refactor(docker): introduce rosdep-installed stage

autowarefoundation / autoware

Autoware - the world's leading open-source software project for autonomous driving

https://www.autoware.org/

Apache License 2.0

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refactor(docker): introduce rosdep-installed stage #4656

Closed youtalk closed 2 months ago

youtalk commented 2 months ago

Description

This PR introduces the rosdep-installed stage before the prebuilt stage to execute rosdep install only one time.

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

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youtalk commented 2 months ago

~The spell check failure will be fixed at https://github.com/tier4/autoware-spell-check-dict/pull/716~ Done.

mitsudome-r commented 2 months ago

@oguzkaganozt Did you have any reasons for running rosdep twice in prebuilt and runtime steps? I just wanted to confirm if you had any intention when you did the refactoring. Otherwise, the change looks reasonable to me.

doganulus commented 2 months ago

First, rosdep installs build dependencies for devel image.

Second, rosdep installs runtime (exec) dependencies for runtime image.

This separation is very important.

youtalk commented 2 months ago

rosdep install does not provide an option to choose to install dependent packages based on exec_depend, build_depend, etc. All dependent packages including build_export_depend and test_depend will be installed. This PR simply saves the waste of running the same rosdep install twice.

I am planning an apt package release of the Autoware packages. Once that is completed, we will be able to control the build and execution dependencies you mentioned.

doganulus commented 2 months ago

This is the PR that adds the support to dependency key selection: https://github.com/ros-infrastructure/rosdep/pull/789

And we can use:

rosdep install --dependency-types build
rosdep install --dependency-types exec

Whether build_depend and exec_depend tags are used correctly in packages is another question and how to ensure their correct usage but I am bringing it into your attention.

youtalk commented 2 months ago

@doganulus Thank you for your feedback. I didn't know the option. Due to the rosdep install separation, I've closed this PR.