refactor: refactor Docker build script (autowarefoundation#2704)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

docker/README.md

@@ -87,6 +87,19 @@ cd autoware/
 ./docker/build.sh
 ```
 
+To build without CUDA, use the `--no-cuda` option:
+
+```bash
+./docker/build.sh --no-cuda
+```
+
+To specify the platform, use the `--platform` option:
+
+```bash
+./docker/build.sh --platform linux/amd64
+./docker/build.sh --platform linux/arm64
+```
+
 ## Tips
 
 ### Precautions for not using `rocker`

docker/build.sh

@@ -5,15 +5,41 @@ set -e
 SCRIPT_DIR=$(readlink -f "$(dirname "$0")")
 WORKSPACE_ROOT="$SCRIPT_DIR/../"
 
-# Set default platform
-platform="linux/amd64"
-if [ "$(uname -m)" = "aarch64" ]; then
-    platform="linux/arm64"
+# Parse arguments
+args=()
+while [ "$1" != "" ]; do
+    case "$1" in
+    --no-cuda)
+        option_no_cuda=true
+        ;;
+    --platform)
+        option_platform="$2"
+        shift
+        ;;
+    *)
+        args+=("$1")
+        ;;
+    esac
+    shift
+done
+
+# Set CUDA options
+if [ "$option_no_cuda" = "true" ]; then
+    setup_args="--no-nvidia"
+    image_name_suffix=""
+else
+    setup_args="--no-cuda-drivers"
+    image_name_suffix="-cuda"
 fi
 
-# Override platform by arg
-if [ "$1" = "amd64" ] || [ "$1" = "arm64" ]; then
-    platform="linux/$1"
+# Set platform
+if [ -n "$option_platform" ]; then
+    platform="$option_platform"
+else
+    platform="linux/amd64"
+    if [ "$(uname -m)" = "aarch64" ]; then
+        platform="linux/arm64"
+    fi
 fi
 
 # Load env
@@ -25,12 +51,14 @@ fi
 # https://github.com/docker/buildx/issues/484
 export BUILDKIT_STEP_LOG_MAX_SIZE=10000000
 
+set -x
 docker buildx bake --load --progress=plain -f "$SCRIPT_DIR/autoware-universe/docker-bake.hcl" \
     --set "*.context=$WORKSPACE_ROOT" \
     --set "*.ssh=default" \
     --set "*.platform=$platform" \
     --set "*.args.ROS_DISTRO=$rosdistro" \
     --set "*.args.BASE_IMAGE=$base_image" \
-    --set "*.args.SETUP_ARGS=--no-cuda-drivers" \
-    --set "devel.tags=ghcr.io/autowarefoundation/autoware-universe:$rosdistro-latest" \
-    --set "prebuilt.tags=ghcr.io/autowarefoundation/autoware-universe:$rosdistro-latest-prebuilt"
+    --set "*.args.SETUP_ARGS=$setup_args" \
+    --set "devel.tags=ghcr.io/autowarefoundation/autoware-universe:$rosdistro-latest$image_name_suffix" \
+    --set "prebuilt.tags=ghcr.io/autowarefoundation/autoware-universe:$rosdistro-latest-prebuilt$image_name_suffix"
+set +x