autowarefoundation · youtalk · Apr 8, 2026 · Apr 8, 2026 · Apr 8, 2026 · Apr 8, 2026
@@ -11,6 +11,7 @@ docker
 !docker/etc
 !docker/scripts
 !docker/tools
+!docker/rhel-extra-deps.repos
 
 # Ignore a part of files under src
 src/**/.*

@@ -0,0 +1,223 @@
+# Autoware on RHEL 9 (AlmaLinux 9): containerized build
+
+This document describes how to build Autoware container images on AlmaLinux 9 (RHEL 9 compatible) using `docker/Dockerfile.rhel`.
+
+## Key differences from Ubuntu build
+
+| Aspect             | Ubuntu (`Dockerfile`)                | RHEL (`Dockerfile.rhel`)                             |
+| ------------------ | ------------------------------------ | ---------------------------------------------------- |
+| Base image         | Pre-built `$AUTOWARE_BASE_IMAGE`     | `almalinux:9` (from scratch)                         |
+| Package manager    | apt-get                              | dnf                                                  |
+| ROS 2 installation | Inherited from base image            | RHEL 9 binary tarball downloaded in `base` stage     |
+| System setup       | `setup-dev-env.sh` (Ansible)         | Direct `dnf install`                                 |
+| CUDA               | Supported (devel-cuda / cuda stages) | Not supported (COLCON_IGNORE)                        |
+| Extra ROS packages | Inherited from base image            | `rhel-extra-deps.repos` (37 repos built from source) |
+
+## Prerequisites
+
+- Docker with BuildKit enabled
+- Autoware source cloned with `vcs import`:
+
+```bash
+git clone https://github.com/autowarefoundation/autoware.git
+cd autoware
+mkdir src
+vcs import src < autoware.repos
+```
+
+## Quick start
+
+### Build development image (all packages + build tools)
+
+```bash
+cd /path/to/autoware
+docker build \
+  --progress=plain \
+  --build-arg ROS_DISTRO=jazzy \
+  --target universe-devel \
+  -t autoware-rhel-universe-devel:latest \
+  -f docker/Dockerfile.rhel \
+  .
+```
+
+### Build runtime image (binaries only, no build tools)
+
+```bash
+docker build \
+  --progress=plain \
+  --build-arg ROS_DISTRO=jazzy \
+  --target universe \
+  -t autoware-rhel-universe:latest \
+  -f docker/Dockerfile.rhel \
+  .
+```
+
+### Run the container
+
+```bash
+# Runtime image
+docker run -it --rm autoware-rhel-universe:latest
+
+# Development image with volume mount
+docker run -it --rm \
+  -v $PWD/src/universe/autoware_universe/planning/autoware_path_optimizer:/autoware/src/autoware_path_optimizer \
+  autoware-rhel-universe-devel:latest
+
+# Runtime image with UID/GID remapping
+docker run -it --rm \
+  -e LOCAL_UID=$(id -u) -e LOCAL_USER=$(whoami) \
+  -e LOCAL_GID=$(id -g) -e LOCAL_GROUP=$(id -gn) \
+  -v /path/to/autoware_data:/autoware_data \
+  autoware-rhel-universe:latest
+```
+
+## Build targets
+
+| Target                  | Type        | Size     | Description                                                       |
+| ----------------------- | ----------- | -------- | ----------------------------------------------------------------- |
+| `universe-devel`        | Development | ~13.7 GB | All build tools, headers, source, and compiled artifacts          |
+| `universe`              | Runtime     | ~7 GB    | Runtime libraries and binaries only                               |
+| `core-devel`            | Development | —        | Core packages only (autoware_msgs, autoware_utils, autoware_core) |
+| `core`                  | Runtime     | —        | Runtime image for core packages only                              |
+| `universe-common-devel` | Development | —        | Core + common/external/middleware packages                        |
+
+Specify the target with `--target`:
+
+```bash
+docker build --target core-devel -t autoware-rhel-core-devel -f docker/Dockerfile.rhel .
+```
+
+## Multi-stage Dockerfile structure
+
+```
+[base] almalinux:9 + ROS 2 Jazzy binary + dnf deps
+  │
+  ├─[source-deps] clone rhel-extra-deps.repos (37 ROS packages)
+  │   │
+  │   └─[rosdep-depend] resolve system deps for Autoware + extra deps
+  │       ├─ /rosdep-all-depend-packages.txt (build + runtime)
+  │       └─ /rosdep-exec-depend-packages.txt (runtime only)
+  │
+  ├─[core-common-devel] autoware_msgs, autoware_utils + deps_src
+  │   │
+  │   └─[core-devel] autoware_core packages
+  │       │
+  │       └─[universe-common-devel] external, common, middleware, launcher
+  │           │
+  │           ├─[universe-sensing-perception-devel]  ─┐
+  │           ├─[universe-localization-mapping-devel]  │ BuildKit runs
+  │           ├─[universe-planning-control-devel]      │ these 6 stages
+  │           ├─[universe-vehicle-system-devel]        │ in parallel
+  │           ├─[universe-visualization-devel]         │
+  │           └─[universe-api-devel]                 ─┘
+  │               │
+  │               └─[universe-devel] COPY --from all 6 + strip + final build
+  │
+  └─[runtime-base] almalinux:9 + runtime libs only (no build tools)
+      │
+      ├─[core] COPY from core-devel + exec rosdep deps
+      └─[universe] COPY from universe-devel + exec rosdep deps
+```
+
+### Stage descriptions
+
+#### `base`
+
+AlmaLinux 9 with EPEL and CRB repositories enabled. Installs system development libraries via `dnf`, downloads the [ROS 2 Jazzy RHEL 9 binary](https://github.com/ros2/ros2/releases) to `/opt/ros/jazzy/`, and applies RHEL-specific fixes (yaml-cpp CMake alias, magic_enum and png++ header-only libraries).
+
+#### `source-deps`
+
+Clones 37 ROS 2 packages from `rhel-extra-deps.repos` that are not included in the RHEL binary (which is ros-base equivalent, 371 packages). Selectively applies COLCON_IGNORE to sub-packages that cannot build on RHEL (e.g., rviz plugins, spacenav, wiimote).
+
+#### `rosdep-depend`
+
+Resolves rosdep keys to RHEL 9 system package names using `resolve_rosdep_keys_rhel.sh`. Generates two package lists: all dependencies (for devel stages) and exec-only dependencies (for runtime stages).
+
+#### `core-common-devel`
+
+Installs rosdep system packages via `dnf`. Copies extra dependency sources to `/autoware/deps_src/`. Applies runtime patches (M_PIf, CUDA COLCON_IGNORE, agnocast dedup). Builds core framework packages (autoware_msgs, autoware_utils, and all deps_src) to `/opt/autoware/`.
+
+#### `core-devel`
+
+Builds `autoware_core` packages on top of `core-common-devel`.
+
+#### `universe-common-devel`
+
+Builds common, external, middleware, and launcher packages.
+
+#### `universe-{component}-devel`
+
+Six parallel stages that each build a specific subsystem: sensing/perception, localization/mapping, planning/control, vehicle/system, visualization, and API.
+
+#### `universe-devel`
+
+Aggregates all six parallel stages via `COPY --from`, strips debug symbols from binaries, and runs a final build pass for remaining packages (evaluator, simulator, sensor_component).
+
+#### `runtime-base`
+
+Minimal AlmaLinux 9 image with only runtime libraries (no compilers, no `-devel` headers). Copies `/opt/ros/` from the `base` stage. Installs gosu for UID/GID remapping and Python runtime dependencies for `ros2` CLI.
+
+#### `core` / `universe`
+
+Runtime images that copy `/opt/autoware/` from corresponding devel stages and install exec-only rosdep dependencies. Broken ament_index entries (from packages that failed to build) are automatically cleaned up.
+
+## RHEL-specific adaptations
+
+### ROS 2 Jazzy RHEL binary
+
+The official RHEL 9 binary provides ros-base equivalent (371 packages). Packages like `diagnostic_updater`, `geographic_msgs`, `pcl_ros`, `lanelet2_core`, `grid_map`, `filters`, etc. are not included and must be built from source via `rhel-extra-deps.repos`.
+
+### Build script patches (`build_and_clean_rhel.sh`)
+
+The build script applies runtime patches before each colcon build to handle RHEL 9 incompatibilities:
+
+| Patch                                         | Reason                                                     |
+| --------------------------------------------- | ---------------------------------------------------------- |
+| `M_PIf` / `M_PI_2f` / `M_PI_4f` guards        | GCC 11 on RHEL 9 does not define C23 math float constants  |
+| CUDA packages COLCON_IGNORE                   | 30 CUDA-dependent packages excluded (no CUDA toolkit)      |
+| `tl/expected.hpp` warning suppression         | Deprecation `#warning` becomes error with `-Werror=cpp`    |
+| Boost 1.75 `strategies/cartesian.hpp` include | `correct.hpp` and `is_valid.hpp` missing strategy includes |
+| `boost::geometry::is_valid()` bypass          | Fails on custom Eigen-based Point2d with Boost < 1.77      |
+
+The build uses a **three-pass retry strategy**: if packages fail, their `build/` directories are deleted and colcon retries on the next pass. This handles dependency ordering issues.
+
+### Rosdep resolution (`resolve_rosdep_keys_rhel.sh`)
+
+Uses `--os=rhel:9` to resolve against RHEL packages instead of Ubuntu defaults. Filters out `ros-jazzy-*` package names (no RPM repository for ROS on RHEL).
+
+### yaml-cpp CMake alias
+
+RHEL 9 ships yaml-cpp 0.6.3 which exports the CMake target `yaml-cpp`, but ROS 2 expects `yaml-cpp::yaml-cpp`. The `base` stage appends an alias to the CMake config file.
+
+## Known limitations
+
+- **No CUDA support**: All TensorRT/CUDA packages are excluded via COLCON_IGNORE. Perception nodes that require GPU inference will not be available.
+- **Boost 1.75 constraints**: `boost::geometry::is_valid()` is bypassed with a simpler polygon size check for custom Point types. This may affect geometric validation accuracy in edge cases.
+- **Build failures**: A small number of packages may fail to build (e.g., `autoware_control_evaluator` due to missing `boundary_departure_checker` header). These are automatically excluded from runtime images.
+- **No setup-dev-env.sh**: The Ubuntu Ansible-based environment setup is replaced with direct `dnf install`. Some development tools available in the Ubuntu image may be missing.
+
+## UID/GID remapping
+
+The runtime images use `ros_entrypoint.sh` with gosu for UID/GID remapping. Set the following environment variables to run as a non-root user:
+
+```bash
+docker run -it --rm \
+  -e LOCAL_UID=1000 -e LOCAL_USER=developer \
+  -e LOCAL_GID=1000 -e LOCAL_GROUP=developers \
+  -v /path/to/autoware_data:/autoware_data \
+  autoware-rhel-universe:latest
+```
+
+If these variables are not set, the container runs as root.
+
+## Files reference
+
+| File                                         | Description                                                     |
+| -------------------------------------------- | --------------------------------------------------------------- |
+| `docker/Dockerfile.rhel`                     | Multi-stage Dockerfile (16 stages) for RHEL 9 build             |
+| `docker/rhel-extra-deps.repos`               | VCS manifest of 37 ROS packages not in RHEL binary              |
+| `docker/scripts/build_and_clean_rhel.sh`     | Colcon build orchestration with RHEL patches and 3-pass retry   |
+| `docker/scripts/resolve_rosdep_keys_rhel.sh` | Rosdep resolution with `--os=rhel:9` and `ros-*` filtering      |
+| `docker/scripts/cleanup_dnf.sh`              | DNF cache cleanup                                               |
+| `docker/etc/ros_entrypoint.sh`               | Container entrypoint with UID/GID remapping via gosu            |
+| `.dockerignore`                              | Build context filter (includes `!docker/rhel-extra-deps.repos`) |
@@ -0,0 +1,154 @@
+repositories:
+  geographic_info:
+    type: git
+    url: https://github.com/ros-geographic-info/geographic_info.git
+    version: ros2
+  perception_pcl:
+    type: git
+    url: https://github.com/ros-perception/perception_pcl.git
+    version: jazzy
+  pcl_msgs:
+    type: git
+    url: https://github.com/ros-perception/pcl_msgs.git
+    version: ros2
+  vision_opencv:
+    type: git
+    url: https://github.com/ros-perception/vision_opencv.git
+    version: rolling
+  image_common:
+    type: git
+    url: https://github.com/ros-perception/image_common.git
+    version: jazzy
+  diagnostics:
+    type: git
+    url: https://github.com/ros/diagnostics.git
+    version: ros2
+  bond_core:
+    type: git
+    url: https://github.com/ros/bond_core.git
+    version: ros2
+  laser_geometry:
+    type: git
+    url: https://github.com/ros-perception/laser_geometry.git
+    version: ros2
+  grid_map:
+    type: git
+    url: https://github.com/ANYbotics/grid_map.git
+    version: jazzy
+  Lanelet2:
+    type: git
+    url: https://github.com/fzi-forschungszentrum-informatik/Lanelet2.git
+    version: master
+  mrt_cmake_modules:
+    type: git
+    url: https://github.com/KIT-MRT/mrt_cmake_modules.git
+    version: master
+  osqp_vendor:
+    type: git
+    url: https://github.com/tier4/osqp_vendor.git
+    version: main
+  topic_tools:
+    type: git
+    url: https://github.com/ros-tooling/topic_tools.git
+    version: main
+  angles:
+    type: git
+    url: https://github.com/ros/angles.git
+    version: ros2
+  filters:
+    type: git
+    url: https://github.com/ros/filters.git
+    version: ros2
+  octomap_msgs:
+    type: git
+    url: https://github.com/OctoMap/octomap_msgs.git
+    version: ros2
+  radar_msgs:
+    type: git
+    url: https://github.com/ros-perception/radar_msgs.git
+    version: ros2
+  vision_msgs:
+    type: git
+    url: https://github.com/ros-perception/vision_msgs.git
+    version: ros2
+  ros_canopen:
+    type: git
+    url: https://github.com/ros-industrial/ros_canopen.git
+    version: dashing-devel
+  foxglove_sdk:
+    type: git
+    url: https://github.com/foxglove/foxglove-sdk.git
+    version: main
+  udp_msgs:
+    type: git
+    url: https://github.com/flynneva/udp_msgs.git
+    version: main
+  xacro:
+    type: git
+    url: https://github.com/ros/xacro.git
+    version: ros2
+  joystick_drivers:
+    type: git
+    url: https://github.com/ros-drivers/joystick_drivers.git
+    version: ros2
+  tf_transformations:
+    type: git
+    url: https://github.com/DLu/tf_transformations.git
+    version: main
+  cpp_polyfills:
+    type: git
+    url: https://github.com/PickNikRobotics/cpp_polyfills.git
+    version: main
+  RSL:
+    type: git
+    url: https://github.com/PickNikRobotics/RSL.git
+    version: main
+  generate_parameter_library:
+    type: git
+    url: https://github.com/PickNikRobotics/generate_parameter_library.git
+    version: humble
+  rviz_2d_overlay_plugins:
+    type: git
+    url: https://github.com/teamspatzenhirn/rviz_2d_overlay_plugins.git
+    version: main
+  ublox:
+    type: git
+    url: https://github.com/KumarRobotics/ublox.git
+    version: ros2
+  rtcm_msgs:
+    type: git
+    url: https://github.com/tilk/rtcm_msgs.git
+    version: master
+  nmea_msgs:
+    type: git
+    url: https://github.com/ros-drivers/nmea_msgs.git
+    version: ros2
+  velodyne:
+    type: git
+    url: https://github.com/ros-drivers/velodyne.git
+    version: jazzy-devel
+  ackermann_msgs:
+    type: git
+    url: https://github.com/ros-drivers/ackermann_msgs.git
+    version: ros2
+  nav2_msgs:
+    type: git
+    url: https://github.com/ros-navigation/navigation2.git
+    version: jazzy
+  point_cloud_transport:
+    type: git
+    url: https://github.com/ros-perception/point_cloud_transport.git
+    version: jazzy
+  proxsuite:
+    type: git
+    url: https://github.com/Simple-Robotics/proxsuite.git
+    version: devel
+  point_cloud_msg_wrapper:
+    type: git
+    url: https://gitlab.com/ApexAI/point_cloud_msg_wrapper.git
+    version: rolling
+  behaviortree_cpp:
+    type: git
+    url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
+    version: v3.8
+# Cache-bust: 1775602888