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Use colcon as the build tool (autowarefoundation#1704)
* Switch to colcon as the build tool instead of catkin * Added cmake-target * Added note about the second colcon call * Added warning about catkin* scripts being deprecated * Fix COLCON_OPTS * Added install targets * Update Docker image tags * Message packages fixes * Fix missing dependency
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| #!/usr/bin/env bash | ||
| set -e | ||
|
|
||
| if [[ -d build ]]; then | ||
| rm -rf build | ||
| fi | ||
|
|
||
| if [[ -d install ]]; then | ||
| rm -rf install | ||
| fi | ||
|
|
||
| COLCON_OPTS="--cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs" | ||
|
|
||
| export LIBRARY_PATH=/usr/lib/OpenNI2/Drivers:$LIBRARY_PATH | ||
| colcon build $COLCON_OPTS $@ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,86 @@ | ||
| #!/usr/bin/env bash | ||
| set -e | ||
|
|
||
| if [ "$1" = "synquacer" ] || [ "$1" = "driveworks" ] || [ "$1" = "generic-aarch64" ] | ||
| then | ||
| AUTOWARE_TARGET_ARCH=aarch64 | ||
| AUTOWARE_TARGET_PLATFORM=$1 | ||
| shift | ||
|
|
||
| if [[ -d build-${AUTOWARE_TARGET_PLATFORM} ]]; then | ||
| rm -rf build-${AUTOWARE_TARGET_PLATFORM} | ||
| fi | ||
|
|
||
| if [[ -d install-${AUTOWARE_TARGET_PLATFORM} ]]; then | ||
| rm -rf install-${AUTOWARE_TARGET_PLATFORM} | ||
| fi | ||
|
|
||
| AUTOWARE_HOME=/home/autoware/Autoware | ||
| if [ "$AUTOWARE_TARGET_PLATFORM" = "driveworks" ] | ||
| then | ||
| if [[ -z "${DRIVEWORKS_TOOLKIT_ROOT_DIR}" ]] || [[ -z "${CUDA_TOOLKIT_ROOT_DIR}" ]] || [[ -z "${NVIDIA_TENSORRT_ROOT_DIR}" ]] || [[ -z "${DRIVE_T186REF_LINUX_ROOT_DIR}" ]] | ||
| then | ||
| echo "Please ensure that the following environment variables are set and point to their respective correct locations: DRIVEWORKS_TOOLKIT_ROOT_DIR CUDA_TOOLKIT_ROOT_DIR NVIDIA_TENSORRT_ROOT_DIR DRIVE_T186REF_LINUX_ROOT_DIR" | ||
| exit 1 | ||
| fi | ||
| AUTOWARE_HOME=/home/nvidia/Autoware | ||
| AUTOWARE_TOOLCHAIN_FILE=cross_toolchain_driveworks.cmake | ||
| AUTOWARE_DOCKER_EXTRA_ARGS=$(cat <<-END | ||
| -v ${DRIVEWORKS_TOOLKIT_ROOT_DIR}:/usr/local/driveworks:ro | ||
| -v ${CUDA_TOOLKIT_ROOT_DIR}:/usr/local/cuda:ro | ||
| -v ${NVIDIA_TENSORRT_ROOT_DIR}:/usr/local/tensorrt:ro | ||
| -v ${DRIVE_T186REF_LINUX_ROOT_DIR}:/usr/local/drive-t186ref-linux:ro | ||
| -e DRIVEWORKS_TOOLKIT_ROOT_DIR=/usr/local/driveworks | ||
| -e CUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda | ||
| -e NVIDIA_TENSORRT_ROOT_DIR=/usr/local/tensorrt | ||
| -e DRIVE_T186REF_LINUX_ROOT_DIR=/usr/local/drive-t186ref-linux | ||
| END | ||
| ) | ||
| AUTOWARE_CUDA_ARCH=sm_61 | ||
| else | ||
| AUTOWARE_TOOLCHAIN_FILE=cross_toolchain.cmake | ||
| fi | ||
| if [ ! -f "${PWD}/${AUTOWARE_TOOLCHAIN_FILE}" ]; then | ||
| echo "Toolchain file: '${PWD}/${AUTOWARE_TOOLCHAIN_FILE}' not found" | ||
| exit 1 | ||
| fi | ||
|
|
||
| AUTOWARE_BUILD_PATH=${AUTOWARE_HOME}/ros/build-${AUTOWARE_TARGET_PLATFORM} | ||
| AUTOWARE_INSTALL_PATH=${AUTOWARE_HOME}/ros/install-${AUTOWARE_TARGET_PLATFORM} | ||
|
|
||
| AUTOWARE_TOOLCHAIN_FILE_PATH="${AUTOWARE_HOME}/ros/${AUTOWARE_TOOLCHAIN_FILE}" | ||
| echo "Using toolchain file: '${AUTOWARE_TOOLCHAIN_FILE_PATH}''" | ||
| AUTOWARE_SYSROOT=/sysroot/${AUTOWARE_TARGET_PLATFORM} | ||
|
|
||
| AUTOWARE_DOCKER_DATE=20190102 | ||
|
|
||
| docker container run \ | ||
| -it \ | ||
| --rm \ | ||
| ${AUTOWARE_DOCKER_EXTRA_ARGS} \ | ||
| -e AUTOWARE_SYSROOT=${AUTOWARE_SYSROOT} \ | ||
| -v ${PWD}/../:${AUTOWARE_HOME} \ | ||
| -w ${AUTOWARE_HOME}/ros \ | ||
| -u ${UID}:${UID} \ | ||
| autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-${AUTOWARE_DOCKER_DATE} \ | ||
| bash \ | ||
| -c "\ | ||
| source ${AUTOWARE_SYSROOT}/opt/ros/kinetic/setup.bash && \ | ||
| colcon build \ | ||
| --merge-install \ | ||
| --build-base ${AUTOWARE_BUILD_PATH} \ | ||
| --install-base ${AUTOWARE_INSTALL_PATH} \ | ||
| --cmake-args \ | ||
| -DCUDA_ARCH=${AUTOWARE_CUDA_ARCH} \ | ||
| -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH} \ | ||
| -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH} \ | ||
| -DCMAKE_PREFIX_PATH='${AUTOWARE_SYSROOT}/opt/ros/kinetic;${AUTOWARE_INSTALL_PATH}' \ | ||
| -DCMAKE_FIND_ROOT_PATH=${AUTOWARE_INSTALL_PATH} \ | ||
| -DCMAKE_BUILD_TYPE=Release $* | ||
| " | ||
|
|
||
| find install-${AUTOWARE_TARGET_PLATFORM}/ -type f -exec grep -Iq . {} \; -and -exec sed -i -e "s#${AUTOWARE_SYSROOT}##g" {} \; | ||
| else | ||
| echo "Select target platform: synquacer, driveworks, generic-aarch64" | ||
| fi | ||
|
|
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