feat(docker): re-organize the autoware docker containers

.devcontainer/base/Dockerfile

@@ -0,0 +1,14 @@
+FROM ghcr.io/autowarefoundation/autoware-openadk:latest-devel
+
+ENV SHELL /bin/bash
+
+ARG USERNAME=autoware
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN groupadd --gid $USER_GID $USERNAME \
+  && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+  && apt-get update \
+  && apt-get install -y sudo \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+  && chmod 0440 /etc/sudoers.d/$USERNAME

.devcontainer/base/devcontainer.json

@@ -0,0 +1,24 @@
+{
+  "name": "Autoware",
+  "build": {
+    "dockerfile": "Dockerfile"
+  },
+  "remoteUser": "autoware",
+  "hostRequirements": {
+    "gpu": true
+  },
+  "runArgs": [
+    "--cap-add=SYS_PTRACE",
+    "--security-opt",
+    "seccomp=unconfined",
+    "--net=host",
+    "--volume=/etc/localtime:/etc/localtime:ro"
+  ],
+  "customizations": {
+    "vscode": {
+      "settings.json": {
+        "terminal.integrated.profiles.linux": { "bash": { "path": "/bin/bash" } }
+      }
+    }
+  }
+}

.devcontainer/cuda/Dockerfile

@@ -0,0 +1,14 @@
+FROM ghcr.io/autowarefoundation/autoware-openadk:latest-devel-cuda
+
+ENV SHELL /bin/bash
+
+ARG USERNAME=autoware
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN groupadd --gid $USER_GID $USERNAME \
+  && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+  && apt-get update \
+  && apt-get install -y sudo \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+  && chmod 0440 /etc/sudoers.d/$USERNAME

.devcontainer/cuda/devcontainer.json

@@ -0,0 +1,26 @@
+{
+  "name": "Autoware-cuda",
+  "build": {
+    "dockerfile": "Dockerfile"
+  },
+  "remoteUser": "autoware",
+  "hostRequirements": {
+    "gpu": true
+  },
+  "runArgs": [
+    "--cap-add=SYS_PTRACE",
+    "--security-opt",
+    "seccomp=unconfined",
+    "--net=host",
+    "--volume=/etc/localtime:/etc/localtime:ro",
+    "--gpus",
+    "all"
+  ],
+  "customizations": {
+    "vscode": {
+      "settings.json": {
+        "terminal.integrated.profiles.linux": { "bash": { "path": "/bin/bash" } }
+      }
+    }
+  }
+}

.dockerignore

@@ -0,0 +1,17 @@
+# Ignore git and metadata directories
+.git
+.github
+.vscode
+
+# Ignore all markdown files
+*.md
+
+# Ignore Docker files
+docker-bake.hcl
+
+# Etc
+*.ignore
+*.lint
+*.lock
+*.log
+*.out

.github/actions/docker-build-and-push/action.yaml

@@ -31,30 +31,36 @@ runs:
         sudo apt-get -y install jq
       shell: bash
 
-    # workflow_dispatch: latest, date
-    # schedule: latest, date
-    # tag: semver
     - name: Set Docker tags
       id: set-docker-tags
       run: |
         tags=()
-        if [ "${{ github.event_name }}" == "workflow_dispatch" ]; then
-          tags+=("latest")
-          tags+=("{{date 'YYYYMMDD'}}")
-        else
-          tags+=("type=schedule,pattern=latest")
-          tags+=("type=schedule,pattern={{date 'YYYYMMDD'}}")
-          tags+=("type=semver,pattern={{version}}")
-          tags+=("type=match,pattern=\d+.\d+")
+        if [ "${{ github.event_name }}" == "push" ] && [ "${{ github.ref_type }}" == "tag" ]; then
+            tags+=("$(echo "${{ github.ref }}" | sed -E 's/.*([vV][0-9]+\.[0-9]+\.[0-9]+).*/\1/')")
         fi
 
+        tags+=("{{date 'YYYYMMDD'}}")
+        tags+=("latest")
+        tags+=("latest-${{ inputs.tag-prefix }}")
+
         # Output multiline strings: https://docs.github.com/en/actions/using-workflows/workflow-commands-for-github-actions#multiline-strings
         EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
         echo "tags<<$EOF" >> $GITHUB_OUTPUT
         echo "$(printf "%s\n" "${tags[@]}")" >> $GITHUB_OUTPUT
         echo "$EOF" >> $GITHUB_OUTPUT
       shell: bash
 
+    - name: Docker meta for prebuilt
+      id: meta-prebuilt
+      uses: docker/metadata-action@v4
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        bake-target: docker-metadata-action-prebuilt
+        flavor: |
+          latest=false
+          suffix=-prebuilt${{ inputs.tag-suffix }}
+
     - name: Docker meta for devel
       id: meta-devel
       uses: docker/metadata-action@v4
@@ -64,20 +70,19 @@ runs:
         bake-target: docker-metadata-action-devel
         flavor: |
           latest=false
-          prefix=${{ inputs.tag-prefix }}
-          suffix=${{ inputs.tag-suffix }}
+          suffix=-devel${{ inputs.tag-suffix }}
 
-    - name: Docker meta for prebuilt
-      id: meta-prebuilt
+    - name: Docker meta for runtime
+      if: ${{ github.event_name == 'workflow_dispatch' }} || ${{ (github.event_name == 'push' && github.ref_type == 'tag') }}
+      id: meta-runtime
       uses: docker/metadata-action@v4
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-prebuilt
+        bake-target: docker-metadata-action-runtime
         flavor: |
-          latest=false
-          prefix=${{ inputs.tag-prefix }}
-          suffix=-prebuilt${{ inputs.tag-suffix }}
+          latest=${{ github.event_name == 'push' && github.ref_type == 'tag' }}
+          suffix=-runtime${{ inputs.tag-suffix }}
 
     - name: Login to GitHub Container Registry
       if: ${{ github.event_name != 'pull_request' }}
@@ -87,15 +92,93 @@ runs:
         username: ${{ github.repository_owner }}
         password: ${{ github.token }}
 
-    - name: Build and push
+    - name: Build and Push - prebuilt and devel
+      if: ${{ (github.event_name == 'push' && github.ref_type == 'branch') || github.event_name == 'schedule' }}
+      uses: docker/bake-action@v3
+      with:
+        push: ${{ inputs.allow-push == 'true' }}
+        files: |
+          docker/${{ inputs.bake-target }}/docker-bake.hcl
+          ${{ steps.meta-prebuilt.outputs.bake-file }}
+          ${{ steps.meta-devel.outputs.bake-file }}
+        targets: |
+          prebuilt
+          devel
+        provenance: false
+        set: |
+          ${{ inputs.build-args }}
+
+    - name: Build and Publish to GitHub Container Registry
+      if: ${{ ( github.event_name == 'push' && github.ref_type == 'tag' ) || ( github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'registry') }}
       uses: docker/bake-action@v3
       with:
-        # Checking event_name for https://github.com/autowarefoundation/autoware/issues/2796
-        push: ${{ (github.event_name == 'schedule' || github.ref_name == github.event.repository.default_branch || github.event_name == 'push') && inputs.allow-push == 'true' }}
+        push: true
         files: |
           docker/${{ inputs.bake-target }}/docker-bake.hcl
           ${{ steps.meta-devel.outputs.bake-file }}
           ${{ steps.meta-prebuilt.outputs.bake-file }}
+          ${{ steps.meta-runtime.outputs.bake-file }}
         provenance: false
         set: |
           ${{ inputs.build-args }}
+
+    - name: Build and Save Artifacts
+      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
+      uses: docker/bake-action@v3
+      with:
+        push: false
+        files: |
+          docker/${{ inputs.bake-target }}/docker-bake.hcl
+          ${{ steps.meta-devel.outputs.bake-file }}
+          ${{ steps.meta-prebuilt.outputs.bake-file }}
+          ${{ steps.meta-runtime.outputs.bake-file }}
+        provenance: false
+        set: |
+          ${{ inputs.build-args }}
+          prebuilt.output=type=docker,dest=/tmp/prebuilt.tar
+          devel.output=type=docker,dest=/tmp/devel.tar
+          runtime.output=type=docker,dest=/tmp/runtime.tar
+
+    - name: Upload Artifact - prebuilt
+      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
+      id: artifact-upload-step-prebuilt
+      uses: actions/upload-artifact@v4
+      with:
+        name: prebuilt-image${{ inputs.tag-suffix }}
+        path: /tmp/prebuilt.tar
+        retention-days: 7
+        compression-level: 6
+        overwrite: true
+        if-no-files-found: error
+
+    - name: Upload Artifact - devel
+      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
+      id: artifact-upload-step-devel
+      uses: actions/upload-artifact@v4
+      with:
+        name: devel-image${{ inputs.tag-suffix }}
+        path: /tmp/devel.tar
+        retention-days: 7
+        compression-level: 6
+        overwrite: true
+        if-no-files-found: error
+
+    - name: Upload Artifact - runtime
+      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
+      id: artifact-upload-step-runtime
+      uses: actions/upload-artifact@v4
+      with:
+        name: runtime-image${{ inputs.tag-suffix }}
+        path: /tmp/runtime.tar
+        retention-days: 7
+        compression-level: 6
+        overwrite: true
+        if-no-files-found: error
+
+    - name: Output artifact URLs
+      id: output-artifact-urls
+      run: |
+        echo 'prebuilt URL ${{ steps.artifact-upload-step-prebuilt.outputs.artifact-url }}'
+        echo 'devel URL ${{ steps.artifact-upload-step-devel.outputs.artifact-url }}'
+        echo 'runtime URL ${{ steps.artifact-upload-step-runtime.outputs.artifact-url }}'
+      shell: bash

.github/workflows/docker-build-and-push-main-self-hosted.yaml

@@ -1,13 +1,28 @@
+# EVENTS: push, schedule, workflow_dispatch
+# workflow_dispatch: Build all. No publish to registry; save as tarball.
+# schedule: Build only devel and prebuilt. TAGS: date, latest
+# push-branch: Build only devel and prebuilt. TAGS: date, latest
+# push-tag: Build all. TAGS: version, date, latest
+
 name: docker-build-and-push-main-self-hosted
 
 on:
   push:
     tags:
-      - v*
-      - "[0-9]+.[0-9]+*"
+      - adkit-v*.*.*
+    branches:
+      - main
   schedule:
     - cron: 0 0 1,15 * *
   workflow_dispatch:
+    inputs:
+      artifacts-destination:
+        type: choice
+        description: Destination for the artifacts
+        options:
+          - registry
+          - tarball
+        default: tarball
 
 jobs:
   docker-build-and-push-main-self-hosted:
@@ -21,11 +36,12 @@
         include:
           - name: no-cuda
             base_image_env: base_image
+            lib_dir: aarch64
             setup-args: --no-nvidia
             additional-tag-suffix: ""
           - name: cuda
-            base_image_env: cuda_base_image
-            setup-args: --no-cuda-drivers
+            base_image_env: base_image
+            lib_dir: aarch64
             additional-tag-suffix: -cuda
     steps:
       # https://github.com/actions/checkout/issues/211
@@ -46,18 +62,19 @@
             cat arm64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
           fi
 
-      - name: Build 'autoware-universe'
+      - name: Build 'autoware-openadk'
         uses: ./.github/actions/docker-build-and-push
         with:
-          bake-target: autoware-universe
+          bake-target: autoware-openadk
           build-args: |
             *.platform=linux/arm64
             *.args.ROS_DISTRO=${{ env.rosdistro }}
             *.args.BASE_IMAGE=${{ env[format('{0}', matrix.base_image_env)] }}
-            *.args.PREBUILT_BASE_IMAGE=${{ env.prebuilt_base_image }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
-          tag-prefix: ${{ env.rosdistro }}-
+            *.args.LIB_DIR=${{ matrix.lib_dir }}
           tag-suffix: ${{ matrix.additional-tag-suffix }}-arm64
+          tag-prefix: ${{ env.rosdistro }}
+          allow-push: true
 
       - name: Show disk space
         run: |