04)
-    type: git
-    url: https://github.com/tier4/glog.git
-    version: v0.6.0_t4-ros
-  # launcher
   launcher/autoware_launch:
     type: git
     url: https://github.com/autowarefoundation/autoware_launch.git
     version: main
-  # sensor_component
-  sensor_component/external/sensor_component_description:
-    type: git
-    url: https://github.com/tier4/sensor_component_description.git
-    version: main
-  sensor_component/external/tamagawa_imu_driver:
-    type: git
-    url: https://github.com/tier4/tamagawa_imu_driver.git
-    version: ros2
-  sensor_component/external/nebula:
-    type: git
-    url: https://github.com/tier4/nebula.git
-    version: main
-  # Fork of transport_drivers that enables reduction of copy operations
-  sensor_component/transport_drivers:
-    type: git
-    url: https://github.com/autowarefoundation/transport_drivers
-    version: main
-  # Continental compatible version of ROS 2 socket CAN
-  sensor_component/ros2_socketcan:
-    type: git
-    url: https://github.com/autowarefoundation/ros2_socketcan
-    version: main
-  # sensor_kit
   sensor_kit/sample_sensor_kit_launch:
     type: git
     url: https://github.com/autowarefoundation/sample_sensor_kit_launch.git
@@ -120,7 +27,6 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/single_lidar_sensor_kit_launch.git
     version: main
-  # vehicle
   vehicle/sample_vehicle_launch:
     type: git
     url: https://github.com/autowarefoundation/sample_vehicle_launch.git
@@ -129,12 +35,3 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/awsim_labs_vehicle_launch.git
     version: main
-  vehicle/external/pacmod_interface:
-    type: git
-    url: https://github.com/tier4/pacmod_interface.git
-    version: main
-  # param
-  param/autoware_individual_params:
-    type: git
-    url: https://github.com/autowarefoundation/autoware_individual_params.git
-    version: main