feat(proposal draft, submodule): manage repositories as submodules instead of vcstool.

.github/actions/docker-build-and-push-cuda/action.yaml

@@ -19,7 +19,7 @@ inputs:
 runs:
   using: composite
   steps:
-    - name: Install jq and vcs2l
+    - name: Install jq
       run: |
         sudo apt-get -y update
         sudo apt-get -y install curl gnupg lsb-release
@@ -30,13 +30,12 @@ runs:
           sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
         sudo apt-get update
-        sudo apt-get install -y jq python3-pip python3-vcs2l
+        sudo apt-get install -y jq
       shell: bash
 
-    - name: Run vcs import
+    - name: Initialize submodules
       run: |
-        mkdir -p src
-        vcs import --shallow src < repositories/autoware.repos
+        git submodule update --init --checkout src/autoware
       shell: bash
 
     - name: Setup Docker Buildx

.github/actions/docker-build-and-push-tools/action.yaml

@@ -19,17 +19,15 @@ inputs:
 runs:
   using: composite
   steps:
-    - name: Install jq and vcs2l
+    - name: Install jq
       run: |
         sudo apt-get -y update
-        sudo apt-get -y install jq python3-pip
-        pip install --no-cache-dir vcs2l
+        sudo apt-get -y install jq
       shell: bash
 
-    - name: Run vcs import
+    - name: Initialize submodules
       run: |
-        mkdir -p src
-        vcs import --shallow src < repositories/simulator.repos
+        git submodule update --init --checkout src/simulator
       shell: bash
 
     - name: Setup Docker Buildx

.github/actions/docker-build-and-push/action.yaml

@@ -32,17 +32,15 @@ inputs:
 runs:
   using: composite
   steps:
-    - name: Install jq and vcs2l
+    - name: Install jq
       run: |
         sudo apt-get -y update
-        sudo apt-get -y install jq python3-pip
-        pip install --no-cache-dir vcs2l
+        sudo apt-get -y install jq
       shell: bash
 
-    - name: Run vcs import
+    - name: Initialize submodules
       run: |
-        mkdir -p src
-        vcs import --shallow src < repositories/autoware.repos
+        git submodule update --init --checkout src/autoware
       shell: bash
 
     - name: Setup Docker Buildx

.github/actions/docker-build/action.yaml

@@ -8,9 +8,9 @@ inputs:
   cache-tag-suffix:
     description: Suffix of the target cache tag.
     required: true
-  additional-repos:
-    description: Additional target .repos file.
-    default: ""
+  use-nightly:
+    description: Whether to use nightly submodules.
+    default: false
     required: false
   build-args:
     description: Additional build args.
@@ -22,23 +22,15 @@ runs:
     - name: Setup Docker Buildx
       uses: docker/setup-buildx-action@v3
 
-    - name: Install vcs2l
+    - name: Initialize submodules
       run: |
-        sudo apt-get -y update
-        sudo apt-get -y install python3-pip
-        pipx install vcs2l
+        git submodule update --init --checkout src/autoware
       shell: bash
 
-    - name: Run vcs import
+    - name: Initialize submodules to nightly
+      if: ${{ inputs.use-nightly }}
       run: |
-        mkdir -p src
-        vcs import --shallow src < repositories/autoware.repos
-      shell: bash
-
-    - name: Import additional repositories
-      if: ${{ inputs.additional-repos != '' }}
-      run: |
-        vcs import --shallow --force src < ${{ inputs.additional-repos }}
+        git submodule update --remote src/autoware
       shell: bash
 
     - name: Cache ccache

.github/workflows/docker-build-and-push.yaml

@@ -53,13 +53,13 @@ jobs:
         with:
           files: |
             *.env
-            *.repos
             .github/actions/combine-multi-arch-images/action.yaml
             .github/actions/docker-build-and-push*/action.yaml
             .github/workflows/docker-build-and-push.yaml
             ansible-galaxy-requirements.yaml
             ansible/**
             docker/**
+            src/**
 
       - name: Free disk space
         if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
@@ -120,13 +120,13 @@ jobs:
         with:
           files: |
             *.env
-            *.repos
             .github/actions/combine-multi-arch-images/action.yaml
             .github/actions/docker-build-and-push*/action.yaml
             .github/workflows/docker-build-and-push.yaml
             ansible-galaxy-requirements.yaml
             ansible/**
             docker/**
+            src/**
 
       - name: Free disk space
         if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
@@ -190,13 +190,13 @@ jobs:
         with:
           files: |
             *.env
-            *.repos
             .github/actions/combine-multi-arch-images/action.yaml
             .github/actions/docker-build-and-push*/action.yaml
             .github/workflows/docker-build-and-push.yaml
             ansible-galaxy-requirements.yaml
             ansible/**
             docker/**
+            src/**
 
       - name: Free disk space
         if: ${{ runner.environment == 'github-hosted' &&
@@ -301,13 +301,13 @@ jobs:
         with:
           files: |
             *.env
-            *.repos
             .github/actions/combine-multi-arch-images/action.yaml
             .github/actions/docker-build-and-push*/action.yaml
             .github/workflows/docker-build-and-push.yaml
             ansible-galaxy-requirements.yaml
             ansible/**
             docker/**
+            src/**
 
       - name: Free disk space
         if: ${{ steps.changed-files.outputs.any_changed == 'true' ||

.github/workflows/health-check.yaml

@@ -64,12 +64,12 @@ jobs:
         with:
           files: |
             *.env
-            *.repos
             .github/actions/docker-build/action.yaml
             .github/workflows/health-check.yaml
             ansible-galaxy-requirements.yaml
             ansible/**
             docker/**
+            src/**
             setup-dev-env.sh
 
       - name: Show disk space
@@ -90,7 +90,7 @@ jobs:
         with:
           platform: ${{ matrix.platform }}
           cache-tag-suffix: ${{ matrix.build-type }}
-          additional-repos: ${{ matrix.build-type == 'nightly' && 'repositories/autoware-nightly.repos' || '' }}
+          use-nightly: ${{ matrix.build-type == 'nightly' }}
           build-args: |
             ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             AUTOWARE_BASE_IMAGE=${{ needs.load-env.outputs.autoware_base_image }}

.github/workflows/pre-commit-optional.yaml

@@ -20,6 +20,11 @@ jobs:
         with:
           fetch-depth: 0
 
+      - name: Initialize submodules
+        run: |
+          git submodule update --init --checkout
+        shell: bash
+
       - name: Run pre-commit
         uses: autowarefoundation/autoware-github-actions/pre-commit@v1
         with:

.github/workflows/pre-commit.yaml

@@ -28,6 +28,11 @@ jobs:
         with:
           ref: ${{ github.event.pull_request.head.ref }}
 
+      - name: Initialize submodules
+        run: |
+          git submodule update --init --checkout
+        shell: bash
+
       - name: Run pre-commit
         uses: autowarefoundation/autoware-github-actions/pre-commit@v1
         with:

.github/workflows/scenario-test.yaml

@@ -30,17 +30,16 @@ jobs:
             lsb-release \
             python3-pip \
             git
-          pip install --upgrade gdown vcs2l
+          pip install --upgrade gdown
       - name: Show memory info
         shell: bash
         run: free -h
-      - name: Clone Autoware and Import simulator.repos
+      - name: Clone Autoware and Initialize Simulator
         shell: bash
         run: |
           git clone https://github.com/autowarefoundation/autoware.git ~/autoware_ws
           cd ~/autoware_ws
-          mkdir -p src
-          vcs import src < repositories/simulator.repos
+          git submodule update --init --checkout src/simulator
       - name: Install ROS dependencies
         shell: bash
         run: |

.github/workflows/update-nightly-submodules.yaml

@@ -0,0 +1,54 @@
+# Update submodules to nightly.
+# .repos sync is not handled here (maybe run pre-commit once?)
+name: Update Nightly Submodules
+
+on:
+  schedule:
+    - cron: 0 0 * * * # Every day at 00:00 UTC
+  workflow_dispatch:
+
+jobs:
+  update-nightly-submodules:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
+
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v2
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Set git config
+        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+
+      - name: Update nightly submodules
+        id: update-nightly-submodules
+        env:
+          MAIN_BRANCH_NAME: main
+          NIGHTLY_BRANCH_NAME: nightly
+          GITHUB_TOKEN: ${{ steps.generate-token.outputs.token }}
+        run: |
+          git checkout "${MAIN_BRANCH_NAME}"
+          git checkout -B "${NIGHTLY_BRANCH_NAME}"
+
+          # Check if repository has submodules
+          if [ ! -f .gitmodules ]; then
+            echo "Error: The repository is not using git submodules"
+            exit 1
+          fi
+
+          git submodule update --init --checkout
+          git submodule update --remote
+          git add .
+          git commit -m "chore: update nightly submodules from ${MAIN_BRANCH_NAME}" || echo "No submodule updates to commit"
+          git push origin "${NIGHTLY_BRANCH_NAME}" --force-with-lease