Apollo Docker Image Build Process¶

Introduction¶

As you may already know, Apollo runs inside Docker container. There are basically two types of Apollo Docker images: CyberRT and Dev. CyberRT images were for developers who want to play with the CyberRT framework only, while Dev images were used to build and run the whole Apollo project.

Currently, two CPU architectures are supported: x86_64 and aarch64.

Note

dev.aarch64 image was still WIP as of today. It is expected to be ready in the next few months.

In the section below, I will describe briefly the steps to build these Docker images.

Build CyberRT Image¶

Type ./build_docker.sh -h for help message:

Usage:
    build_docker.sh -f <Dockerfile> [Options]
Available options:
    -c,--clean      Use "--no-cache=true" for docker build
    -m,--mode       "build" for build everything from source if possible, "download" for using prebuilt ones
    -g,--geo        Enable geo-specific mirrors to speed up build. Currently "cn" and "us" are supported.
    -d,--dist       Whether to build stable("stable") or experimental("testing") Docker images
    -t,--timestamp  Specify Cyber image timestamp to build Dev image from it. Format: yyyymmdd_hhmm (e.g 20210205_1520)
    --dry           Dry run (for testing purpose)
    -h,--help       Show this message and exit
E.g.,
    build_docker.sh -f cyber.x86_64.dockerfile -m build -g cn
    build_docker.sh -f dev.aarch64.dockerfile -m download -d testing

Here, the -g/--geo option is used to enable geo-location based settings (APT & PYPI mirrors, etc.). Two codes (us & cn) are supported now, and the default is us.

To build the latest CyberRT image, simply run:

./build_docker.sh -f cyber.<TARGET_ARCH>.dockerfile

Users of mainland China can specify -g cn to speed up build process:

./build_docker.sh -f cyber.<TARGET_ARCH>.dockerfile -g cn

Build Apollo Dev Image¶

Run the following command to build Apollo Dev image:

build_docker.sh -f dev.<TARGET_ARCH>.dockerfile

On success, output messages like the following will be shown at the bottom of your screen.

Successfully built baca71e567e6
Successfully tagged apolloauto/apollo:dev-x86_64-18.04-20200824_0339
Built new image apolloauto/apollo:dev-x86_64-18.04-20200824_0339

Build Apollo Runtime Docker Image¶

Apollo Runtime Docker was used in combination with Release Build output for easy deployment. You can run the following commands to build Apollo Runtime Docker image on your own.

# Generate required APT packages
./apollo.sh release -c -r

cd docker/build
# Copy the generated package list for docker build
cp /apollo/output/syspkgs.txt .

cp runtime.x86_64.dockerfile.sample runtime.x86_64.dockerfile
bash build_docker.sh -f runtime.x86_64.dockerfile

Note: Apollo Runtime Docker supports x86_64 only as Release Build was not ready for Aarch64 yet.

Tips¶

Build Log¶

The build log for CyberRT and Dev Docker images was located at /opt/apollo/build.log, which contains download links and checksums of dependent packages during Docker build.

Enable Local HTTP Cache to Speed Up Build¶

You can enable local HTTP cache to speed up package downloading by performing the following steps on your host running Docker:

Download all prerequisite packages to a directory (say, $HOME/archive) with URLs listed in the build log. Pay attention to their checksum.
Change to that archive directory and start your local HTTP cache server at port 8388.

cd $HOME/archive
nohup python3 -m http.server 8388 &

Note: Another advantage with the local HTTP cache mechanism is, it has little influence on the final image size. Even if the cached package was missing or broken, it can still be downloaded from the original URL.

Rerun build_docker.sh.

Add New Installer¶

The best practice of a new installer would be:

Well tested.

Of course. Make it work, and don’t break other installers, such as incompatible versions of libraries.
Standalone.

Have minimum assumption about the basement, which means, you can depend on the base image and installers/installer_base.sh. Other than that, you should install all the dependencies in your own installer.
Thin.

It will generate a new layer in the final image, so please keep it as thin as possible. For example, clean up all intermediate files:
```
wget xxx.zip
# Unzip, make, make install
rm -fr xxx.zip xxx
```
Cross-architecture.

It would be awesome to work perfectly for different architectures such as x86_64 and aarch64.

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