Confirm Autoware can be run using a container that only contains the Perception stack
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Checklist
- I've read the contribution guidelines.
- I've searched other issues and no duplicate issues were found.
- I've agreed with the maintainers that I can plan this task.
Description
Build a Perception-only container and confirm that it is able to work with a container that has all of the other Autoware components.
Purpose
As a step towards a full microservices architecture, the Open AD Kit WG agreed on a proof-of-concept using the Perception stack. If it is possible to run the Perception stack in its own container with a second container that has all the other Autowrae components, then we can move to the next step of creating containers for each of the Autoware stacks and confirming that they can run together.
Potential approaches
In principle, the non-Perception container should not have the Perception stack inside it (since the point is to be able to make changes to the Perception stack without having to rebuild all of Autoware). However, it would still be acceptable for the PoC if the non-Perception container is monolithic and simply launches every component except Perception.
Definition of done
- Create a container with just the packages/nodes required for Perception
- (Optional) Create a container that contains everything except Perception
- Confirm that it is possible to run Autoware using these two containers
- Test this setup on supported hardware platforms
- ADLINK AVA
- Autocore PCU
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