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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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Build only RViz plugin packages and split them into a separate container #5076

Open youtalk opened 3 months ago

youtalk commented 3 months ago

autoware.universe/common contains a lot of source code related to RViz plugins. Additionally, when launching the main Autoware launch file, RViz is automatically started as well. This results in the installation of many RViz dependency packages, increasing the container image size. It also causes inconvenience when you want to run RViz as a separate process.

To address this, add a build stage that extracts and builds only these RViz plugins, and create a separate container image to run RViz using those plugins.

esteve commented 5 days ago

For this, I'd move the plug-ins to a separate folder so I can pass the --base-paths option to colcon and simplify the process (thanks @xmfcx for the idea https://github.com/autowarefoundation/autoware/issues/5077#issuecomment-2485168911)

esteve commented 5 days ago

I've submitted https://github.com/autowarefoundation/autoware.universe/pull/9417 as a draft to move the rviz plugins. It's still a draft because I'm waiting for https://github.com/autowarefoundation/autoware.universe/pull/9305 https://github.com/autowarefoundation/autoware.universe/pull/9303 and https://github.com/autowarefoundation/autoware.universe/pull/9302 to be merged. I will rebase https://github.com/autowarefoundation/autoware.universe/pull/9417 after that.