feat(jp62): add Jetson Linux 6.2 base layer

CLAUDE.md

@@ -0,0 +1,116 @@
+# CLAUDE.md
+
+This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
+
+## Project Overview
+
+Open AD Kit provides containerized, microservice-based components for the [Autoware](https://github.com/autowarefoundation/autoware) autonomous driving stack. It packages Autoware into independent Docker images for modular deployment across cloud and edge (amd64/arm64). This is a SOAFEE Blueprint project under the Autoware Foundation.
+
+## Build Commands
+
+### Build container images (requires Docker buildx)
+
+```bash
+# Build all component images (default target) for current platform, ROS Humble
+./build.sh
+
+# Build options
+./build.sh --platform linux/arm64        # Cross-build for ARM
+./build.sh --platform jp62              # Jetson Linux 6.2 (arm64, CUDA always included)
+./build.sh --ros-distro jazzy            # Use ROS Jazzy (default: humble)
+./build.sh --no-cuda                     # Skip CUDA image variants
+./build.sh --target common               # Build only base images (stage 1)
+./build.sh --target components           # Build components (stages 1+2, default)
+./build.sh --target universe             # Build everything (stages 1+2+3)
+```
+
+The build script first clones the Autoware repo and imports source via `vcs`, then runs `docker buildx bake` through three stages.
+
+### Setup runtime environment
+
+```bash
+./setup.sh  # Installs Docker, NVIDIA Container Toolkit
+```
+
+### Documentation (MkDocs)
+
+```bash
+make prepare  # Build the MkDocs dev container
+make serve    # Serve docs locally at localhost:8000
+make build    # Build static site
+make clean    # Remove site/ directory
+```
+
+## Architecture
+
+### Three-stage image hierarchy
+
+The build produces layered Docker images defined in `components/docker-bake.hcl`:
+
+1. **Common** (`components/common/`): Base and devel images built on top of ROS. Each has a CUDA variant and a JP62 variant.
+   - `common-base` / `common-base-cuda` / `common-base-jp62` — runtime base
+   - `common-devel` / `common-devel-cuda` / `common-devel-jp62` — build-time with Autoware dependencies
+2. **Components** (7 independent images): Each built from `common-devel`, installed onto `common-base`. Each has its own Dockerfile under `components/<name>/`:
+   - `sensing-perception` (has CUDA variant), `localization-mapping`, `planning-control`, `vehicle-system`, `api`, `visualizer`, `simulator`
+3. **Universe** (`components/universe/`): Merges all component install spaces into a single image. Has a CUDA variant.
+
+### Platform variants
+
+The image matrix spans `{platform} x {ros-distro}`:
+
+| Platform       | Arch        | CUDA     | Base image                                  | Dockerfile                 |
+|----------------|-------------|----------|---------------------------------------------|----------------------------|
+| `amd64`        | linux/amd64 | optional | `ros:{distro}-ros-base-{ubuntu}`            | `Dockerfile`               |
+| `arm64`        | linux/arm64 | no       | `ros:{distro}-ros-base-{ubuntu}`            | `Dockerfile`               |
+| `amd64` + cuda | linux/amd64 | yes      | `ros:{distro}-ros-base-{ubuntu}`            | `Dockerfile` (cuda stages) |
+| `jp62`         | linux/arm64 | always   | `nvcr.io/nvidia/l4t-tensorrt:r10.3.0-devel` | `Dockerfile.jp62`          |
+
+JP62 images fulfill the same contract as CUDA images (`common-base-cuda` / `common-devel-cuda`), so downstream `Dockerfile.cuda` component files work unmodified by receiving JP62 images as their `COMMON_BASE_CUDA_IMAGE` / `COMMON_DEVEL_CUDA_IMAGE` args.
+
+**JP62-specific concerns** (`components/common/Dockerfile.jp62`):
+- L4T base has no ROS — installed from apt (`ros-humble-desktop`)
+- L4T OpenCV 4.8.0 replaced with Ubuntu 4.5.4 (apt pin in `components/common/jp62/opencv-preferences`)
+- L4T CMake 3.14 replaced with system CMake >= 3.22
+- NVIDIA packages from L4T repos (not `ubuntu2204/sbsa`) — `setup-dev-env.sh` must use `--no-nvidia --no-cuda-drivers` to avoid conflicts
+- `CUDAARCHS=87` (Orin) set to avoid native detection failures under QEMU
+- spconv/cumm installed from pre-built Jetson ARM `.deb` packages
+- `ros-humble-tensorrt-cmake-module` and `ros-humble-cudnn-cmake-module` installed explicitly (skipped by `--no-nvidia` ansible)
+- colcon mixin index must be explicitly registered (not inherited from ros: Docker base image)
+- CMake 3.28 from Kitware PPA required: system cmake 3.22 has a `find_library()` bug where the `ament_cmake_export_libraries` template's `set(_lib "NOTFOUND")` pattern causes the search to be skipped. Additionally, the template reuses a shared `_lib` cache variable across packages, causing cross-package pollution ([ament_cmake#182](https://github.com/ament/ament_cmake/issues/182)). Both fixed by cmake 3.28 + a sed patch in the Dockerfile. Pinned to 3.28 to stay below 4.0
+- JP62 images must be built on native Jetson (arm64); x86 cross-compilation via QEMU hits intermittent `find_library` failures in cmake subprocess calls
+- Autoware 1.7.1 hardcodes `-gencode arch=compute_101` (Blackwell) in 14 CUDA CMakeLists.txt files; CUDA 12.6 on JP62 only supports up to `compute_90`. Run `components/common/jp62/patch-cuda-arch.sh autoware/src` after cloning sources to gate these behind `CUDA_VERSION >= 12.8`
+
+### Deployment samples
+
+- `deployments/samples/planning-simulation/` — planning stack with AWSIM simulator
+- `deployments/samples/logging-simulation/` — end-to-end replay with rosbag
+- `deployments/demos/zenoh-bridge/` — remote visualization via Zenoh bridge
+
+### Platform configurations
+
+- `platforms/autosd/` — Automotive-grade Linux (CentOS Stream AutoSD)
+
+### Tag scheme
+
+CI tags images as `{variant}-{platform}-{distro}[-{date}]`:
+- `base-amd64-humble`, `devel-cuda-amd64-humble`, `base-jp62-humble`
+- Component/universe: `sensing-perception-amd64-humble`, `universe-jp62-humble`
+
+Multi-arch manifests (amd64+arm64) strip the platform: `base-humble-{date}`. CUDA and JP62 images are single-arch.
+
+## CI/CD
+
+GitHub Actions workflows in `.github/workflows/`:
+
+- **build-all-images.yaml**: Main CI. Builds all images for amd64+arm64, humble+jazzy. Triggered on push to main, monthly schedule, or manual dispatch. Pushes to `ghcr.io`.
+- **release-all-images.yaml**: Runs every 6 hours. Detects latest Autoware release tag and publishes versioned images.
+- **deploy-docs.yaml**: Builds and deploys MkDocs site to GitHub Pages on push to main.
+- **semantic-pull-request.yaml**: Enforces conventional commit style on PR titles.
+
+## Key Conventions
+
+- Image registry: `ghcr.io/autowarefoundation/openadkit`
+- ROS distributions: `humble` (Ubuntu Jammy) and `jazzy` (Ubuntu Noble)
+- PR titles must follow [Conventional Commits](https://www.conventionalcommits.org/) (enforced by CI)
+- The `autoware/` directory is git-ignored — it's cloned at build time by `build.sh`
+- No unit test suite; validation happens through Docker build success in CI

build.sh

@@ -9,7 +9,7 @@ print_help() {
 	echo "Usage: build.sh [OPTIONS]"
 	echo "Options:"
 	echo "  -h | --help     Display this help message"
-	echo "  --platform      Specify the platform (linux/amd64 or linux/arm64, default: current platform)"
+	echo "  --platform      Specify the platform (linux/amd64, linux/arm64, or jp62; default: current platform)"
 	echo "  --ros-distro    Specify ROS distribution (humble or jazzy, default: humble)"
 	echo "  --no-cuda       Do not build CUDA images (default: false)"
 	echo "  --target        Specify the target images to build (common, components, universe, default: components)"
@@ -76,6 +76,12 @@ set_platform() {
 			platform="linux/arm64"
 		fi
 	fi
+
+	# JP62 (Jetson Linux 6.2) is always arm64
+	if [ "$platform" = "jp62" ]; then
+		is_jp62=true
+		platform="linux/arm64"
+	fi
 }
 
 # Clone autoware repositories
@@ -97,6 +103,14 @@ clone_repositories() {
 	fi
 }
 
+# Apply platform-specific source patches
+apply_patches() {
+	if [ "$is_jp62" = "true" ]; then
+		echo "Applying JP62 patches to Autoware sources..."
+		"$SCRIPT_DIR/components/common/jp62/patch-cuda-arch.sh" "$WORKSPACE_ROOT/autoware/src"
+	fi
+}
+
 # Build images
 build_images() {
 	# https://github.com/docker/buildx/issues/484
@@ -114,6 +128,7 @@ build_images() {
 	echo "Building images with:"
 	echo "  Target: $target"
 	echo "  Platform: $platform"
+	echo "  JP62: $([ "$is_jp62" = "true" ] && echo "yes" || echo "no")"
 	echo "  ROS distro: $ros_distro"
 	echo "  Base image: $base_image"
 	echo "  CUDA: $([ "$option_no_cuda" = "true" ] && echo "disabled" || echo "enabled")"
@@ -123,26 +138,38 @@ build_images() {
 	# =========================================================================
 	# Stage 1: Common images
 	# =========================================================================
-	docker buildx bake --allow=ssh --load --progress=plain -f "$bake_file" \
-		--set "*.context=$WORKSPACE_ROOT" \
-		--set "*.ssh=default" \
-		--set "*.platform=$platform" \
-		--set "*.args.ROS_DISTRO=$ros_distro" \
-		--set "*.args.BASE_IMAGE=$base_image" \
-		--set "common-base.tags=${image_common}:base" \
-		--set "common-devel.tags=${image_common}:devel" \
-		common-base common-devel
-
-	if [ "$option_no_cuda" != "true" ]; then
+	if [ "$is_jp62" = "true" ]; then
+		# JP62: build Jetson-specific common images (CUDA is always included)
+		docker buildx bake --allow=ssh --load --progress=plain -f "$bake_file" \
+			--set "*.context=$WORKSPACE_ROOT" \
+			--set "*.ssh=default" \
+			--set "*.platform=$platform" \
+			--set "*.args.ROS_DISTRO=$ros_distro" \
+			--set "common-base-jp62.tags=${image_common}:base-jp62" \
+			--set "common-devel-jp62.tags=${image_common}:devel-jp62" \
+			common-base-jp62 common-devel-jp62
+	else
 		docker buildx bake --allow=ssh --load --progress=plain -f "$bake_file" \
 			--set "*.context=$WORKSPACE_ROOT" \
 			--set "*.ssh=default" \
 			--set "*.platform=$platform" \
 			--set "*.args.ROS_DISTRO=$ros_distro" \
 			--set "*.args.BASE_IMAGE=$base_image" \
-			--set "common-base-cuda.tags=${image_common}:base-cuda" \
-			--set "common-devel-cuda.tags=${image_common}:devel-cuda" \
-			common-base-cuda common-devel-cuda
+			--set "common-base.tags=${image_common}:base" \
+			--set "common-devel.tags=${image_common}:devel" \
+			common-base common-devel
+
+		if [ "$option_no_cuda" != "true" ]; then
+			docker buildx bake --allow=ssh --load --progress=plain -f "$bake_file" \
+				--set "*.context=$WORKSPACE_ROOT" \
+				--set "*.ssh=default" \
+				--set "*.platform=$platform" \
+				--set "*.args.ROS_DISTRO=$ros_distro" \
+				--set "*.args.BASE_IMAGE=$base_image" \
+				--set "common-base-cuda.tags=${image_common}:base-cuda" \
+				--set "common-devel-cuda.tags=${image_common}:devel-cuda" \
+				common-base-cuda common-devel-cuda
+		fi
 	fi
 
 	if [ "$target" = "common" ]; then
@@ -153,32 +180,61 @@ build_images() {
 	# =========================================================================
 	# Stage 2: Component images
 	# =========================================================================
-	docker buildx bake --allow=ssh --load --progress=plain -f "$bake_file" \
-		--set "*.context=$WORKSPACE_ROOT" \
-		--set "*.ssh=default" \
-		--set "*.platform=$platform" \
-		--set "*.args.ROS_DISTRO=$ros_distro" \
-		--set "*.args.COMMON_BASE_IMAGE=${image_common}:base" \
-		--set "*.args.COMMON_DEVEL_IMAGE=${image_common}:devel" \
-		--set "sensing-perception.tags=${image_component}:sensing-perception" \
-		--set "localization-mapping.tags=${image_component}:localization-mapping" \
-		--set "planning-control.tags=${image_component}:planning-control" \
-		--set "vehicle-system.tags=${image_component}:vehicle-system" \
-		--set "api.tags=${image_component}:api" \
-		--set "visualizer.tags=${image_component}:visualizer" \
-		--set "simulator.tags=${image_component}:simulator" \
-		sensing-perception localization-mapping planning-control vehicle-system api visualizer simulator
-
-	if [ "$option_no_cuda" != "true" ]; then
+	if [ "$is_jp62" = "true" ]; then
+		# JP62: feed JP62 common images into the CUDA Dockerfiles.
+		# The JP62 base/devel images fulfill the same contract as common-base-cuda / common-devel-cuda.
 		docker buildx bake --allow=ssh --load --progress=plain -f "$bake_file" \
 			--set "*.context=$WORKSPACE_ROOT" \
 			--set "*.ssh=default" \
 			--set "*.platform=$platform" \
 			--set "*.args.ROS_DISTRO=$ros_distro" \
-			--set "*.args.COMMON_BASE_CUDA_IMAGE=${image_common}:base-cuda" \
-			--set "*.args.COMMON_DEVEL_CUDA_IMAGE=${image_common}:devel-cuda" \
-			--set "sensing-perception-cuda.tags=${image_component}:sensing-perception-cuda" \
+			--set "*.args.COMMON_BASE_CUDA_IMAGE=${image_common}:base-jp62" \
+			--set "*.args.COMMON_DEVEL_CUDA_IMAGE=${image_common}:devel-jp62" \
+			--set "sensing-perception-cuda.tags=${image_component}:sensing-perception-jp62" \
 			sensing-perception-cuda
+
+		docker buildx bake --allow=ssh --load --progress=plain -f "$bake_file" \
+			--set "*.context=$WORKSPACE_ROOT" \
+			--set "*.ssh=default" \
+			--set "*.platform=$platform" \
+			--set "*.args.ROS_DISTRO=$ros_distro" \
+			--set "*.args.COMMON_BASE_IMAGE=${image_common}:base-jp62" \
+			--set "*.args.COMMON_DEVEL_IMAGE=${image_common}:devel-jp62" \
+			--set "localization-mapping.tags=${image_component}:localization-mapping-jp62" \
+			--set "planning-control.tags=${image_component}:planning-control-jp62" \
+			--set "vehicle-system.tags=${image_component}:vehicle-system-jp62" \
+			--set "api.tags=${image_component}:api-jp62" \
+			--set "visualizer.tags=${image_component}:visualizer-jp62" \
+			--set "simulator.tags=${image_component}:simulator-jp62" \
+			localization-mapping planning-control vehicle-system api visualizer simulator
+	else
+		docker buildx bake --allow=ssh --load --progress=plain -f "$bake_file" \
+			--set "*.context=$WORKSPACE_ROOT" \
+			--set "*.ssh=default" \
+			--set "*.platform=$platform" \
+			--set "*.args.ROS_DISTRO=$ros_distro" \
+			--set "*.args.COMMON_BASE_IMAGE=${image_common}:base" \
+			--set "*.args.COMMON_DEVEL_IMAGE=${image_common}:devel" \
+			--set "sensing-perception.tags=${image_component}:sensing-perception" \
+			--set "localization-mapping.tags=${image_component}:localization-mapping" \
+			--set "planning-control.tags=${image_component}:planning-control" \
+			--set "vehicle-system.tags=${image_component}:vehicle-system" \
+			--set "api.tags=${image_component}:api" \
+			--set "visualizer.tags=${image_component}:visualizer" \
+			--set "simulator.tags=${image_component}:simulator" \
+			sensing-perception localization-mapping planning-control vehicle-system api visualizer simulator
+
+		if [ "$option_no_cuda" != "true" ]; then
+			docker buildx bake --allow=ssh --load --progress=plain -f "$bake_file" \
+				--set "*.context=$WORKSPACE_ROOT" \
+				--set "*.ssh=default" \
+				--set "*.platform=$platform" \
+				--set "*.args.ROS_DISTRO=$ros_distro" \
+				--set "*.args.COMMON_BASE_CUDA_IMAGE=${image_common}:base-cuda" \
+				--set "*.args.COMMON_DEVEL_CUDA_IMAGE=${image_common}:devel-cuda" \
+				--set "sensing-perception-cuda.tags=${image_component}:sensing-perception-cuda" \
+				sensing-perception-cuda
+		fi
 	fi
 
 	if [ "$target" = "components" ]; then
@@ -189,40 +245,59 @@ build_images() {
 	# =========================================================================
 	# Stage 3: Universe images
 	# =========================================================================
-	docker buildx bake --allow=ssh --load --progress=plain -f "$bake_file" \
-		--set "*.context=$WORKSPACE_ROOT" \
-		--set "*.ssh=default" \
-		--set "*.platform=$platform" \
-		--set "*.args.ROS_DISTRO=$ros_distro" \
-		--set "*.args.COMMON_BASE_IMAGE=${image_common}:base" \
-		--set "*.args.COMMON_DEVEL_IMAGE=${image_common}:devel" \
-		--set "*.args.SENSING_PERCEPTION_IMAGE=${image_component}:sensing-perception" \
-		--set "*.args.LOCALIZATION_MAPPING_IMAGE=${image_component}:localization-mapping" \
-		--set "*.args.PLANNING_CONTROL_IMAGE=${image_component}:planning-control" \
-		--set "*.args.VEHICLE_SYSTEM_IMAGE=${image_component}:vehicle-system" \
-		--set "*.args.API_IMAGE=${image_component}:api" \
-		--set "*.args.VISUALIZER_IMAGE=${image_component}:visualizer" \
-		--set "*.args.SIMULATOR_IMAGE=${image_component}:simulator" \
-		--set "universe.tags=${image_component}:universe" \
-		universe
-
-	if [ "$option_no_cuda" != "true" ]; then
+	if [ "$is_jp62" = "true" ]; then
+		docker buildx bake --allow=ssh --load --progress=plain -f "$bake_file" \
+			--set "*.context=$WORKSPACE_ROOT" \
+			--set "*.ssh=default" \
+			--set "*.platform=$platform" \
+			--set "*.args.ROS_DISTRO=$ros_distro" \
+			--set "*.args.COMMON_BASE_CUDA_IMAGE=${image_common}:base-jp62" \
+			--set "*.args.COMMON_DEVEL_CUDA_IMAGE=${image_common}:devel-jp62" \
+			--set "*.args.SENSING_PERCEPTION_CUDA_IMAGE=${image_component}:sensing-perception-jp62" \
+			--set "*.args.LOCALIZATION_MAPPING_IMAGE=${image_component}:localization-mapping-jp62" \
+			--set "*.args.PLANNING_CONTROL_IMAGE=${image_component}:planning-control-jp62" \
+			--set "*.args.VEHICLE_SYSTEM_IMAGE=${image_component}:vehicle-system-jp62" \
+			--set "*.args.API_IMAGE=${image_component}:api-jp62" \
+			--set "*.args.VISUALIZER_IMAGE=${image_component}:visualizer-jp62" \
+			--set "*.args.SIMULATOR_IMAGE=${image_component}:simulator-jp62" \
+			--set "universe-cuda.tags=${image_component}:universe-jp62" \
+			universe-cuda
+	else
 		docker buildx bake --allow=ssh --load --progress=plain -f "$bake_file" \
 			--set "*.context=$WORKSPACE_ROOT" \
 			--set "*.ssh=default" \
 			--set "*.platform=$platform" \
 			--set "*.args.ROS_DISTRO=$ros_distro" \
-			--set "*.args.COMMON_BASE_CUDA_IMAGE=${image_common}:base-cuda" \
-			--set "*.args.COMMON_DEVEL_CUDA_IMAGE=${image_common}:devel-cuda" \
-			--set "*.args.SENSING_PERCEPTION_CUDA_IMAGE=${image_component}:sensing-perception-cuda" \
+			--set "*.args.COMMON_BASE_IMAGE=${image_common}:base" \
+			--set "*.args.COMMON_DEVEL_IMAGE=${image_common}:devel" \
+			--set "*.args.SENSING_PERCEPTION_IMAGE=${image_component}:sensing-perception" \
 			--set "*.args.LOCALIZATION_MAPPING_IMAGE=${image_component}:localization-mapping" \
 			--set "*.args.PLANNING_CONTROL_IMAGE=${image_component}:planning-control" \
 			--set "*.args.VEHICLE_SYSTEM_IMAGE=${image_component}:vehicle-system" \
 			--set "*.args.API_IMAGE=${image_component}:api" \
 			--set "*.args.VISUALIZER_IMAGE=${image_component}:visualizer" \
 			--set "*.args.SIMULATOR_IMAGE=${image_component}:simulator" \
-			--set "universe-cuda.tags=${image_component}:universe-cuda" \
-			universe-cuda
+			--set "universe.tags=${image_component}:universe" \
+			universe
+
+		if [ "$option_no_cuda" != "true" ]; then
+			docker buildx bake --allow=ssh --load --progress=plain -f "$bake_file" \
+				--set "*.context=$WORKSPACE_ROOT" \
+				--set "*.ssh=default" \
+				--set "*.platform=$platform" \
+				--set "*.args.ROS_DISTRO=$ros_distro" \
+				--set "*.args.COMMON_BASE_CUDA_IMAGE=${image_common}:base-cuda" \
+				--set "*.args.COMMON_DEVEL_CUDA_IMAGE=${image_common}:devel-cuda" \
+				--set "*.args.SENSING_PERCEPTION_CUDA_IMAGE=${image_component}:sensing-perception-cuda" \
+				--set "*.args.LOCALIZATION_MAPPING_IMAGE=${image_component}:localization-mapping" \
+				--set "*.args.PLANNING_CONTROL_IMAGE=${image_component}:planning-control" \
+				--set "*.args.VEHICLE_SYSTEM_IMAGE=${image_component}:vehicle-system" \
+				--set "*.args.API_IMAGE=${image_component}:api" \
+				--set "*.args.VISUALIZER_IMAGE=${image_component}:visualizer" \
+				--set "*.args.SIMULATOR_IMAGE=${image_component}:simulator" \
+				--set "universe-cuda.tags=${image_component}:universe-cuda" \
+				universe-cuda
+		fi
 	fi
 
 	set +x
@@ -239,5 +314,6 @@ set_ros_distro
 set_build_options
 set_platform
 clone_repositories
+apply_patches
 build_images
 remove_dangling_images