feat: upstream to origin (#42)

* chore(docker): separate `rosdep install` and `colcon build` RUN commands (autowarefoundation#4719) * refactor(ci): reuse `load-env.yaml` to load env (autowarefoundation#4734) * reuse load-env.yaml to load env * update base_image Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * fix base_image Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> --------- Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * refactor(docker): introduce `src-imported` stage (autowarefoundation#4712) * introduce src-imported stage Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * empty Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * generate install package lists * append || true Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * cat packages Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * chore(docker): separate `rosdep install` and `colcon build` RUN commands (autowarefoundation#4719) * wip Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * wip Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * Update Dockerfile * Update Dockerfile * install pacmod * rename * Revert "install pacmod" This reverts commit ebff10f. * install pacmod3 * register pamod3 repos * ignore hadolint * revert * run set-dev-env.sh * pip install * copy * rosdep update --------- Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * feat(docker): install minimum packages in `base` stage (autowarefoundation#4751) * install ssh only and copy only once Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * install gosu Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * fix dir Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * revert ansible Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> --------- Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * chore: add discussion templates for general category (autowarefoundation#4764) Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp> * feat(ci,docker): change `vcs import` to `COPY src` (autowarefoundation#4738) * introduce src-imported stage Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * empty Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * generate install package lists * append || true Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * cat packages Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * chore(docker): separate `rosdep install` and `colcon build` RUN commands (autowarefoundation#4719) * wip Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * wip Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * Update Dockerfile * Update Dockerfile * install pacmod * rename * Revert "install pacmod" This reverts commit ebff10f. * install pacmod3 * register pamod3 repos * ignore hadolint * revert * run set-dev-env.sh * pip install * copy * rosdep update * vcs import outside dockerfile Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * refine order and remove /autoware/src at last * fix hadolint * remove tar files Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * shell: bash Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> --------- Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * feat(docker,ansible): download artifacts at runtime (autowarefoundation#4771) * feat(ci): enable Docker build cache to 5 times faster container build (autowarefoundation#4730) * introduce src-imported stage Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * empty Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * generate install package lists * append || true Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * cat packages Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * chore(docker): separate `rosdep install` and `colcon build` RUN commands (autowarefoundation#4719) * wip Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * wip Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * Update Dockerfile * Update Dockerfile * install pacmod * rename * Revert "install pacmod" This reverts commit ebff10f. * install pacmod3 * register pamod3 repos * ignore hadolint * revert * run set-dev-env.sh * pip install * copy * rosdep update * vcs import outside dockerfile Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * enable docker build cache Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * empty Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * add no-cuda/cuda suffix Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * remove --download-artifacts Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * remove --download-artifacts Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * add --data-path option Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * wip Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * run download_artifacts Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * remove todo Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * revert run Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> --------- Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * feat(docker): cache `ccache` to the Docker build cache (autowarefoundation#4772) * fix: add download url of yolox with semantic segmentation header (autowarefoundation#4012) Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: add error handling for held packages during rmw installation (autowarefoundation#4781) * chore: add error handling for held packages during apt installation Signed-off-by: Naophis <nao1288stusj@gmail.com> * feat: Add check for held ROS packages during installation Signed-off-by: Naophis <nao1288stusj@gmail.com> --------- Signed-off-by: Naophis <nao1288stusj@gmail.com> * refactor(docker,ci): rename `autoware-openadk` to `autoware` and `adkit` to `openadkit` (autowarefoundation#4785) * rename adkit to openadkit Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * rename autoware-openadkit to autoware Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * fix hcl path Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> --------- Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * feat(ci): disable `Upload Artifacts` on `docker-build-and-push` action (autowarefoundation#4789) * remove upload artifact Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * remove build and push Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> --------- Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * feat(docker): cache apt archives to the Docker build cache (autowarefoundation#4778) * mount apt cache Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * reorder Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * remove upload artifact Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * remove build and push Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> --------- Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * chore: update code owners (autowarefoundation#4797) Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai> * ci(pre-commit-ansible): autoupdate (autowarefoundation#4676) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * ci: pre-commit autoupdate (autowarefoundation#4670) [pre-commit.ci] pre-commit autoupdate updates: - [github.com/igorshubovych/markdownlint-cli: v0.39.0 → v0.41.0](igorshubovych/markdownlint-cli@v0.39.0...v0.41.0) - [github.com/AleksaC/hadolint-py: v2.12.1-beta → v2.12.1b3](AleksaC/hadolint-py@v2.12.1-beta...v2.12.1b3) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * ci(pre-commit): autoupdate (autowarefoundation#4662) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * ci(pre-commit-optional): autoupdate (autowarefoundation#4766) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * fix(ci): run `vsc import` on `build-main` workflows (autowarefoundation#4799) Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * feat(docker): cache `ccache` to the Docker build cache (autowarefoundation#4800) cache ccache again Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * chore: hold check of plotjuggler-ros package and display warning if held (autowarefoundation#4805) * chore: Hold check of plotjuggler-ros package and display warning if held Signed-off-by: Naophis <nao1288stusj@gmail.com> * chore: fix condition for checking held ROS package in dev_tools role Signed-off-by: Naophis <nao1288stusj@gmail.com> * style(pre-commit): autofix * chore: Update dev_tools role to fix condition for checking held ROS package Signed-off-by: Naophis <nao1288stusj@gmail.com> --------- Signed-off-by: Naophis <nao1288stusj@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(docker): revert "cache apt archives to the Docker build cache" (autowarefoundation#4793) Revert "feat(docker): cache apt archives to the Docker build cache (autowarefoundation#4778)" Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * chore(ci): add a workflow for DCO check to avoid DCO bot system failure (autowarefoundation#4825) Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp> * feat(ci): add CPU architecture suffixes to the Docker build cache (autowarefoundation#4826) * add arch prefix Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * rename Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * use lib_dir Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * change suffix Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> --------- Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * feat(simulator.repos): use autoware_msgs_support branch for scenario_simulator (autowarefoundation#4823) Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * feat(ansible): add lidar_transfusion artifacts (autowarefoundation#4835) * refactor(docker): fix colcon `--cmake-args` (autowarefoundation#4828) fix colcon cmake-args Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * refactor(ci): use platform arg to replace raw string (autowarefoundation#4844) use platform arg to replace raw string Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * refactor(ci): install `vcstool` and run `vcs import` on `docker-build-and-push.yaml` (autowarefoundation#4845) * refactor docker-build-and-push Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * fix shell Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> --------- Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> Co-authored-by: oguzkaganozt <oguzkaganozt@gmail.com> * fix platform Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> --------- Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp> Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Signed-off-by: Naophis <nao1288stusj@gmail.com> Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai> Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Co-authored-by: Naophis <nao1288stusj@gmail.com> Co-authored-by: M. Fatih Cırıt <xmfcx@users.noreply.github.com> Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Amadeusz Szymko <amadeuszszymko@gmail.com> Co-authored-by: oguzkaganozt <oguzkaganozt@gmail.com>
youtalk · Jun 11, 2024 · 98a1ab4 · 98a1ab4
1 parent 0f91d1f
commit 98a1ab4
Show file tree

Hide file tree

Showing 10 changed files with 105 additions and 62 deletions.
diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
@@ -25,6 +25,19 @@ runs:
     - name: Setup Docker Buildx
       uses: docker/setup-buildx-action@v2
 
+    - name: Install jq and vcstool
+      run: |
+        sudo apt-get -y update
+        sudo apt-get -y install jq python3-pip
+        pip install --no-cache-dir vcstool
+      shell: bash
+
+    - name: Run vcs import
+      run: |
+        mkdir src
+        vcs import src < autoware.repos
+      shell: bash
+
     - name: Set Docker tags
       id: set-docker-tags
       run: |

diff --git a/.github/workflows/build-main-self-hosted.yaml b/.github/workflows/build-main-self-hosted.yaml
@@ -27,11 +27,13 @@ jobs:
           - cuda
         include:
           - name: no-cuda
+            platform: arm64
             base_image_env: base_image
             lib_dir: aarch64
             setup-args: --no-nvidia
             additional-tag-suffix: ""
           - name: cuda
+            platform: arm64
             base_image_env: base_image
             lib_dir: aarch64
             additional-tag-suffix: -cuda
@@ -44,12 +46,6 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
-      - name: Install vcstool
-        run: |
-          sudo apt-get -y update
-          sudo apt-get -y install python3-pip
-          pip install --no-cache-dir vcstool
-
       - name: Set git config
         uses: autowarefoundation/autoware-github-actions/set-git-config@v1
         with:
@@ -58,23 +54,18 @@ jobs:
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
 
-      - name: Run vcs import
-        run: |
-          mkdir src
-          vcs import src < autoware.repos
-
-      - name: Build 'autoware-universe'
+      - name: Build 'Autoware'
         uses: ./.github/actions/docker-build-and-push
         with:
           bake-target: autoware
           build-args: |
-            *.platform=linux/arm64
+            *.platform=linux/${{ matrix.platform }}
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
             *.args.LIB_DIR=${{ matrix.lib_dir }}
-            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-arm64
-            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-arm64,mode=max
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }}
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }},mode=max
           tag-suffix: ${{ matrix.additional-tag-suffix }}-arm64
           tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
           allow-push: false

diff --git a/.github/workflows/build-main.yaml b/.github/workflows/build-main.yaml
@@ -27,24 +27,20 @@ jobs:
           - cuda
         include:
           - name: no-cuda
+            platform: amd64
             base_image_env: base_image
             lib_dir: x86_64
             setup-args: --no-nvidia
             additional-tag-suffix: ""
           - name: cuda
+            platform: amd64
             base_image_env: base_image
             lib_dir: x86_64
             additional-tag-suffix: -cuda
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
 
-      - name: Install vcstool
-        run: |
-          sudo apt-get -y update
-          sudo apt-get -y install python3-pip
-          pip install --no-cache-dir vcstool
-
       - name: Set git config
         uses: autowarefoundation/autoware-github-actions/set-git-config@v1
         with:
@@ -53,23 +49,18 @@ jobs:
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
 
-      - name: Run vcs import
-        run: |
-          mkdir src
-          vcs import src < autoware.repos
-
-      - name: Build 'autoware-universe'
+      - name: Build 'Autoware'
         uses: ./.github/actions/docker-build-and-push
         with:
           bake-target: autoware
           build-args: |
-            *.platform=linux/amd64
+            *.platform=linux/${{ matrix.platform }}
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
             *.args.LIB_DIR=${{ matrix.lib_dir }}
-            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-amd64
-            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-amd64,mode=max
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }}
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }},mode=max
           tag-suffix: ${{ matrix.additional-tag-suffix }}-amd64
           tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
           allow-push: false

diff --git a/.github/workflows/dco.yaml b/.github/workflows/dco.yaml
@@ -0,0 +1,21 @@
+name: DCO
+# ref: https://github.com/anchore/syft/pull/2926/files
+on:
+  pull_request:
+jobs:
+  dco:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Setup Python 3.x
+        uses: actions/setup-python@v5
+        with:
+          python-version: 3.x
+
+      - name: Check DCO
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          pip3 install -U dco-check
+          dco-check --verbose --exclude-pattern 'pre-commit-ci\[bot\]@users\.noreply\.github\.com'
diff --git a/.github/workflows/docker-build-and-push-main-self-hosted.yaml b/.github/workflows/docker-build-and-push-main-self-hosted.yaml
@@ -33,11 +33,13 @@ jobs:
           - cuda
         include:
           - name: no-cuda
+            platform: arm64
             base_image_env: base_image
             lib_dir: aarch64
             setup-args: --no-nvidia
             additional-tag-suffix: ""
           - name: cuda
+            platform: arm64
             base_image_env: base_image
             lib_dir: aarch64
             additional-tag-suffix: -cuda
@@ -58,35 +60,24 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
-      - name: Install vcstool
-        run: |
-          sudo apt-get -y update
-          sudo apt-get -y install python3-pip
-          pip install --no-cache-dir vcstool
-
       - name: Set git config
         uses: autowarefoundation/autoware-github-actions/set-git-config@v1
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Run vcs import
-        run: |
-          mkdir src
-          vcs import src < autoware.repos
-
       - name: Build 'Autoware'
         if: steps.author-check.outputs.author-found == 'true' || ${{ github.event_name == 'workflow_dispatch' }}
         uses: ./.github/actions/docker-build-and-push
         with:
           bake-target: autoware
           build-args: |
-            *.platform=linux/arm64
+            *.platform=linux/${{ matrix.platform }}
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
             *.args.LIB_DIR=${{ matrix.lib_dir }}
-            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-arm64
-            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-arm64,mode=max
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }}
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }},mode=max
           tag-suffix: ${{ matrix.additional-tag-suffix }}-arm64
           tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
           allow-push: true

diff --git a/.github/workflows/docker-build-and-push-main.yaml b/.github/workflows/docker-build-and-push-main.yaml
@@ -33,11 +33,13 @@ jobs:
           - cuda
         include:
           - name: no-cuda
+            platform: amd64
             base_image_env: base_image
             lib_dir: x86_64
             setup-args: --no-nvidia
             additional-tag-suffix: ""
           - name: cuda
+            platform: amd64
             base_image_env: base_image
             lib_dir: x86_64
             additional-tag-suffix: -cuda
@@ -58,35 +60,24 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
-      - name: Install vcstool
-        run: |
-          sudo apt-get -y update
-          sudo apt-get -y install python3-pip
-          pip install --no-cache-dir vcstool
-
       - name: Set git config
         uses: autowarefoundation/autoware-github-actions/set-git-config@v1
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Run vcs import
-        run: |
-          mkdir src
-          vcs import src < autoware.repos
-
       - name: Build 'Autoware'
         if: steps.author-check.outputs.author-found == 'true' || ${{ github.event_name == 'workflow_dispatch' }}
         uses: ./.github/actions/docker-build-and-push
         with:
           bake-target: autoware
           build-args: |
-            *.platform=linux/amd64
+            *.platform=linux/${{ matrix.platform }}
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
             *.args.LIB_DIR=${{ matrix.lib_dir }}
-            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-amd64
-            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-amd64,mode=max
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }}
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}-${{ matrix.platform }},mode=max
           tag-suffix: ${{ matrix.additional-tag-suffix }}-amd64
           tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
           allow-push: true

diff --git a/ansible/roles/artifacts/tasks/main.yaml b/ansible/roles/artifacts/tasks/main.yaml
@@ -158,6 +158,38 @@
     dest: "{{ data_dir }}/lidar_centerpoint/deploy_metadata.yaml"
     mode: "644"
     checksum: sha256:152536f053c3750b60d349800e1b983b418029d6dadf087614a00c661942a178
+
+# lidar_transfusion
+- name: Create lidar_transfusion directory inside {{ data_dir }}
+  ansible.builtin.file:
+    path: "{{ data_dir }}/lidar_transfusion"
+    mode: "755"
+    state: directory
+
+- name: Download lidar_transfusion/transfusion.onnx
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/transfusion/v1/transfusion.onnx
+    dest: "{{ data_dir }}/lidar_transfusion/transfusion.onnx"
+    mode: "644"
+    checksum: sha256:8938999cf03770ffd3301027300ea2cbcf471c180450e0434121d7294c42aa0b
+
+- name: Download lidar_transfusion/transfusion.param.yaml
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/transfusion/v1/transfusion.param.yaml
+    dest: "{{ data_dir }}/lidar_transfusion/transfusion.param.yaml"
+    mode: "644"
+    checksum: sha256:0e18776040f14e380037ef6ecb500d1d1d151f21ff7d5c890606673f7e100e14
+
+- name: Download lidar_transfusion/detection_class_remapper.param.yaml
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/transfusion/v1/detection_class_remapper.param.yaml
+    dest: "{{ data_dir }}/lidar_transfusion/detection_class_remapper.param.yaml"
+    mode: "644"
+    checksum: sha256:c711f8875ece9b527dfe31ffc75f8c0de2e77945ef67860a959a4e04c36772d5
+
 # tensorrt_yolox
 - name: Create tensorrt_yolox directory inside {{ data_dir }}
   ansible.builtin.file:

diff --git a/ansible/roles/dev_tools/tasks/main.yaml b/ansible/roles/dev_tools/tasks/main.yaml
@@ -37,10 +37,23 @@
     state: latest
     update_cache: true
 
+- name: Hold check of ros-{{ rosdistro + '-plotjuggler-ros' }}
+  ansible.builtin.command: apt-mark showhold
+  register: held_ros_packages
+  changed_when: false
+
 - name: Install plotjuggler
   become: true
   ansible.builtin.apt:
     name:
       - ros-{{ rosdistro }}-plotjuggler-ros
     state: latest
     update_cache: true
+  when: "'ros-' + rosdistro + '-plotjuggler-ros' not in held_ros_packages.stdout"
+  register: install_result
+  failed_when: false
+
+- name: Display warning if plotjuggler-ros package is held
+  ansible.builtin.debug:
+    msg: ROS package 'ros-{{ rosdistro }}-plotjuggler-ros' is apt-mark hold. Skipping installation.
+  when: not install_result.changed
diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -90,11 +90,11 @@ RUN --mount=type=ssh \
 COPY --from=src-imported /autoware/src /autoware/src
 RUN --mount=type=cache,target=${CCACHE_DIR} \
   source /opt/ros/"$ROS_DISTRO"/setup.bash \
-  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --cmake-args \
-    " -Wno-dev" \
-    " --no-warn-unused-cli" \
+  && colcon build --cmake-args \
     -DCMAKE_BUILD_TYPE=Release \
     -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+    " -Wno-dev" \
+    " --no-warn-unused-cli" \
   && find /autoware/install -type d -exec chmod 777 {} \; \
   && chmod -R 777 /var/tmp/ccache \
   && rm -rf /autoware/build /autoware/src

diff --git a/simulator.repos b/simulator.repos
@@ -2,4 +2,4 @@ repositories:
   simulator/scenario_simulator:
     type: git
     url: https://github.com/tier4/scenario_simulator_v2.git
-    version: master
+    version: RJD-736/autoware_msgs_support  # TODO(mitsudome-r): switch back to master once this branch is merged