From ff6136a5a69079bf14fdf6d3e34c5fcaa8f943c2 Mon Sep 17 00:00:00 2001
From: f0reachARR <f0reach@f0reach.me>
Date: Sat, 10 Aug 2024 23:09:00 +0900
Subject: [PATCH 1/5] Add types

---
 .github/workflows/ansible-test.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/ansible-test.yaml b/.github/workflows/ansible-test.yaml
index 5840c359d52..c60e30dd51a 100644
--- a/.github/workflows/ansible-test.yaml
+++ b/.github/workflows/ansible-test.yaml
@@ -2,6 +2,7 @@ name: setup-universe
 
 on:
   pull_request:
+    types: [opened, synchronize, reopened]
 
 jobs:
   setup-universe:

From 7eca6e300aee04f21b4925113171abd23dc6e2a5 Mon Sep 17 00:00:00 2001
From: f0reachARR <f0reach@f0reach.me>
Date: Sat, 10 Aug 2024 23:17:21 +0900
Subject: [PATCH 2/5] Optimize docker install

---
 ansible/roles/docker_engine/tasks/main.yaml | 17 +----------------
 1 file changed, 1 insertion(+), 16 deletions(-)

diff --git a/ansible/roles/docker_engine/tasks/main.yaml b/ansible/roles/docker_engine/tasks/main.yaml
index 6fe822fa575..973be1e9ec3 100644
--- a/ansible/roles/docker_engine/tasks/main.yaml
+++ b/ansible/roles/docker_engine/tasks/main.yaml
@@ -35,26 +35,11 @@
     url: https://download.docker.com/linux/ubuntu/gpg
     keyring: /etc/apt/keyrings/docker.gpg
 
-- name: Save result of 'dpkg --print-architecture'
-  ansible.builtin.command: dpkg --print-architecture
-  register: docker_engine__deb_architecture
-  changed_when: false
-
-- name: Save result of 'lsb_release -cs'
-  ansible.builtin.command: lsb_release -cs
-  register: docker_engine__lsb_release_cs
-  changed_when: false
-
-- name: Save result of 'lsb_release -is'
-  ansible.builtin.command: lsb_release -is
-  register: docker_engine__lsb_release_is
-  changed_when: false
-
 # echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/$(lsb_release -is | tr '[:upper:]' '[:lower:]') $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
 - name: Add Docker apt repository to source list
   become: true
   ansible.builtin.apt_repository:
-    repo: deb [arch={{ docker_engine__deb_architecture.stdout }} signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/{{ docker_engine__lsb_release_is.stdout | lower }} {{ docker_engine__lsb_release_cs.stdout }} stable
+    repo: deb [arch={{ 'arm64' if ansible_architecture == 'aarch64' else 'amd64' }} signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/{{ ansible_distribution | lower }} {{ ansible_distribution_release }} stable
     filename: docker
     state: present
     update_cache: true

From d777b1cef82b187cc6cf553dba115b5baf95d60b Mon Sep 17 00:00:00 2001
From: f0reachARR <f0reach@f0reach.me>
Date: Sat, 10 Aug 2024 23:17:43 +0900
Subject: [PATCH 3/5] Fix CUDA install

---
 ansible/roles/cuda/vars/main.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ansible/roles/cuda/vars/main.yaml b/ansible/roles/cuda/vars/main.yaml
index ae56156920e..da385ad07d7 100644
--- a/ansible/roles/cuda/vars/main.yaml
+++ b/ansible/roles/cuda/vars/main.yaml
@@ -1,2 +1,2 @@
 ---
-cuda__dash_case_cuda_version: '{{ cuda_version | regex_replace("\\.", "-", count=1) }}'
+cuda__dash_case_cuda_version: '{{ cuda_version | regex_replace("\\.", "-") }}'

From 06145014e5976e493d773424632396ef8566d0c4 Mon Sep 17 00:00:00 2001
From: f0reachARR <f0reach@f0reach.me>
Date: Sat, 10 Aug 2024 23:20:40 +0900
Subject: [PATCH 4/5] Remove unused

---
 ansible/playbooks/openadkit.yaml              | 48 -------------------
 ansible/playbooks/rosdep.yaml                 | 10 ----
 ansible/roles/geographiclib/README.md         | 14 ------
 .../roles/geographiclib/defaults/main.yaml    |  0
 ansible/roles/geographiclib/meta/main.yaml    |  0
 ansible/roles/geographiclib/tasks/main.yaml   | 12 -----
 6 files changed, 84 deletions(-)
 delete mode 100644 ansible/playbooks/openadkit.yaml
 delete mode 100644 ansible/playbooks/rosdep.yaml
 delete mode 100644 ansible/roles/geographiclib/README.md
 delete mode 100644 ansible/roles/geographiclib/defaults/main.yaml
 delete mode 100644 ansible/roles/geographiclib/meta/main.yaml
 delete mode 100644 ansible/roles/geographiclib/tasks/main.yaml

diff --git a/ansible/playbooks/openadkit.yaml b/ansible/playbooks/openadkit.yaml
deleted file mode 100644
index 46a8757229f..00000000000
--- a/ansible/playbooks/openadkit.yaml
+++ /dev/null
@@ -1,48 +0,0 @@
-- name: Set up source development environments for Autoware Universe
-  hosts: localhost
-  connection: local
-  pre_tasks:
-    - name: Verify OS
-      ansible.builtin.fail:
-        msg: Only Ubuntu 22.04 is supported for this branch. Please refer to https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/.
-      when: ansible_distribution != 'Ubuntu' or ansible_distribution_version != '22.04'
-
-    - name: Print args
-      ansible.builtin.debug:
-        msg:
-          - module: "{{ module }}"
-          - rosdistro: "{{ rosdistro }}"
-          - rmw_implementation: "{{ rmw_implementation }}"
-          - cuda_version: "{{ cuda_version }}"
-          - cudnn_version: "{{ cudnn_version }}"
-          - tensorrt_version: "{{ tensorrt_version }}"
-  roles:
-    # Autoware base dependencies
-    - role: autoware.dev_env.rmw_implementation
-      when: module == 'base'
-    - role: autoware.dev_env.gdown
-      when: module == 'base'
-    - role: autoware.dev_env.kisak_mesa
-      when: module == 'base'
-    - role: autoware.dev_env.pacmod
-      when: module == 'base'
-    - role: autoware.dev_env.build_tools
-      when: module == 'all' and install_devel=='y'
-
-    # Module specific dependencies
-    - role: autoware.dev_env.geographiclib
-      when: module == 'perception-localization' or module == 'all'
-    - role: autoware.dev_env.cuda
-      when: (module == 'perception-localization' or module == 'all') and prompt_install_nvidia=='y'
-    - role: autoware.dev_env.tensorrt
-      when: (module == 'perception-localization' or module == 'all') and prompt_install_nvidia=='y'
-
-    # Development environment
-    - role: autoware.dev_env.dev_tools
-      when: module == 'dev-tools'
-    - role: autoware.dev_env.ros2_dev_tools
-      when: module == 'dev-tools'
-
-    # ONNX files and other artifacts
-    - role: autoware.dev_env.artifacts
-      when: prompt_download_artifacts == 'y'
diff --git a/ansible/playbooks/rosdep.yaml b/ansible/playbooks/rosdep.yaml
deleted file mode 100644
index c7c23a245ab..00000000000
--- a/ansible/playbooks/rosdep.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-- name: Register rosdep package repositories
-  hosts: localhost
-  connection: local
-  pre_tasks:
-    - name: Verify OS
-      ansible.builtin.fail:
-        msg: Only Ubuntu 22.04 is supported for this branch. Please refer to https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/.
-      when: ansible_distribution != 'Ubuntu' or ansible_distribution_version != '22.04'
-  roles:
-    - role: autoware.dev_env.pacmod
diff --git a/ansible/roles/geographiclib/README.md b/ansible/roles/geographiclib/README.md
deleted file mode 100644
index 8ab94806be3..00000000000
--- a/ansible/roles/geographiclib/README.md
+++ /dev/null
@@ -1,14 +0,0 @@
-# geographiclib
-
-## Inputs
-
-None.
-
-## Manual Installation
-
-```bash
-sudo apt install geographiclib-tools
-
-# Add EGM2008 geoid grid to geographiclib
-sudo geographiclib-get-geoids egm2008-1
-```
diff --git a/ansible/roles/geographiclib/defaults/main.yaml b/ansible/roles/geographiclib/defaults/main.yaml
deleted file mode 100644
index e69de29bb2d..00000000000
diff --git a/ansible/roles/geographiclib/meta/main.yaml b/ansible/roles/geographiclib/meta/main.yaml
deleted file mode 100644
index e69de29bb2d..00000000000
diff --git a/ansible/roles/geographiclib/tasks/main.yaml b/ansible/roles/geographiclib/tasks/main.yaml
deleted file mode 100644
index c59e688f538..00000000000
--- a/ansible/roles/geographiclib/tasks/main.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-- name: Install geographiclib-tools
-  become: true
-  ansible.builtin.apt:
-    name: geographiclib-tools
-    state: latest
-    update_cache: true
-
-- name: Install egm2008-1
-  become: true
-  ansible.builtin.command:
-    cmd: geographiclib-get-geoids egm2008-1
-    creates: /usr/share/GeographicLib/geoids/egm2008-1.pgm

From dc9c5910744db1c278e1cd490482f08eb21b75a0 Mon Sep 17 00:00:00 2001
From: f0reachARR <f0reach@f0reach.me>
Date: Sat, 10 Aug 2024 23:38:40 +0900
Subject: [PATCH 5/5] Fix

---
 ansible/roles/cuda/vars/main.yaml                 |  2 +-
 .../roles/rmw_implementation/defaults/main.yaml   |  2 ++
 ansible/roles/rmw_implementation/tasks/main.yaml  | 15 +++++----------
 ansible/roles/rmw_implementation/vars/main.yaml   |  2 ++
 ansible/roles/ros2/tasks/main.yaml                | 12 +-----------
 5 files changed, 11 insertions(+), 22 deletions(-)
 create mode 100644 ansible/roles/rmw_implementation/vars/main.yaml

diff --git a/ansible/roles/cuda/vars/main.yaml b/ansible/roles/cuda/vars/main.yaml
index da385ad07d7..a25734446a1 100644
--- a/ansible/roles/cuda/vars/main.yaml
+++ b/ansible/roles/cuda/vars/main.yaml
@@ -1,2 +1,2 @@
 ---
-cuda__dash_case_cuda_version: '{{ cuda_version | regex_replace("\\.", "-") }}'
+cuda__dash_case_cuda_version: '{{ cuda_version | regex_replace("\.", "-") }}'
diff --git a/ansible/roles/rmw_implementation/defaults/main.yaml b/ansible/roles/rmw_implementation/defaults/main.yaml
index e69de29bb2d..76868fa481f 100644
--- a/ansible/roles/rmw_implementation/defaults/main.yaml
+++ b/ansible/roles/rmw_implementation/defaults/main.yaml
@@ -0,0 +1,2 @@
+---
+rmw_implementation: rmw_cyclonedds_cpp
diff --git a/ansible/roles/rmw_implementation/tasks/main.yaml b/ansible/roles/rmw_implementation/tasks/main.yaml
index e7f23557a0f..0599fcd6749 100644
--- a/ansible/roles/rmw_implementation/tasks/main.yaml
+++ b/ansible/roles/rmw_implementation/tasks/main.yaml
@@ -1,26 +1,21 @@
-- name: Get dash-case name of rmw_implementation
-  ansible.builtin.shell: bash -c 'sed -e "s/_/-/g" <<< $(echo {{ rmw_implementation }})'
-  register: rmw_implementation__dash_case_rmw_implementation
-  changed_when: false
-
-- name: Hold check of ros-{{ rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout }}
+- name: Hold check of {{ rmw_implementation__package_name }}
   ansible.builtin.command: apt-mark showhold
   register: held_ros_packages
   changed_when: false
 
-- name: Install ros-{{ rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout }}
+- name: Install {{ rmw_implementation__package_name }}
   become: true
   ansible.builtin.apt:
-    name: ros-{{ rosdistro }}-{{ rmw_implementation__dash_case_rmw_implementation.stdout }}
+    name: "{{ rmw_implementation__package_name }}"
     state: latest
     update_cache: true
-  when: "'ros-' + rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout not in held_ros_packages.stdout"
+  when: "rmw_implementation__package_name not in held_ros_packages.stdout"
   register: install_result
   failed_when: false
 
 - name: Display warning if ROS 2 RMW package is held
   ansible.builtin.debug:
-    msg: ROS 2 RMW package 'ros-{{ rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout }}' is apt-mark hold. Skipping installation.
+    msg: ROS 2 RMW package '{{ rmw_implementation__package_name }}' is apt-mark hold. Skipping installation.
   when: not install_result.changed
 
 - name: Add RMW_IMPLEMENTATION to .bashrc
diff --git a/ansible/roles/rmw_implementation/vars/main.yaml b/ansible/roles/rmw_implementation/vars/main.yaml
new file mode 100644
index 00000000000..1f0957d932f
--- /dev/null
+++ b/ansible/roles/rmw_implementation/vars/main.yaml
@@ -0,0 +1,2 @@
+---
+rmw_implementation__package_name: 'ros-{{ rosdistro }}-{{ rmw_implementation | regex_replace("_", "-") }}'
diff --git a/ansible/roles/ros2/tasks/main.yaml b/ansible/roles/ros2/tasks/main.yaml
index beeb4cef6b2..6cb7559c995 100644
--- a/ansible/roles/ros2/tasks/main.yaml
+++ b/ansible/roles/ros2/tasks/main.yaml
@@ -15,21 +15,11 @@
     dest: /usr/share/keyrings/ros-archive-keyring.gpg
     mode: 644
 
-- name: Save result of 'dpkg --print-architecture'
-  ansible.builtin.command: dpkg --print-architecture
-  register: ros2__deb_architecture
-  changed_when: false
-
-- name: Save result of 'source /etc/os-release && echo $UBUNTU_CODENAME'
-  ansible.builtin.shell: bash -c 'source /etc/os-release && echo $UBUNTU_CODENAME'
-  register: ros2__ubuntu_codename
-  changed_when: false
-
 # echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 - name: Add ROS 2 apt repository to source list
   become: true
   ansible.builtin.apt_repository:
-    repo: deb [arch={{ ros2__deb_architecture.stdout }} signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu {{ ros2__ubuntu_codename.stdout }} main
+    repo: deb [arch={{ 'arm64' if ansible_architecture == 'aarch64' else 'amd64' }} signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu {{ ansible_distribution_release }} main
     filename: ros2
     state: present
     update_cache: true