From 6717bb650e152e8af1aca3f833472f78d2e8adb1 Mon Sep 17 00:00:00 2001
From: Oguz Ozturk <oguzkaganozt@gmail.com>
Date: Mon, 25 Nov 2024 22:19:01 +0300
Subject: [PATCH] .

Signed-off-by: Oguz Ozturk <oguzkaganozt@gmail.com>
---
 docker/local-simulation.docker-compose.yaml | 44 ++++++++++-----------
 docker/planning-control/fail/Dockerfile     |  2 +-
 docker/planning-control/pass/Dockerfile     |  2 +-
 docker/run.sh                               |  1 +
 docker/simulator-visualizer/Dockerfile      |  4 +-
 5 files changed, 27 insertions(+), 26 deletions(-)

diff --git a/docker/local-simulation.docker-compose.yaml b/docker/local-simulation.docker-compose.yaml
index 31bfb0c75a..69b20112bd 100644
--- a/docker/local-simulation.docker-compose.yaml
+++ b/docker/local-simulation.docker-compose.yaml
@@ -1,6 +1,6 @@
 services:
   simulator:
-    image: ghcr.io/autowarefoundation/autoware_snapshots:simulator-visualizer-amd64
+    image: ghcr.io/autowarefoundation/demo_packages:simulator-visualizer-amd64
     network_mode: "host"
     volumes:
       - /dev/shm:/dev/shm
@@ -24,26 +24,26 @@ services:
       map_path:=/autoware/map 
       global_timeout:=240 
       initialize_duration:=90 
-      launch_autoware:=false 
+      launch_autoware:=true 
       launch_rviz:=true
 
-  planning-control:
-    image: ghcr.io/autowarefoundation/autoware:universe
-    network_mode: "host"
-    volumes:
-      - /dev/shm:/dev/shm
-      - /etc/localtime:/etc/localtime:ro
-      - ./etc/map:/autoware/map
-    environment:
-      - ROS_DOMAIN_ID=88
-    command: >-
-      ros2 launch 
-      autoware_launch 
-      planning_simulator.launch.xml 
-      scenario_simulation:=true 
-      vehicle_model:=sample_vehicle 
-      sensor_model:=sample_sensor_kit 
-      map_path:=/autoware/map  
-      use_foa:=false 
-      perception/enable_traffic_light:=false 
-      rviz:=false
+  # planning-control:
+  #   image: ghcr.io/autowarefoundation/demo_packages:planning-control-pass-amd64
+  #   network_mode: "host"
+  #   volumes:
+  #     - /dev/shm:/dev/shm
+  #     - /etc/localtime:/etc/localtime:ro
+  #     - ./etc/map:/autoware/map
+  #   environment:
+  #     - ROS_DOMAIN_ID=88
+  #   command: >-
+  #     ros2 launch 
+  #     autoware_launch 
+  #     planning_simulator.launch.xml 
+  #     scenario_simulation:=true 
+  #     vehicle_model:=sample_vehicle 
+  #     sensor_model:=sample_sensor_kit 
+  #     map_path:=/autoware/map  
+  #     use_foa:=false 
+  #     perception/enable_traffic_light:=false 
+  #     rviz:=false
diff --git a/docker/planning-control/fail/Dockerfile b/docker/planning-control/fail/Dockerfile
index a1c583bfd1..9a36f11301 100644
--- a/docker/planning-control/fail/Dockerfile
+++ b/docker/planning-control/fail/Dockerfile
@@ -1,4 +1,4 @@
-FROM ghcr.io/autowarefoundation/autoware:universe AS planning-control-fail
+FROM ghcr.io/autowarefoundation/autoware:universe-20240927 AS planning-control-fail
 
 # Copy launch file
 COPY docker/planning-control/fail/fail_scenario.launch.xml /opt/autoware/share/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
diff --git a/docker/planning-control/pass/Dockerfile b/docker/planning-control/pass/Dockerfile
index 69a0d43333..591def3ae8 100644
--- a/docker/planning-control/pass/Dockerfile
+++ b/docker/planning-control/pass/Dockerfile
@@ -1,4 +1,4 @@
-FROM ghcr.io/autowarefoundation/autoware:universe AS planning-control-pass
+FROM ghcr.io/autowarefoundation/autoware:universe-20240927 AS planning-control-pass
 
 # Copy launch file
 COPY docker/planning-control/pass/pass_scenario.launch.xml /opt/autoware/share/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
diff --git a/docker/run.sh b/docker/run.sh
index 73695c80b1..233cf49324 100755
--- a/docker/run.sh
+++ b/docker/run.sh
@@ -52,5 +52,6 @@ run_simulation() {
     fi
 }
 
+xhost +
 parse_arguments "$@"
 run_simulation
diff --git a/docker/simulator-visualizer/Dockerfile b/docker/simulator-visualizer/Dockerfile
index 692e982752..681eacf104 100644
--- a/docker/simulator-visualizer/Dockerfile
+++ b/docker/simulator-visualizer/Dockerfile
@@ -1,4 +1,4 @@
-FROM ghcr.io/autowarefoundation/autoware:universe-devel AS builder
+FROM ghcr.io/autowarefoundation/autoware:universe-devel-20240927 AS builder
 WORKDIR /autoware
 
 # Copy scenario_simulator and pull external dependencies
@@ -28,7 +28,7 @@ RUN source /opt/ros/"$ROS_DISTRO"/setup.bash \
 RUN find /opt/autoware/lib -type f -name "*.py" -exec chmod +x {} \;
 RUN find /opt/autoware/share -type f -name "*.py" -exec chmod +x {} \;
 
-FROM ghcr.io/autowarefoundation/autoware:universe as simulator-visualizer
+FROM ghcr.io/autowarefoundation/autoware:universe-20240927 as simulator-visualizer
 
 COPY --from=builder /opt/autoware /opt/autoware
 COPY --from=builder /autoware /autoware