Add CARLA 0.9.16 modular simulation deployment

.github/workflows/build-all-images.yaml

@@ -13,6 +13,8 @@ on:
       - 'components/visualizer/**'
       - 'components/simulator/**'
       - 'components/universe/**'
+      - 'tools/docker-bake.hcl'
+      - 'tools/carla-interface/**'
   schedule:
     - cron: '0 0 1 * *'
   workflow_dispatch:
@@ -25,7 +27,9 @@ env:
   REGISTRY: ghcr.io
   IMAGE_PREFIX_COMMON: ghcr.io/${{ github.repository_owner }}/openadkit-common
   IMAGE_PREFIX_COMPONENT: ghcr.io/${{ github.repository_owner }}/openadkit
+  IMAGE_PREFIX_TOOL: ghcr.io/${{ github.repository_owner }}/autoware-tools
   BAKE_FILE: components/docker-bake.hcl
+  BAKE_FILE_TOOLS: tools/docker-bake.hcl
 
 jobs:
   prepare:
@@ -278,7 +282,63 @@ jobs:
             *.cache-to=type=registry,ref=ghcr.io/${{ github.repository_owner }}/openadkit-buildcache:${{ matrix.target }}-${{ matrix.platform == 'linux/amd64' && 'amd64' || 'arm64' }}-${{ matrix.ros-distro }}-main,mode=max
 
   # =============================================================================
-  # Stage 3: Build universe and universe-cuda images (parallel)
+  # Stage 3: Build tool images
+  # =============================================================================
+  build-tools:
+    runs-on: ubuntu-22.04
+    needs: [prepare, build-components]
+    permissions:
+      contents: read
+      packages: write
+    strategy:
+      fail-fast: false
+      matrix:
+        platform: [linux/amd64]
+        ros-distro: [humble]
+        target:
+          - carla-interface
+    steps:
+      - name: Checkout OpenADKit repository
+        uses: actions/checkout@v6
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Log in to Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract metadata for ${{ matrix.target }}
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.IMAGE_PREFIX_TOOL }}
+          bake-target: docker-metadata-action-${{ matrix.target }}
+          tags: |
+            type=raw,value=${{ matrix.target }},enable={{is_default_branch}}
+            type=raw,value=${{ matrix.target }}-${{ needs.prepare.outputs.build_tag }}
+          flavor: |
+            latest=false
+
+      - name: Build and push ${{ matrix.target }}
+        uses: docker/bake-action@v5
+        with:
+          files: |
+            ${{ env.BAKE_FILE_TOOLS }}
+            ${{ steps.meta.outputs.bake-file }}
+          targets: ${{ matrix.target }}
+          push: true
+          set: |
+            *.platform=${{ matrix.platform }}
+            *.args.SIMULATOR_IMAGE=${{ env.IMAGE_PREFIX_COMPONENT }}:simulator-amd64-${{ matrix.ros-distro }}-${{ needs.prepare.outputs.build_tag }}
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository_owner }}/openadkit-buildcache:tool-${{ matrix.target }}-${{ matrix.platform == 'linux/amd64' && 'amd64' || 'arm64' }}-${{ matrix.ros-distro }}-main
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository_owner }}/openadkit-buildcache:tool-${{ matrix.target }}-${{ matrix.platform == 'linux/amd64' && 'amd64' || 'arm64' }}-${{ matrix.ros-distro }}-main,mode=max
+
+  # =============================================================================
+  # Stage 4: Build universe and universe-cuda images (parallel)
   # =============================================================================
   build-universe:
     runs-on: ${{ matrix.platform == 'linux/amd64' && 'ubuntu-22.04' || 'ubuntu-22.04-arm' }}
@@ -378,11 +438,11 @@ jobs:
             *.cache-to=type=registry,ref=ghcr.io/${{ github.repository_owner }}/openadkit-buildcache:${{ matrix.target }}-${{ matrix.platform == 'linux/amd64' && 'amd64' || 'arm64' }}-${{ matrix.ros-distro }}-main,mode=max
 
   # =============================================================================
-  # Stage 4: Create multi-arch manifests
+  # Stage 5: Create multi-arch manifests
   # =============================================================================
   create-manifests:
     runs-on: ubuntu-22.04
-    needs: [prepare, build-common, build-components, build-universe]
+    needs: [prepare, build-common, build-components, build-tools, build-universe]
     permissions:
       contents: read
       packages: write

.github/workflows/release-all-images.yaml

@@ -13,7 +13,9 @@ env:
   REGISTRY: ghcr.io
   IMAGE_PREFIX_COMMON: ghcr.io/${{ github.repository_owner }}/openadkit-common
   IMAGE_PREFIX_COMPONENT: ghcr.io/${{ github.repository_owner }}/openadkit
+  IMAGE_PREFIX_TOOL: ghcr.io/${{ github.repository_owner }}/autoware-tools
   BAKE_FILE: components/docker-bake.hcl
+  BAKE_FILE_TOOLS: tools/docker-bake.hcl
 
 jobs:
   detect-autoware-tag:
@@ -280,7 +282,60 @@ jobs:
             *.cache-to=type=registry,ref=ghcr.io/${{ github.repository_owner }}/openadkit-buildcache:${{ matrix.target }}-main,mode=max
 
   # =============================================================================
-  # Stage 3: Build universe and universe-cuda images (parallel)
+  # Stage 3: Build tool images
+  # =============================================================================
+  build-tools:
+    runs-on: ubuntu-22.04
+    needs: [detect-autoware-tag, build-components]
+    if: needs.detect-autoware-tag.outputs.should_run == 'true'
+    permissions:
+      contents: read
+      packages: write
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - target: carla-interface
+    steps:
+      - name: Checkout OpenADKit repository
+        uses: actions/checkout@v6
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Log in to Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract metadata for ${{ matrix.target }}
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.IMAGE_PREFIX_TOOL }}
+          bake-target: docker-metadata-action-${{ matrix.target }}
+          tags: |
+            type=raw,value=${{ matrix.target }}-${{ needs.detect-autoware-tag.outputs.autoware_tag }}
+          flavor: |
+            latest=false
+
+      - name: Build and push ${{ matrix.target }}
+        uses: docker/bake-action@v5
+        with:
+          files: |
+            ${{ env.BAKE_FILE_TOOLS }}
+            ${{ steps.meta.outputs.bake-file }}
+          targets: ${{ matrix.target }}
+          push: true
+          set: |
+            *.args.SIMULATOR_IMAGE=${{ env.IMAGE_PREFIX_COMPONENT }}:simulator-${{ needs.detect-autoware-tag.outputs.autoware_tag }}
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository_owner }}/openadkit-buildcache:tool-${{ matrix.target }}-main
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository_owner }}/openadkit-buildcache:tool-${{ matrix.target }}-main,mode=max
+
+  # =============================================================================
+  # Stage 4: Build universe and universe-cuda images (parallel)
   # =============================================================================
   build-universe:
     runs-on: ubuntu-22.04

deployments/README.md

@@ -3,6 +3,7 @@
 This directory contains deployment configurations for **Open AD Kit**. Each folder contains a README file with detailed instructions on how to deploy the deployment configuration.
 
 - **Sample deployment** configurations for development and testing.
+  - [CARLA Simulation](./samples/carla-simulation): Simple Open AD Kit deployment that demonstrates the open-source planning stack with CARLA as an external simulator.
   - [Planning Simulation](./samples/planning-simulation): Simple Open AD Kit deployment that demonstrates the autoware **planning features** with planning simulation.
   - [Logging Simulation](./samples/logging-simulation): Simple Open AD Kit deployment that demonstrates the autoware **end-to-end functionality** with sensor simulation using rosbag.
 - **Demo deployment** configurations with specific use case scenarios.

deployments/samples/carla-simulation/README.md

@@ -0,0 +1,115 @@
+# Autoware Open AD Kit CARLA E2E Simulation
+
+This sample runs closed-loop CARLA 0.9.16 end-to-end simulation with modular OpenADKit containers and Autoware's `autoware_carla_interface`.
+
+The default runtime uses the official CARLA Ubuntu 22 container image. It does not use the CARLA ROS bridge, dummy vehicle, dummy perception, a monolithic Autoware container, or a host-installed CARLA runtime.
+
+## Runtime
+
+- CARLA: `carlasim/carla:0.9.16`
+- CARLA interface image: `ghcr.io/autowarefoundation/autoware-tools:carla-interface`
+- Autoware modules: standard OpenADKit split images
+- CARLA map: `Town01`
+- Autoware map assets: `$HOME/autoware_data/maps/Town01`
+- RViz/noVNC: `ghcr.io/autowarefoundation/openadkit:visualizer`
+
+## Requirements
+
+- Docker with NVIDIA Container Toolkit
+- Access to `carlasim/carla:0.9.16`
+- A working host X display, usually `DISPLAY=:0`
+- Host NVIDIA Vulkan ICD at `/usr/share/vulkan/icd.d/nvidia_icd.json`
+
+## Start
+
+```bash
+./start-carla-e2e-demo.sh
+```
+
+The helper will:
+
+- Use the CI-built `ghcr.io/autowarefoundation/autoware-tools:carla-interface` image.
+- Download the official CARLA Autoware Town01 map assets if missing.
+- Start `carlasim/carla:0.9.16` as `carla-e2e` on `DISPLAY=:0`.
+- Preload `Town01`.
+- Start modular OpenADKit map, system, CARLA interface, sensing, perception, localization, planning, vehicle, control, and API containers.
+- Start the browser RViz/noVNC visualizer.
+- Verify localization, CARLA LiDAR, and the CARLA ego actor.
+
+Use `--build` to build the CARLA interface image locally from `tools/carla-interface` before starting the stack.
+
+The default behavior is no-drive. Set the route and engage manually in RViz.
+
+## Open RViz
+
+If running remotely, forward noVNC from the machine running the sample:
+
+```bash
+ssh -L 8080:localhost:6080 <user>@<host>
+```
+
+Open:
+
+```text
+http://localhost:8080/vnc.html
+```
+
+Password:
+
+```text
+openadkit
+```
+
+In RViz:
+
+- Use `2D Goal Pose` to set a route.
+- Wait for routing and planning to become available.
+- Click `Auto` to engage autonomous driving.
+
+## Optional Drive Check
+
+To automatically set a short forward route, engage autonomous mode, and verify movement:
+
+```bash
+./start-carla-e2e-demo.sh --drive
+```
+
+Expected success output includes:
+
+```text
+Route set: start=(..., ...) goal=(..., ...)
+Autonomous mode active
+Moved ... m: start=(..., ...) current=(..., ...)
+```
+
+## Faster Relaunch
+
+The helper does not build the CARLA interface image unless `--build` is passed, so relaunching uses the configured image directly:
+
+```bash
+./start-carla-e2e-demo.sh
+```
+
+For start-only behavior with an explicit no-drive flag:
+
+```bash
+./start-carla-e2e-demo.sh --no-drive
+```
+
+## Command Path
+
+Closed-loop control uses this path:
+
+```text
+/control/command/control_cmd
+  -> autoware_raw_vehicle_cmd_converter
+  -> /control/command/actuation_cmd
+  -> autoware_carla_interface
+  -> CARLA ego vehicle
+```
+
+## Stop
+
+```bash
+docker compose --env-file carla-simulation.e2e.env -f docker-compose.yaml down
+```

deployments/samples/carla-simulation/carla-simulation.e2e.env

@@ -0,0 +1,84 @@
+# ROS settings
+ROS_DOMAIN_ID=1
+USE_SIM_TIME=true
+
+# Runtime images
+CARLA_INTERFACE_IMAGE=ghcr.io/autowarefoundation/autoware-tools:carla-interface
+CARLA_INTERFACE_CONTAINER=autoware-carla-interface
+CARLA_PYTHON_VERSION=0.9.16
+SENSING_PERCEPTION_IMAGE=ghcr.io/autowarefoundation/openadkit:sensing-perception-cuda
+
+# CARLA runtime on the host X display.
+CARLA_CONTAINER_IMAGE=carlasim/carla:0.9.16
+CARLA_CONTAINER_NAME=carla-e2e
+CARLA_DISPLAY=:0
+CARLA_VK_ICD_HOST_PATH=/usr/share/vulkan/icd.d/nvidia_icd.json
+CARLA_VK_ICD_CONTAINER_PATH=/usr/share/vulkan/icd.d/nvidia_icd.json
+CARLA_RPC_HOST=127.0.0.1
+CARLA_RPC_PORT=2000
+CARLA_WORLD_PORT=2000
+CARLA_WORLD=Town01
+CARLA_QUALITY=Low
+CARLA_RESX=1280
+CARLA_RESY=720
+CARLA_START_TIMEOUT=120
+CARLA_LOAD_TIMEOUT=120
+
+# Official CARLA Autoware map assets
+CARLA_E2E_MAP_PATH=$HOME/autoware_data/maps/Town01
+CARLA_E2E_POINTCLOUD_URL=https://bitbucket.org/carla-simulator/autoware-contents/raw/master/maps/point_cloud_maps/Town01.pcd
+CARLA_E2E_LANELET2_URL=https://bitbucket.org/carla-simulator/autoware-contents/raw/master/maps/vector_maps/lanelet2/Town01.osm
+
+# Autoware map settings
+MAP_PATH=$HOME/autoware_data/maps/Town01
+LANELET2_MAP_FILE=lanelet2_map.osm
+POINTCLOUD_MAP_FILE=pointcloud_map.pcd
+DATA_PATH=$HOME/autoware_data
+
+# Common Autoware settings
+POINTCLOUD_CONTAINER_NAME=pointcloud_container
+SCENARIO_SIMULATION=false
+SENSOR_MODEL=carla_sensor_kit
+VEHICLE_ID=default
+VEHICLE_MODEL=sample_vehicle
+
+# Planning and control settings
+ENABLE_ALL_MODULES_AUTO_MODE=false
+IS_SIMULATION_MODE=true
+PLANNING_MODULE_PRESET=default
+CHECK_EXTERNAL_EMERGENCY_HEARTBEAT=false
+CONTROL_MODULE_PRESET=default
+LATERAL_CONTROLLER_MODE=mpc
+LONGITUDINAL_CONTROLLER_MODE=pid
+
+# Vehicle and system settings
+LAUNCH_VEHICLE_INTERFACE=false
+SYSTEM_RUN_MODE=online
+LAUNCH_SYSTEM_MONITOR=false
+LAUNCH_DUMMY_DIAG_PUBLISHER=false
+
+# Sensing and perception settings
+LAUNCH_POINTCLOUD_CONTAINER_SENSING=true
+LAUNCH_SENSING_DRIVER=false
+LAUNCH_POINTCLOUD_CONTAINER_PERCEPTION=false
+LIDAR_DETECTION_MODEL=clustering
+OCCUPANCY_GRID_MAP_METHOD=pointcloud_based
+PERCEPTION_MODE=lidar
+
+# Autoware launch settings
+AUTOWARE_E2E_TIMEOUT=120
+AUTOWARE_E2E_EMPTY_OBJECTS=false
+AUTOWARE_E2E_USE_TRAFFIC_LIGHT_RECOGNITION=false
+AUTOWARE_E2E_START_VISUALIZER=true
+AUTOWARE_E2E_VERIFY_TIMEOUT=180
+AUTOWARE_E2E_VERIFY_INTERVAL=5
+
+# Visualization settings
+RVIZ_CONFIG=/opt/autoware/share/autoware_launch/rviz/autoware.rviz
+
+# Demo route and engage settings
+AUTOWARE_E2E_AUTO_DRIVE=false
+AUTOWARE_E2E_ROUTE_FORWARD_DISTANCE=55.0
+AUTOWARE_E2E_ROUTE_SETTLE_TIMEOUT=90
+AUTOWARE_E2E_DRIVE_VERIFY_TIMEOUT=90
+AUTOWARE_E2E_DRIVE_VERIFY_DISTANCE=3.0