Docker拉取命令

docker pull swr.cn-north-4.myhuaweicloud.com/ddn-k8s/ghcr.io/autowarefoundation/autoware:universe-devel-cuda-humble-linuxarm64
docker tag  swr.cn-north-4.myhuaweicloud.com/ddn-k8s/ghcr.io/autowarefoundation/autoware:universe-devel-cuda-humble-linuxarm64  ghcr.io/autowarefoundation/autoware:universe-devel-cuda-humble

Containerd拉取命令

ctr images pull swr.cn-north-4.myhuaweicloud.com/ddn-k8s/ghcr.io/autowarefoundation/autoware:universe-devel-cuda-humble-linuxarm64
ctr images tag  swr.cn-north-4.myhuaweicloud.com/ddn-k8s/ghcr.io/autowarefoundation/autoware:universe-devel-cuda-humble-linuxarm64  ghcr.io/autowarefoundation/autoware:universe-devel-cuda-humble

Shell快速替换命令

sed -i 's#ghcr.io/autowarefoundation/autoware:universe-devel-cuda-humble#swr.cn-north-4.myhuaweicloud.com/ddn-k8s/ghcr.io/autowarefoundation/autoware:universe-devel-cuda-humble-linuxarm64#' deployment.yaml

Ansible快速分发-Docker

#ansible k8s -m shell -a 'docker pull swr.cn-north-4.myhuaweicloud.com/ddn-k8s/ghcr.io/autowarefoundation/autoware:universe-devel-cuda-humble-linuxarm64 && docker tag  swr.cn-north-4.myhuaweicloud.com/ddn-k8s/ghcr.io/autowarefoundation/autoware:universe-devel-cuda-humble-linuxarm64  ghcr.io/autowarefoundation/autoware:universe-devel-cuda-humble'

Ansible快速分发-Containerd

#ansible k8s -m shell -a 'ctr images pull swr.cn-north-4.myhuaweicloud.com/ddn-k8s/ghcr.io/autowarefoundation/autoware:universe-devel-cuda-humble-linuxarm64 && ctr images tag  swr.cn-north-4.myhuaweicloud.com/ddn-k8s/ghcr.io/autowarefoundation/autoware:universe-devel-cuda-humble-linuxarm64  ghcr.io/autowarefoundation/autoware:universe-devel-cuda-humble'

镜像构建历史

# 2026-07-15 20:52:17  424.20MB 执行命令并创建新的镜像层
RUN |1 ROS_DISTRO=humble /bin/bash -o pipefail -c apt-get update &&     . "/opt/ros/${ROS_DISTRO}/setup.sh" &&     . /opt/autoware/setup.sh &&     rosdep install -y --from-paths /tmp/autoware/src       --ignore-src       --rosdistro "${ROS_DISTRO}"       --dependency-types=exec &&     rm -rf /tmp/autoware # buildkit
                        
# 2026-07-15 20:51:05  642.25KB 复制新文件或目录到容器中
COPY --parents --chown=aw:aw src/**/package.xml /tmp/autoware/ # buildkit
                        
# 2026-07-15 20:51:04  1.47GB 执行命令并创建新的镜像层
RUN |1 ROS_DISTRO=humble /bin/bash -o pipefail -c . "/opt/ros/${ROS_DISTRO}/setup.sh" &&     . /opt/autoware/setup.sh &&     colcon build       --base-paths /tmp/autoware/src       --install-base /opt/autoware       --cmake-args -DCMAKE_BUILD_TYPE=Release &&     rm -rf build log # buildkit
                        
# 2026-07-15 19:08:19  0.00B 定义构建参数
ARG ROS_DISTRO=humble
                        
# 2026-07-15 19:08:19  2.03GB 执行命令并创建新的镜像层
RUN |1 ROS_DISTRO=humble /bin/bash -o pipefail -c apt-get update &&     . "/opt/ros/${ROS_DISTRO}/setup.sh" &&     . /opt/autoware/setup.sh &&     rosdep install -y --from-paths /tmp/autoware/src       --ignore-src       --rosdistro "${ROS_DISTRO}"       --dependency-types=build       --dependency-types=build_export       --dependency-types=buildtool       --dependency-types=buildtool_export       --dependency-types=test &&     rm -rf /tmp/autoware # buildkit
                        
# 2026-07-15 18:59:52  642.25KB 复制新文件或目录到容器中
COPY --parents --chown=aw:aw src/**/package.xml /tmp/autoware/ # buildkit
                        
# 2026-07-15 18:59:52  355.61MB 复制新文件或目录到容器中
COPY /opt/autoware /opt/autoware # buildkit
                        
# 2026-07-15 18:59:47  0.00B 设置环境变量 CMAKE_CUDA_ARCHITECTURES
ENV CMAKE_CUDA_ARCHITECTURES=86;87;89;90;110
                        
# 2026-07-15 18:59:47  0.00B 设置环境变量 LD_LIBRARY_PATH
ENV LD_LIBRARY_PATH=/opt/acados/lib:/usr/local/cuda/lib64
                        
# 2026-07-15 18:59:47  0.00B 设置环境变量 ACADOS_SOURCE_DIR
ENV ACADOS_SOURCE_DIR=/opt/acados
                        
# 2026-07-15 18:59:47  0.00B 设置环境变量 CMAKE_PREFIX_PATH
ENV CMAKE_PREFIX_PATH=/opt/acados
                        
# 2026-07-15 18:59:47  0.00B 设置环境变量 CCACHE_DIR
ENV CCACHE_DIR=/home/aw/.ccache
                        
# 2026-07-15 18:59:47  0.00B 设置环境变量 CXX
ENV CXX=/usr/lib/ccache/g++
                        
# 2026-07-15 18:59:47  0.00B 设置环境变量 CC
ENV CC=/usr/lib/ccache/gcc
                        
# 2026-07-15 18:59:47  0.00B 指定运行容器时使用的用户
USER root
                        
# 2026-07-15 18:59:47  2.45GB 执行命令并创建新的镜像层
RUN |1 ROS_DISTRO=humble /bin/bash -o pipefail -c pipx install --include-deps "ansible==10.*" &&     cd /tmp/ansible &&     ansible-galaxy collection install -f -r ansible-galaxy-requirements.yaml &&     ansible-playbook autoware.dev_env.install_image_deps       --tags core,acados       --skip-tags base,nvidia       -e "rosdistro=${ROS_DISTRO}" &&     sudo rm -rf /opt/acados/.git /opt/acados/examples /opt/acados/docs /opt/acados/test &&     pipx uninstall ansible # buildkit
                        
# 2026-07-15 18:59:47  0.00B 指定运行容器时使用的用户
USER aw
                        
# 2026-07-15 18:59:47  0.00B 定义构建参数
ARG ROS_DISTRO=humble
                        
# 2026-07-15 18:59:47  0.00B 
SHELL [/bin/bash -o pipefail -c]
                        
# 2026-07-15 18:20:50  0.00B 设置环境变量 CPATH
ENV CPATH=/usr/local/cuda/include/cccl
                        
# 2026-07-15 18:20:50  0.00B 执行命令并创建新的镜像层
RUN |1 ROS_DISTRO=humble /bin/bash -o pipefail -c for d in thrust cub; do       if [ -d "/usr/local/cuda/include/cccl/${d}" ] && [ ! -e "/usr/local/cuda/include/${d}" ]; then         ln -s "cccl/${d}" "/usr/local/cuda/include/${d}";       fi;     done # buildkit
                        
# 2026-07-15 18:20:49  0.00B 指定运行容器时使用的用户
USER root
                        
# 2026-07-15 18:20:49  4.38GB 执行命令并创建新的镜像层
RUN |1 ROS_DISTRO=humble /bin/bash -o pipefail -c pipx install --include-deps "ansible==10.*" &&     cd /tmp/ansible &&     ansible-galaxy collection install -f -r ansible-galaxy-requirements.yaml &&     ansible-playbook autoware.dev_env.install_nvidia       -e install_devel=y       -e cuda_install_drivers=false &&     pipx uninstall ansible # buildkit
                        
# 2026-07-03 11:21:02  0.00B 指定运行容器时使用的用户
USER aw
                        
# 2026-07-03 11:21:02  0.00B 定义构建参数
ARG ROS_DISTRO=humble
                        
# 2026-07-03 11:21:02  0.00B 设置环境变量 LD_LIBRARY_PATH
ENV LD_LIBRARY_PATH=/usr/local/cuda/lib64
                        
# 2026-07-03 11:21:02  0.00B 设置环境变量 PATH
ENV PATH=/usr/local/cuda/bin:/home/aw/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
                        
# 2026-07-03 11:21:02  0.00B 指定运行容器时使用的用户
USER root
                        
# 2026-07-03 11:21:02  4.85GB 执行命令并创建新的镜像层
RUN |1 ROS_DISTRO=humble /bin/bash -o pipefail -c pipx install --include-deps "ansible==10.*" &&     cd /tmp/ansible &&     ansible-galaxy collection install -f -r ansible-galaxy-requirements.yaml &&     ansible-playbook autoware.dev_env.install_nvidia       -e install_devel=N       -e cuda_install_drivers=false &&     pipx uninstall ansible # buildkit
                        
# 2026-07-03 11:21:02  0.00B 指定运行容器时使用的用户
USER aw
                        
# 2026-07-03 11:21:02  0.00B 定义构建参数
ARG ROS_DISTRO=humble
                        
# 2026-07-03 11:21:02  0.00B 
SHELL [/bin/bash -o pipefail -c]
                        
# 2026-07-03 11:16:02  0.00B 设置默认要执行的命令
CMD ["/bin/bash"]
                        
# 2026-07-03 11:16:02  0.00B 配置容器启动时运行的命令
ENTRYPOINT ["/docker-entrypoint.sh"]
                        
# 2026-07-03 11:16:02  0.00B 设置环境变量 USERNAME
ENV USERNAME=aw
                        
# 2026-07-03 11:16:02  0.00B 设置环境变量 ROS_DISTRO
ENV ROS_DISTRO=humble
                        
# 2026-07-03 11:16:02  1.21KB 复制新文件或目录到容器中
COPY --chmod=755 docker/docker-entrypoint.sh /docker-entrypoint.sh # buildkit
                        
# 2026-07-03 11:16:02  0.00B 指定运行容器时使用的用户
USER root
                        
# 2026-07-03 11:16:02  0.00B 设置环境变量 RMW_IMPLEMENTATION
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
                        
# 2026-07-03 11:16:02  0.00B 设置环境变量 CYCLONEDDS_URI
ENV CYCLONEDDS_URI=file:///home/aw/cyclonedds.xml
                        
# 2026-07-03 11:16:02  796.00B 复制新文件或目录到容器中
COPY docker/files/cyclonedds.xml /home/aw/cyclonedds.xml # buildkit
                        
# 2026-07-03 11:16:02  26.69MB 执行命令并创建新的镜像层
RUN |2 ROS_DISTRO=humble USERNAME=aw /bin/bash -o pipefail -c pipx install --include-deps "ansible==10.*" &&     cd /tmp/ansible &&     ansible-galaxy collection install -f -r ansible-galaxy-requirements.yaml &&     ansible-playbook autoware.dev_env.install_rmw       -e rosdistro=${ROS_DISTRO} &&     pipx uninstall ansible # buildkit
                        
# 2026-07-02 21:56:54  0.00B 设置环境变量 ANSIBLE_COLLECTIONS_PATH
ENV ANSIBLE_COLLECTIONS_PATH=/home/aw/.ansible/collections
                        
# 2026-07-02 21:56:54  0.00B 设置环境变量 PATH
ENV PATH=/home/aw/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
                        
# 2026-07-02 21:56:54  0.00B 设置工作目录为/home/aw
WORKDIR /home/aw
                        
# 2026-07-02 21:56:54  0.00B 指定运行容器时使用的用户
USER aw
                        
# 2026-07-02 21:56:54  337.75KB 执行命令并创建新的镜像层
RUN |2 ROS_DISTRO=humble USERNAME=aw /bin/bash -o pipefail -c userdel -r ubuntu 2>/dev/null || true &&     useradd -m -s /bin/bash -U ${USERNAME} &&     echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" >/etc/sudoers.d/90-user-nopasswd &&     chmod 0440 /etc/sudoers.d/90-user-nopasswd &&     sed -i 's/^#force_color_prompt=yes/force_color_prompt=yes/' /home/${USERNAME}/.bashrc # buildkit
                        
# 2026-07-02 21:56:54  13.46MB 执行命令并创建新的镜像层
RUN |2 ROS_DISTRO=humble USERNAME=aw /bin/bash -o pipefail -c apt-get update &&     apt-get install -y --no-install-recommends     sudo     pipx     bash-completion     iproute2     gosu # buildkit
                        
# 2026-07-02 21:56:46  2.77KB 执行命令并创建新的镜像层
RUN |2 ROS_DISTRO=humble USERNAME=aw /bin/bash -o pipefail -c rm -f /etc/apt/apt.conf.d/docker-clean &&     echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/keep-cache &&     echo 'APT::Install-Recommends "false";' > /etc/apt/apt.conf.d/99-no-recommends &&     echo 'APT::Install-Suggests "false";' >> /etc/apt/apt.conf.d/99-no-recommends &&     echo 'Acquire::Retries "5";' > /etc/apt/apt.conf.d/99-retries &&     echo 'Acquire::http::Timeout "30";' >> /etc/apt/apt.conf.d/99-retries &&     echo 'Acquire::https::Timeout "30";' >> /etc/apt/apt.conf.d/99-retries &&     printf 'http://azure.archive.ubuntu.com/ubuntu\tpriority:1\nhttp://archive.ubuntu.com/ubuntu\tpriority:2\n' > /etc/apt/ubuntu-mirrors.list &&     for f in /etc/apt/sources.list /etc/apt/sources.list.d/ubuntu.sources; do       if [ -f "$f" ]; then         sed -E -i 's|http://archive\.ubuntu\.com/ubuntu/?|mirror+file:///etc/apt/ubuntu-mirrors.list|g' "$f";       fi;     done # buildkit
                        
# 2026-07-02 21:56:46  0.00B 定义构建参数
ARG USERNAME=aw
                        
# 2026-07-02 21:56:46  0.00B 定义构建参数
ARG ROS_DISTRO=humble
                        
# 2026-07-02 21:56:46  0.00B 
SHELL [/bin/bash -o pipefail -c]
                        
# 2026-07-02 13:35:33  66.04MB 执行命令并创建新的镜像层
RUN /bin/sh -c apt-get update && apt-get install -y --no-install-recommends     ros-humble-ros-base=0.10.0-1*     && rm -rf /var/lib/apt/lists/* # buildkit
                        
# 2026-07-02 13:35:16  7.72KB 执行命令并创建新的镜像层
RUN /bin/sh -c colcon mixin add default       https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml &&     colcon mixin update &&     colcon metadata add default       https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml &&     colcon metadata update # buildkit
                        
# 2026-07-02 13:35:14  1.42MB 执行命令并创建新的镜像层
RUN /bin/sh -c rosdep init &&   rosdep update --rosdistro $ROS_DISTRO # buildkit
                        
# 2026-07-02 13:35:10  251.14MB 执行命令并创建新的镜像层
RUN /bin/sh -c apt-get update && apt-get install --no-install-recommends -y     build-essential     git     python3-colcon-common-extensions     python3-colcon-mixin     python3-rosdep     python3-vcstool     && rm -rf /var/lib/apt/lists/* # buildkit
                        
# 2026-07-02 10:32:13  0.00B 设置默认要执行的命令
CMD ["bash"]
                        
# 2026-07-02 10:32:13  0.00B 配置容器启动时运行的命令
ENTRYPOINT ["/ros_entrypoint.sh"]
                        
# 2026-07-02 10:32:13  99.00B 复制新文件或目录到容器中
COPY ./ros_entrypoint.sh / # buildkit
                        
# 2026-07-02 10:32:13  313.82MB 执行命令并创建新的镜像层
RUN /bin/sh -c apt-get update && apt-get install -y --no-install-recommends     ros-humble-ros-core=0.10.0-1*     && rm -rf /var/lib/apt/lists/* # buildkit
                        
# 2026-07-02 10:32:13  0.00B 设置环境变量 ROS_DISTRO
ENV ROS_DISTRO=humble
                        
# 2026-07-02 10:32:13  0.00B 设置环境变量 LC_ALL
ENV LC_ALL=C.UTF-8
                        
# 2026-07-02 10:32:13  0.00B 设置环境变量 LANG
ENV LANG=C.UTF-8
                        
# 2026-07-02 10:31:38  509.28KB 执行命令并创建新的镜像层
RUN /bin/sh -c curl -L -s -f -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.2.0/ros2-apt-source_1.2.0.jammy_all.deb     && echo "767884cf4ed03116b9d64438930a832ed854147ae435279a7924dfdf60f94433 */tmp/ros2-apt-source.deb" | sha256sum --strict --check     && apt-get update     && apt-get install /tmp/ros2-apt-source.deb     && rm -f /tmp/ros2-apt-source.deb     && rm -rf /var/lib/apt/lists/* # buildkit
                        
# 2026-07-02 10:31:33  13.22MB 执行命令并创建新的镜像层
RUN /bin/sh -c apt-get update && apt-get install -q -y --no-install-recommends     ca-certificates     curl     dirmngr     gnupg2     && rm -rf /var/lib/apt/lists/* # buildkit
                        
# 2026-07-02 10:31:25  4.43MB 执行命令并创建新的镜像层
RUN /bin/sh -c echo 'Etc/UTC' > /etc/timezone &&     ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime &&     apt-get update &&     apt-get install -q -y --no-install-recommends tzdata &&     rm -rf /var/lib/apt/lists/* # buildkit
                        
# 2026-06-29 18:38:42  0.00B 
/bin/sh -c #(nop)  CMD ["/bin/bash"]
                        
# 2026-06-29 18:38:42  69.61MB 
/bin/sh -c #(nop) ADD file:a517741c956f6a7e4b7cb0efd9bc418ce3cc54eb49b5314080ff606a7430ac2a in / 
                        
# 2026-06-29 18:38:39  0.00B 
/bin/sh -c #(nop)  LABEL org.opencontainers.image.version=22.04
                        
# 2026-06-29 18:38:39  0.00B 
/bin/sh -c #(nop)  ARG LAUNCHPAD_BUILD_ARCH
                        
# 2026-06-29 18:38:39  0.00B 
/bin/sh -c #(nop)  ARG RELEASE
                        
                    

镜像信息

{
    "Id": "sha256:8ff8c35634c5d090a9553f1b95c76e93a6b86376a6232b5189b3641d3b575359",
    "RepoTags": [
        "ghcr.io/autowarefoundation/autoware:universe-devel-cuda-humble",
        "swr.cn-north-4.myhuaweicloud.com/ddn-k8s/ghcr.io/autowarefoundation/autoware:universe-devel-cuda-humble-linuxarm64"
    ],
    "RepoDigests": [
        "ghcr.io/autowarefoundation/autoware@sha256:699101e194c45cda017d060326f217241d01b1bfaa49cb70edae96eeea00ff91",
        "swr.cn-north-4.myhuaweicloud.com/ddn-k8s/ghcr.io/autowarefoundation/autoware@sha256:de3e1b6594e4bde072b7f088e431f0159b9115d0a4e2689e174377dd0f0b5d36"
    ],
    "Parent": "",
    "Comment": "buildkit.dockerfile.v0",
    "Created": "2026-07-15T12:52:17.278495897Z",
    "Container": "",
    "ContainerConfig": null,
    "DockerVersion": "",
    "Author": "",
    "Config": {
        "Hostname": "",
        "Domainname": "",
        "User": "root",
        "AttachStdin": false,
        "AttachStdout": false,
        "AttachStderr": false,
        "Tty": false,
        "OpenStdin": false,
        "StdinOnce": false,
        "Env": [
            "PATH=/usr/local/cuda/bin:/home/aw/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin",
            "LANG=C.UTF-8",
            "LC_ALL=C.UTF-8",
            "ROS_DISTRO=humble",
            "ANSIBLE_COLLECTIONS_PATH=/home/aw/.ansible/collections",
            "CYCLONEDDS_URI=file:///home/aw/cyclonedds.xml",
            "RMW_IMPLEMENTATION=rmw_cyclonedds_cpp",
            "USERNAME=aw",
            "LD_LIBRARY_PATH=/opt/acados/lib:/usr/local/cuda/lib64",
            "CPATH=/usr/local/cuda/include/cccl",
            "CC=/usr/lib/ccache/gcc",
            "CXX=/usr/lib/ccache/g++",
            "CCACHE_DIR=/home/aw/.ccache",
            "CMAKE_PREFIX_PATH=/opt/acados",
            "ACADOS_SOURCE_DIR=/opt/acados",
            "CMAKE_CUDA_ARCHITECTURES=86;87;89;90;110"
        ],
        "Cmd": [
            "/bin/bash"
        ],
        "ArgsEscaped": true,
        "Image": "",
        "Volumes": null,
        "WorkingDir": "/home/aw",
        "Entrypoint": [
            "/docker-entrypoint.sh"
        ],
        "OnBuild": null,
        "Labels": {
            "org.opencontainers.image.version": "22.04"
        },
        "Shell": [
            "/bin/bash",
            "-o",
            "pipefail",
            "-c"
        ]
    },
    "Architecture": "arm64",
    "Os": "linux",
    "Size": 16709085086,
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