feat(docker): provide modular images for openadkit planning simulator visualizer

[oguzkaganozt]

Description

Provide modular planning, simulator and visualizer containers to enable easier development and deployment of Autoware functionalities with distinct needs.

• Move monilithic autoware images into autoware package and, openadkit images into autoware-openadk package
• Provide planning, simulator, visualizer container images
• Provide docker-compose file for running autoware with multiple images easily

Detailed information can be found at the below related issue.

Related links

#4538

Tests performed

docker build action: https://github.com/autowarefoundation/autoware/actions/runs/9177235488
New docker images are thoroughly tested in a fresh environment.

Notes for reviewers

Interface changes

N/A as it will only introduce new modular container images.

Effects on system behavior

N/A to bare-metal setups, but it will provide new modular deployment scheme.

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[youtalk]

@oguzkaganozt It is good PR but quite a big changes to review it.

To streamline the review process, please minimize the amount of revisions per PR and break it up into multiple PRs.
In addition, for both maintenance and build efficiency, a single Dockerfile should be used with multi-stage build instead of creating multiple Dockerfiles.
ref https://github.com/orgs/autowarefoundation/discussions/4661

[oguzkaganozt]

@oguzkaganozt It is good PR but quite a big changes to review it.

To streamline the review process, please minimize the amount of revisions per PR and break it up into multiple PRs. In addition, for both maintenance and build efficiency, a single Dockerfile should be used with multi-stage build instead of creating multiple Dockerfiles. ref https://github.com/orgs/autowarefoundation/discussions/4661

Thank you for the review @youtalk. You're right on big PR changes but since this PR includes many tightly-related changes I though that it will be more easier to review in all-in-one PR.

For the multi-stage build we are already utilizing it in the monolithic images of Autoware devel and runtime. And these new modules also utilizing the base image from the monolithic images (which includes ros, rmw and some basic dependencies) but we still need to keep module dockerfiles separate because ideally in the near future we will only copy related nodes into specific dockerfile, which means reducing the size of the modules even better. (At this time, this PR copying all of the install folder into all modules which is not ideal).

[mitsudome-r]

@oguzkaganozt Could you make modification to the documentation accordingly as well? I think the path for run scripts and build scripts must be changed on this page.

[youtalk]

I think the renaming refactoring and multi-stage build PRs should be done separately. If we do the renaming first, the diff would be smaller.

[oguzkaganozt]

@oguzkaganozt Could you make modification to the documentation accordingly as well? I think the path for run scripts and build scripts must be changed on this page.

@mitsudome-r we don't need to update any documentation for this PR anymore, as right now it is only adding openadkit directory which only contains modular images.

[oguzkaganozt]

I think the renaming refactoring and multi-stage build PRs should be done separately. If we do the renaming first, the diff would be smaller.

I know the changes look like a lot, but as I said this work is tightly coupled and includes the all work that previously demonstrated at the last CES. Creating separate PRs would be ideal but the time timeline is tight for these features to make users to replicate the last demo.

[youtalk]

I tried to review it, but the diff is too large to write review comments easily. Although it is divided into multiple images, it looks very wasteful because the same vcs import and rosdep install are repeated in various Dockerfiles. Also, the Dockerfiles other than the simulator are almost the same in content.

[oguzkaganozt]

I tried to review it, but the diff is too large to write review comments easily. Although it is divided into multiple images, it looks very wasteful because the same vcs import and rosdep install are repeated in various Dockerfiles. Also, the Dockerfiles other than the simulator are almost the same in content.

@youtalk at this stage of development my main focus was to just introduce these 3 different modules with demonstration of planning scenario. You're right that there are not much of diff between these dockerfiles but in the near future after defining the perception-localization container there will be.

Refining of each module's dockerfiles will be done on top of that, also we can leverage src-imported layer in the next PR of modular images. But at the time being intention was to upstream planning-control, simulator and visualizer containers and enable users to run planning scenarios with modular container setting with the help of this docker-compose file.

[oguzkaganozt]

Removed the upload artifacts section from the workflow because of the disk space after resolving the issue we can re-enable them. @youtalk @mitsudome-r

[youtalk]

#4771 reduces the image size. Please merge the latest main branch and check the CI again.