ci(build-and-test*): remove CUDA jobs

.github/actions/build-and-test-differential/action.yaml

@@ -5,12 +5,6 @@ inputs:
   rosdistro:
     description: ""
     required: true
-  container:
-    description: ""
-    required: true
-  container-suffix:
-    description: ""
-    required: true
   runner:
     description: ""
     required: true
@@ -63,24 +57,13 @@ runs:
         ccache --zero-stats
       shell: bash
 
-    - name: Export CUDA state as a variable for adding to cache key
-      run: |
-        build_type_cuda_state=nocuda
-        if [[ "${{ inputs.container-suffix }}" == "-cuda" ]]; then
-          build_type_cuda_state=cuda
-        fi
-        echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
-        echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
-      shell: bash
-
     - name: Build
       if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
       uses: autowarefoundation/autoware-github-actions/colcon-build@v1
       with:
         rosdistro: ${{ inputs.rosdistro }}
         target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
         build-depends-repos: ${{ inputs.build-depends-repos }}
-        cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
         build-pre-command: ${{ inputs.build-pre-command }}
 
     - name: Show ccache stats after build

.github/workflows/build-and-test-daily.yaml

@@ -7,20 +7,8 @@ on:
 
 jobs:
   build-and-test-daily:
-    runs-on: [self-hosted, linux, X64, gpu]
-    container: ${{ matrix.container }}${{ matrix.container-suffix }}
-    strategy:
-      fail-fast: false
-      matrix:
-        rosdistro:
-          - humble
-        container-suffix:
-          - ""
-          - -cuda
-        include:
-          - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:universe-devel
-            build-depends-repos: build_depends.repos
+    runs-on: ubuntu-24.04
+    container: ghcr.io/autowarefoundation/autoware:core-devel
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
@@ -37,33 +25,22 @@ jobs:
         id: get-self-packages
         uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
 
-      - name: Export CUDA state as a variable for adding to cache key
-        run: |
-          build_type_cuda_state=nocuda
-          if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
-            build_type_cuda_state=cuda
-          fi
-          echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
-          echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
-        shell: bash
-
       - name: Build
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
-          rosdistro: ${{ matrix.rosdistro }}
+          rosdistro: humble
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
-          build-depends-repos: ${{ matrix.build-depends-repos }}
-          cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
+          build-depends-repos: build_depends.repos
 
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         id: test
         uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
-          rosdistro: ${{ matrix.rosdistro }}
+          rosdistro: humble
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
-          build-depends-repos: ${{ matrix.build-depends-repos }}
+          build-depends-repos: build_depends.repos
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}

.github/workflows/build-and-test-differential.yaml

@@ -22,34 +22,11 @@ jobs:
     with:
       label: tag:run-build-and-test-differential
 
-  make-sure-require-cuda-label-is-present:
-    uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
-    with:
-      label: tag:require-cuda-build-and-test
-
   build-and-test-differential:
-    needs: [make-sure-label-is-present, make-sure-require-cuda-label-is-present]
+    needs: make-sure-label-is-present
     if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }}
-    runs-on: ${{ matrix.runner }}
-    container: ${{ matrix.container }}${{ matrix.container-suffix }}
-    strategy:
-      fail-fast: false
-      matrix:
-        rosdistro:
-          - humble
-        container-suffix:
-          - ""
-          - -cuda
-        include:
-          - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:universe-devel
-            build-depends-repos: build_depends.repos
-          - container-suffix: -cuda
-            runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
-            build-pre-command: taskset --cpu-list 0-6
-          - container-suffix: ""
-            runner: ubuntu-latest
-            build-pre-command: ""
+    runs-on: ubuntu-24.04
+    container: ghcr.io/autowarefoundation/autoware:core-devel
     steps:
       - name: Set PR fetch depth
         run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
@@ -62,21 +39,16 @@ jobs:
           fetch-depth: ${{ env.PR_FETCH_DEPTH }}
 
       - name: Run build-and-test-differential action
-        if: ${{ !(matrix.container-suffix == '-cuda') || needs.make-sure-require-cuda-label-is-present.outputs.result == 'true' }}
         uses: ./.github/actions/build-and-test-differential
         with:
-          rosdistro: ${{ matrix.rosdistro }}
-          container: ${{ matrix.container }}
-          container-suffix: ${{ matrix.container-suffix }}
-          runner: ${{ matrix.runner }}
-          build-depends-repos: ${{ matrix.build-depends-repos }}
-          build-pre-command: ${{ matrix.build-pre-command }}
+          rosdistro: humble
+          build-depends-repos: build_depends.repos
           codecov-token: ${{ secrets.CODECOV_TOKEN }}
 
   clang-tidy-differential:
     needs: build-and-test-differential
-    runs-on: ubuntu-22.04
-    container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda
+    runs-on: ubuntu-24.04
+    container: ghcr.io/autowarefoundation/autoware:core-devel
     steps:
       - name: Set PR fetch depth
         run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
@@ -112,7 +84,6 @@ jobs:
           target-files: ${{ steps.get-changed-files.outputs.changed-files }}
           clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci
           build-depends-repos: build_depends.repos
-          cache-key-element: cuda
 
       - name: Show disk space after the tasks
         run: df -h

.github/workflows/build-and-test.yaml

@@ -4,31 +4,20 @@ on:
   push:
     branches:
       - main
-  workflow_dispatch:
 
 concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.run_id }}
-  cancel-in-progress: true
+  # Ensures sequential execution of this workflow
+  group: ${{ github.workflow }}
+  cancel-in-progress: false
 
 env:
   CC: /usr/lib/ccache/gcc
   CXX: /usr/lib/ccache/g++
 
 jobs:
   build-and-test:
-    runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
-    container: ${{ matrix.container }}${{ matrix.container-suffix }}
-    strategy:
-      fail-fast: false
-      matrix:
-        rosdistro:
-          - humble
-        container-suffix:
-          - -cuda
-        include:
-          - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:universe-devel
-            build-depends-repos: build_depends.repos
+    runs-on: ubuntu-24.04
+    container: ghcr.io/autowarefoundation/autoware:core-devel
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
@@ -59,9 +48,9 @@ jobs:
         with:
           path: |
             /root/.ccache
-          key: ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.sha }}
+          key: ccache-main-${{ runner.arch }}-humble-${{ github.sha }}
           restore-keys: |
-            ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-
+            ccache-main-${{ runner.arch }}-humble-
 
       - name: Limit ccache size
         run: |
@@ -75,47 +64,34 @@ jobs:
           ccache --zero-stats
         shell: bash
 
-      - name: Export CUDA state as a variable for adding to cache key
-        run: |
-          build_type_cuda_state=nocuda
-          if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
-            build_type_cuda_state=cuda
-          fi
-          echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
-          echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
-        shell: bash
-
       - name: Build
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
-          rosdistro: ${{ matrix.rosdistro }}
+          rosdistro: humble
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
-          build-depends-repos: ${{ matrix.build-depends-repos }}
-          cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
+          build-depends-repos: build_depends.repos
           build-pre-command: taskset --cpu-list 0-6
 
       - name: Show ccache stats after build
         run: du -sh ${CCACHE_DIR} && ccache -s
         shell: bash
 
-      # Only keep save the -cuda version because cuda packages covers non-cuda packages too
       - name: Push the ccache cache
-        if: matrix.container-suffix == '-cuda'
         uses: actions/cache/save@v4
         with:
           path: |
             /root/.ccache
-          key: ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.sha }}
+          key: ccache-main-${{ runner.arch }}-humble-${{ github.sha }}
 
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         id: test
         uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
-          rosdistro: ${{ matrix.rosdistro }}
+          rosdistro: humble
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
-          build-depends-repos: ${{ matrix.build-depends-repos }}
+          build-depends-repos: build_depends.repos
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}