From 737654075a8e87ffc6dbc9ec139cddec8a2055f2 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Thu, 19 Dec 2024 15:24:47 +0900 Subject: [PATCH] add sensing & perception launch Signed-off-by: Yutaka Kondo --- docker/Dockerfile | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/docker/Dockerfile b/docker/Dockerfile index 8857e43bc9..537084f682 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -39,6 +39,8 @@ FROM rosdep-depend AS rosdep-universe-sensing-perception-depend SHELL ["/bin/bash", "-o", "pipefail", "-c"] ARG ROS_DISTRO +COPY src/universe/autoware.universe/launch/tier4_perception_launch /autoware/src/universe/autoware.universe/launch/tier4_perception_launch +COPY src/universe/autoware.universe/launch/tier4_sensing_launch /autoware/src/universe/autoware.universe/launch/tier4_sensing_launch COPY src/universe/autoware.universe/perception /autoware/src/universe/autoware.universe/perception COPY src/universe/autoware.universe/sensing /autoware/src/universe/autoware.universe/sensing RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \ @@ -199,6 +201,8 @@ RUN --mount=type=ssh \ # hadolint ignore=SC1091 RUN --mount=type=cache,target=${CCACHE_DIR} \ + --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_perception_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_perception_launch \ + --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_sensing_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_sensing_launch \ --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception,target=/autoware/src/universe/autoware.universe/perception \ --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/sensing,target=/autoware/src/universe/autoware.universe/sensing \ source /opt/ros/"$ROS_DISTRO"/setup.bash \