refactor(perception): move CUDA related packages to `perception/cuda` directory

youtalk commented 1 week ago

Description

Currently, in the awf/autoware Dockerfile, sensing/perception packages that are built with CUDA libraries are explicitly listed and built as follows.

https://github.com/autowarefoundation/autoware/blob/main/docker/Dockerfile#L273-L284

RUN --mount=type=cache,target=${CCACHE_DIR} \
  # TODO(youtalk): Move CUDA related packages into a dedicated directory
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_bytetrack,target=/autoware/src/universe/autoware.universe/perception/autoware_bytetrack \
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_lidar_apollo_instance_segmentation,target=/autoware/src/universe/autoware.universe/perception/autoware_lidar_apollo_instance_segmentation \
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_lidar_centerpoint,target=/autoware/src/universe/autoware.universe/perception/autoware_lidar_centerpoint \
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_lidar_transfusion,target=/autoware/src/universe/autoware.universe/perception/autoware_lidar_transfusion \
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_shape_estimation,target=/autoware/src/universe/autoware.universe/perception/autoware_shape_estimation \
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_classifier,target=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_classifier \
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_common,target=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_common \
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_yolox,target=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_yolox \
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_traffic_light_classifier,target=/autoware/src/universe/autoware.universe/perception/autoware_traffic_light_classifier \
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_traffic_light_fine_detector,target=/autoware/src/universe/autoware.universe/perception/autoware_traffic_light_fine_detector \
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/sensing/autoware_cuda_utils,target=/autoware/src/universe/autoware.universe/sensing/autoware_cuda_utils \
  source /opt/ros/"$ROS_DISTRO"/setup.bash \
  && source /opt/autoware/setup.bash \
  && /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware

However, this approach has poor maintainability if packages are added or renamed in the future. Therefore, in this PR, these CUDA-related packages will be moved to the perception/cuda directory.

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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codecov[bot] commented 1 week ago

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 29.60%. Comparing base (9aab36b) to head (02a81a4). Report is 18 commits behind head on main.

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #9368 +/- ## ========================================== - Coverage 29.79% 29.60% -0.19% ========================================== Files 1338 1385 +47 Lines 103300 104841 +1541 Branches 40232 40681 +449 ========================================== + Hits 30779 31040 +261 - Misses 69537 70784 +1247 - Partials 2984 3017 +33 ``` | [Flag](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9368/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | Coverage Δ | | *Carryforward flag | |---|---|---|---| | [differential](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9368/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `7.81% <ø> (?)` | | | | [total](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9368/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `29.79% <ø> (ø)` | | Carriedforward from [9aab36b](https://app.codecov.io/gh/autowarefoundation/autoware.universe/commit/9aab36bb0faba049d9a2d5e3cc0ecae9f4393ce2?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | *This pull request uses carry forward flags. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) to find out more.

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youtalk commented 6 days ago

I will change this PR to PRs that move the packages one by one.

autowarefoundation / autoware.universe