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feat(docker): add planning/control launch files to autoware:universe-planning-control images #5587

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feat(docker): add planning/control launch files to autoware:universe-planning-control images #5587

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05433ce
add planning & control launch
youtalk Dec 19, 2024
eb9164a
Merge branch 'main' into feat/pc-launch
youtalk Jan 21, 2025
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4 changes: 4 additions & 0 deletions docker/Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -77,6 +77,8 @@ FROM rosdep-depend AS rosdep-universe-planning-control-depend
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

COPY src/universe/autoware.universe/launch/tier4_control_launch /autoware/src/universe/autoware.universe/launch/tier4_control_launch
COPY src/universe/autoware.universe/launch/tier4_planning_launch /autoware/src/universe/autoware.universe/launch/tier4_planning_launch
Comment on lines +80 to +81
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tier4_control_launch depends on the following packages from other folders:

  • autoware.universe/vehicle/autoware_external_cmd_converter
  • autoware.universe/vehicle/autoware_raw_vehicle_cmd_converter

tier4_planning_launch depends on the following packages from other folders:

  • autoware.universe/evaluator/autoware_planning_evaluator

Should we copy them as well?

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#5586 (comment)

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https://github.com/autowarefoundation/autoware/actions/runs/12413592198/job/34655831530?pr=5587#step:5:1722

#55 3.305 ERROR: no rosdep rule for 'autoware_external_cmd_converter'
#55 3.305 ERROR: no rosdep rule for 'autoware_control_evaluator'
#55 3.305 ERROR: no rosdep rule for 'autoware_planning_evaluator'

COPY src/universe/autoware.universe/control /autoware/src/universe/autoware.universe/control
COPY src/universe/autoware.universe/planning /autoware/src/universe/autoware.universe/planning
# TODO(youtalk): Remove COPYs when https://github.com/autowarefoundation/autoware.universe/issues/8805 is resolved
Expand Down Expand Up @@ -285,6 +287,8 @@ RUN --mount=type=ssh \

# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_control_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_control_launch \
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_planning_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_planning_launch \
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/control,target=/autoware/src/universe/autoware.universe/control \
--mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/planning,target=/autoware/src/universe/autoware.universe/planning \
# TODO(youtalk): Remove --mount options when https://github.com/autowarefoundation/autoware.universe/issues/8805 is resolved
Expand Down
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