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Overall CI Infrastructure

Machine Types

Standard GitHub-hosted runners

These runners are utilized by the majority of the workflows. They are free to use for public repositories, with a concurrency limit of 20 jobs per organization.

Listed specs:

vCPU RAM Storage (SSD)
4 16 GB 14 GB

Note: While the official documentation lists 14 GB of storage, the actual available storage is approximately 73 GB.

AWS CodeBuild runners

These runners are employed for workflows that require more resources and are funded by the Autoware Foundation budget.

Relevant machine types:

Instance Type Memory vCPUs Price per Minute
arm1.large 16 GiB 8 $0.015
general1.medium 7 GB 4 $0.01
general1.large 15 GB 8 $0.02
general1.xlarge 72 GiB 36 $0.0798
gpu1.small 15 GB 4 $0.05

Sources:

Key workflows and their runners

Workflow Trigger Runner
build-and-test (cuda) merge to main general1.large
build-and-test-daily daily on main github-std
build-and-test-daily-arm64 daily on main arm1.large
build-and-test-differential PR update github-std
build-and-test-differential (cuda) PR update general1.large
build-and-test-differential-arm64 PR update (arm label) arm1.large

Additional notes

  • We use taskset from GNU Coreutils to limit the number of cores utilized by build processes. This is done to prevent overloading the self-hosted runners.
    • The number of cores is limited to vCPU count - 1.

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  • C++ 92.1%
  • Python 5.4%
  • CMake 1.6%
  • Cuda 0.6%
  • Jupyter Notebook 0.2%
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