build(ROS distribution)!: transition to ROS 2 Humble (#2692)

* remove Go PPA Signed-off-by: Kenji Miyake <[email protected]> docs(ansible/pre_commit): remove adding golang repository for humble (#2837) fix(docs): remove adding golang repository for humble Signed-off-by: M. Fatih Cırıt <[email protected]> Signed-off-by: M. Fatih Cırıt <[email protected]> * rename galactic to humble Signed-off-by: Kenji Miyake <[email protected]> * feat: add ament_cmake fork (autowarefoundation#370) Signed-off-by: M. Fatih Cırıt <[email protected]> Signed-off-by: M. Fatih Cırıt <[email protected]> * revert(autoware.repos): revert "feat: add ament_cmake fork (autowarefoundation#370)" (#3054) This reverts commit 0d06dd3ce10ce4e4857822173954a48cb2e91b63. * update hash of grid_map Signed-off-by: Kenji Miyake <[email protected]> * chore: remove grid_map from repos (#2864) * use Ubuntu 22.04 and CUDA 11.8 Signed-off-by: Kenji Miyake <[email protected]> * build(ansible/ros2_dev_tools): change ros2_dev_tools to follow humble documentation (#3007) Signed-off-by: Shin-kyoto <[email protected]> Signed-off-by: Shin-kyoto <[email protected]> build(ansible/ros2_dev_tools): follow updated humble documentation (#3020) Signed-off-by: Shin-kyoto <[email protected]> Signed-off-by: Shin-kyoto <[email protected]> * docs(ansible/cuda): update manual installation steps Signed-off-by: Kenji Miyake <[email protected]> * tmp: use ubuntu:22.04 for cuda_base_image Signed-off-by: Kenji Miyake <[email protected]> * tmp: add liburcu6 repository for CUDA 20.04 repository Signed-off-by: Kenji Miyake <[email protected]> * feat(ansible/playbooks): update Ubuntu version Signed-off-by: Kenji Miyake <[email protected]> Signed-off-by: M. Fatih Cırıt <[email protected]> Signed-off-by: Kenji Miyake <[email protected]> Signed-off-by: M. Fatih Cırıt <[email protected]> Signed-off-by: Shin-kyoto <[email protected]> Co-authored-by: M. Fatih Cırıt <[email protected]> Co-authored-by: Daisuke Nishimatsu <[email protected]> Co-authored-by: Shintaro Tomie <[email protected]>
badai-nguyen · Dec 1, 2022 · 9e35fd1 · 9e35fd1
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diff --git a/amd64.env b/amd64.env
@@ -1,7 +1,7 @@
-rosdistro=galactic
+rosdistro=humble
 rmw_implementation=rmw_cyclonedds_cpp
-base_image=ubuntu:20.04
-cuda_base_image=nvidia/cuda:11.6.2-devel-ubuntu20.04
+base_image=ubuntu:22.04
+cuda_base_image=ubuntu:22.04
 cuda_version=11.6
 cudnn_version=8.4.1.50-1+cuda11.6
 tensorrt_version=8.4.2-1+cuda11.6
diff --git a/ansible/playbooks/core.yaml b/ansible/playbooks/core.yaml
@@ -3,8 +3,8 @@
   pre_tasks:
     - name: Verify OS
       ansible.builtin.fail:
-        msg: Only Ubuntu 20.04 is supported for this branch. Please refer to https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/.
-      when: ansible_distribution_version != '20.04'
+        msg: Only Ubuntu 22.04 is supported for this branch. Please refer to https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/.
+      when: ansible_distribution_version != '22.04'
 
     - name: Print args
       ansible.builtin.debug:

diff --git a/ansible/playbooks/universe.yaml b/ansible/playbooks/universe.yaml
@@ -9,8 +9,8 @@
   pre_tasks:
     - name: Verify OS
       ansible.builtin.fail:
-        msg: Only Ubuntu 20.04 is supported for this branch. Please refer to https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/.
-      when: ansible_distribution_version != '20.04'
+        msg: Only Ubuntu 22.04 is supported for this branch. Please refer to https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/.
+      when: ansible_distribution_version != '22.04'
 
     - name: Print args
       ansible.builtin.debug:

diff --git a/ansible/roles/cuda/README.md b/ansible/roles/cuda/README.md
@@ -19,15 +19,23 @@ For Universe, the `cuda_version` version can also be found in:
 ```bash
 wget -O /tmp/amd64.env https://raw.githubusercontent.com/autowarefoundation/autoware/main/amd64.env && source /tmp/amd64.env
 
-# Modified from:
-# https://developer.nvidia.com/cuda-11-4-4-download-archive?target_os=Linux&target_arch=x86_64&Distribution=Ubuntu&target_version=20.04&target_type=deb_network
-wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-ubuntu2004.pin
-sudo mv cuda-ubuntu2004.pin /etc/apt/preferences.d/cuda-repository-pin-600
-sudo apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/3bf863cc.pub
-sudo add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/ /"
+# Modified from: https://developer.nvidia.com/cuda-downloads?target_os=Linux&target_arch=x86_64&Distribution=Ubuntu&target_version=22.04&target_type=deb_network
+
+# A temporary workaround for Ubuntu 22.04 with the ubuntu2004 repository
+if [[ "$(uname -m)" == "x86_64" ]]; then
+  liburcu6_url=http://archive.ubuntu.com/ubuntu
+else
+  liburcu6_url=http://ports.ubuntu.com/ubuntu-ports
+fi
+sudo echo "deb $liburcu6_url focal main restricted" > /etc/apt/sources.list.d/focal.list
+
+# TODO: Use 22.04 in https://github.com/autowarefoundation/autoware/pull/3084. Currently, 20.04 is intentionally used.
+os=ubuntu2004
+wget https://developer.download.nvidia.com/compute/cuda/repos/$os/$(uname -m)/cuda-keyring_1.0-1_all.deb
+sudo dpkg -i cuda-keyring_1.0-1_all.deb
 sudo apt-get update
 cuda_version_dashed=$(eval sed -e "s/[.]/-/g" <<< "${cuda_version}")
-sudo apt install cuda-${cuda_version_dashed} --no-install-recommends
+sudo apt-get -y install cuda-${cuda_version_dashed}
 ```
 
 Perform the post installation actions:

diff --git a/ansible/roles/cuda/tasks/main.yaml b/ansible/roles/cuda/tasks/main.yaml
@@ -8,6 +8,22 @@
   register: cuda_architecture
   changed_when: false
 
+- name: (tmp for Ubuntu 22.04) Add liburcu6 repository into sources.list for amd64
+  become: true
+  ansible.builtin.apt_repository:
+    repo: deb http://archive.ubuntu.com/ubuntu focal main restricted
+    filename: focal
+    state: present
+  when: cuda_architecture.stdout == "x86_64"
+
+- name: (tmp for Ubuntu 22.04) Add liburcu6 repository into sources.list for arm64
+  become: true
+  ansible.builtin.apt_repository:
+    repo: deb http://ports.ubuntu.com/ubuntu-ports focal main restricted
+    filename: focal
+    state: present
+  when: cuda_architecture.stdout == "aarch64"
+
 - name: Remove old /etc/apt/sources.list.d/cuda.list
   become: true
   ansible.builtin.file:

diff --git a/ansible/roles/pre_commit/README.md b/ansible/roles/pre_commit/README.md
@@ -17,7 +17,5 @@ The `clang_format_version` variable can also be found in:
 clang_format_version=14.0.6
 pip3 install pre-commit clang-format==${clang_format_version}
 
-# Install Golang (Add Go PPA for shfmt)
-sudo add-apt-repository ppa:longsleep/golang-backports
 sudo apt install golang
 ```
diff --git a/ansible/roles/pre_commit/tasks/main.yaml b/ansible/roles/pre_commit/tasks/main.yaml
@@ -10,12 +10,6 @@
     version: "{{ clang_format_version }}"
     executable: pip3
 
-# TODO: Remove after we move to Ubuntu 22.04
-- name: Add Go PPA for shfmt
-  become: true
-  ansible.builtin.apt_repository:
-    repo: ppa:longsleep/golang-backports # cspell:disable-line
-
 - name: Install Go
   become: true
   ansible.builtin.apt:

diff --git a/ansible/roles/rmw_implementation/README.md b/ansible/roles/rmw_implementation/README.md
@@ -1,6 +1,6 @@
 # rmw_implementation
 
-This role sets up ROS 2 RMW implementation following [this page](https://docs.ros.org/en/galactic/How-To-Guides/Working-with-multiple-RMW-implementations.html).
+This role sets up ROS 2 RMW implementation following [this page](https://docs.ros.org/en/humble/How-To-Guides/Working-with-multiple-RMW-implementations.html).
 
 ## Inputs
 
@@ -17,7 +17,7 @@ For Universe, the `rosdistro` and `rmw_implementation` variable can also be foun
 ```bash
 wget -O /tmp/amd64.env https://raw.githubusercontent.com/autowarefoundation/autoware/main/amd64.env && source /tmp/amd64.env
 
-# For details: https://docs.ros.org/en/galactic/How-To-Guides/Working-with-multiple-RMW-implementations.html
+# For details: https://docs.ros.org/en/humble/How-To-Guides/Working-with-multiple-RMW-implementations.html
 sudo apt update
 rmw_implementation_dashed=$(eval sed -e "s/_/-/g" <<< "${rmw_implementation}")
 sudo apt install ros-${rosdistro}-${rmw_implementation_dashed}

diff --git a/ansible/roles/ros2/README.md b/ansible/roles/ros2/README.md
@@ -1,6 +1,6 @@
 # ros2
 
-This role installs [ROS 2](http://www.ros2.org/) following [this page](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html).
+This role installs [ROS 2](http://www.ros2.org/) following [this page](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html).
 
 Additional steps may be needed depending on the `rosdistro` you choose.
 
@@ -32,7 +32,7 @@ For Universe, the `rosdistro` variable can also be found in:
 ```bash
 wget -O /tmp/amd64.env https://raw.githubusercontent.com/autowarefoundation/autoware/main/amd64.env && source /tmp/amd64.env
 
-# Taken from: https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html
+# Taken from: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
 
 # You will need to add the ROS 2 apt repository to your system. First, make sure that the Ubuntu Universe repository is enabled by checking the output of this command.
 apt-cache policy | grep universe

diff --git a/ansible/roles/ros2_dev_tools/README.md b/ansible/roles/ros2_dev_tools/README.md
@@ -1,6 +1,6 @@
 # ros2_dev_tools
 
-This role installs ROS 2 development tools following [this page](https://docs.ros.org/en/galactic/Installation/Ubuntu-Development-Setup.html).
+This role installs ROS 2 development tools following [this page](https://docs.ros.org/en/humble/Installation/Ubuntu-Development-Setup.html).
 
 ## Inputs
 
@@ -9,34 +9,23 @@ None.
 ## Manual Installation
 
 ```bash
-# Taken from https://docs.ros.org/en/galactic/Installation/Ubuntu-Development-Setup.html
+# Taken from https://docs.ros.org/en/humble/Installation/Ubuntu-Development-Setup.html
 sudo apt update && sudo apt install -y \
-  build-essential \
-  cmake \
-  git \
-  python3-colcon-common-extensions \
-  python3-flake8 \
+  python3-flake8-docstrings \
   python3-pip \
   python3-pytest-cov \
-  python3-rosdep \
-  python3-setuptools \
-  python3-vcstool \
-  wget
+  ros-dev-tools
 
-# Install some pip packages needed for testing
-python3 -m pip install -U \
-  flake8-blind-except \
-  flake8-builtins \
-  flake8-class-newline \
-  flake8-comprehensions \
-  flake8-deprecated \
-  flake8-docstrings \
-  flake8-import-order \
-  flake8-quotes \
-  pytest-repeat \
-  pytest-rerunfailures \
-  pytest \
-  setuptools
+sudo apt install -y \
+  python3-flake8-blind-except \
+  python3-flake8-builtins \
+  python3-flake8-class-newline \
+  python3-flake8-comprehensions \
+  python3-flake8-deprecated \
+  python3-flake8-import-order \
+  python3-flake8-quotes \
+  python3-pytest-repeat \
+  python3-pytest-rerunfailures
 
 # Initialize rosdep
 sudo rosdep init

diff --git a/ansible/roles/ros2_dev_tools/tasks/main.yaml b/ansible/roles/ros2_dev_tools/tasks/main.yaml
@@ -2,39 +2,23 @@
   become: true
   ansible.builtin.apt:
     name:
-      - build-essential
-      - cmake
-      - git
-      - python3-colcon-common-extensions
       - python3-colcon-mixin
-      - python3-flake8
+      - python3-flake8-docstrings
       - python3-pip
       - python3-pytest-cov
-      - python3-rosdep
-      - python3-setuptools
-      - python3-vcstool
-      - wget
+      - ros-dev-tools
+      - python3-flake8-blind-except
+      - python3-flake8-builtins
+      - python3-flake8-class-newline
+      - python3-flake8-comprehensions
+      - python3-flake8-deprecated
+      - python3-flake8-import-order
+      - python3-flake8-quotes
+      - python3-pytest-repeat
+      - python3-pytest-rerunfailures
     state: latest
     update_cache: true
 
-- name: Install pip packages
-  ansible.builtin.pip:
-    name:
-      - flake8-blind-except
-      - flake8-builtins
-      - flake8-class-newline
-      - flake8-comprehensions
-      - flake8-deprecated
-      - flake8-docstrings
-      - flake8-import-order
-      - flake8-quotes
-      - pytest-repeat
-      - pytest-rerunfailures
-      - pytest
-      - setuptools
-    state: latest
-    executable: pip3
-
 - name: Run 'sudo rosdep init'
   become: true
   ansible.builtin.command:

diff --git a/autoware.repos b/autoware.repos
@@ -33,10 +33,6 @@ repositories:
     type: git
     url: https://github.com/tier4/tier4_autoware_msgs.git
     version: tier4/universe
-  universe/external/grid_map:
-    type: git
-    url: https://github.com/ANYbotics/grid_map.git
-    version: ba2f9cb6e62f7ee9c5bac7401391a211e442e459
   universe/external/morai_msgs:
     type: git
     url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git