ci: use aws codebuild

[xmfcx]

Description

Following:

• https://docs.aws.amazon.com/codebuild/latest/userguide/action-runner.html

Relevant machines:

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

• all tests will use total cpu count - 1 cores to build, to allow runner to function.
  • right now the taskset cpu count is provided manually, can be made into a simple workflow step in the future
  • otherwise machines lose connection
  • we make use of taskset from GNU coreutils for this job
• build-and-test will use general1.medium since it is not time critical and it's ok for it to be slow
  • It exceeded 2 hours with just 3 cores so switching it to large now.
• build-and-test-daily-arm64 will use arm1.large
  • it runs once per day so it's alright to have large machine
• build-and-test-differential-arm64 will use arm1.large
  • this workflow requires arm tag and is not required for merging, will rarely be used
• build-and-test-differential will use general1.large
  • in the future we can optimize it so that:
    • building is done on general1.xlarge
      • building is parallel-friendly and we are charged per cpu/minutes so this would make it finish much faster with similar price
    • test and codecov upload is done on a general1.medium
      • tests are running sequentially, more than 4 cores is wasted with these tests
      • codecov could even run on github hosted runners

Related links

• https://docs.aws.amazon.com/codebuild/latest/userguide/build-env-ref-compute-types.html
• https://aws.amazon.com/codebuild/pricing/

Private Links:

• https://us-east-2.console.aws.amazon.com/codesuite/codebuild/305110990523/projects/autoware-codebuild/history?region=us-east-2&builds-meta=eyJmIjp7InRleHQiOiIiLCJzdGF0dXMiOiIifSwicyI6e30sIm4iOjIwLCJpIjowfQ
• https://github.com/autowarefoundation/autoware.universe/settings/actions/runners
• https://us-east-1.console.aws.amazon.com/servicequotas/home/services/codebuild/quotas

Tests

• build-and-test: https://github.com/autowarefoundation/autoware.universe/actions/runs/10469798912 ❌
  • exceeded 2 hours with just 3 cores.
  • Will switch it to large machine now.
  • https://github.com/autowarefoundation/autoware.universe/actions/runs/10471948833/job/29000306215
• build-and-test-daily-arm64: https://github.com/autowarefoundation/autoware.universe/actions/runs/10469818933
  • build succeeded ✅
  • test fails but it is not related to this pr, arm tests have been failing for a while.
• build-and-test-differential: https://github.com/autowarefoundation/autoware.universe/actions/runs/10469689956 ✅
• build-and-test-differential-arm64: https://github.com/autowarefoundation/autoware.universe/actions/runs/10469689962 ✅

Old tests

https://docs.google.com/spreadsheets/d/1hO7rxgq_cYAoAEc7EWOFs-e_fwxeTwTJOBznAtBkPac/edit?usp=sharing

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 23.86%. Comparing base (7424c48) to head (5c54dc7).
Report is 14 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8498      +/-   ##
==========================================
- Coverage   23.91%   23.86%   -0.05%     
==========================================
  Files        1381     1383       +2     
  Lines      101939   102005      +66     
  Branches    38822    38845      +23     
==========================================
- Hits        24376    24346      -30     
- Misses      75119    75187      +68     
- Partials     2444     2472      +28     

Flag	Coverage Δ		*Carryforward flag
differential	19.06% <ø> (?)		Carriedforward from 4aa70ff
total	23.87% <ø> (-0.05%)	⬇️

*This pull request uses carry forward flags. Click here to find out more.

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[xmfcx]

https://github.com/autowarefoundation/autoware.universe/actions/runs/10417445920/job/28851709384?pr=8498

concurrency fixed the "old runners keep running for the older commits" problem.

• https://www.meziantou.net/how-to-cancel-github-workflows-when-pushing-new-commits-on-a-branch.htm
• https://docs.github.com/en/actions/writing-workflows/choosing-what-your-workflow-does/control-the-concurrency-of-workflows-and-jobs#example-using-concurrency-and-the-default-behavior

[xmfcx]

the test errors were probably caused by somewhere here:

• feat(lane_change): ensure LC merging lane stop point is safe #8369 (comment)

[xmfcx]

@mitsudome-r I've merged it. If something goes wrong, feel free to revert this change.

But before reverting, please link the failing CI reports under here and try to rerun them at least once.

I will keep the old machines alive for 1 more week. And if things go smoothly, I will terminate them.

[isamu-takagi]

@xmfcx @mitsudome-r cc: @yhisaki

It seems that the README added in this PR overrides the README in the repository root.
https://github.com/autowarefoundation/autoware.universe?tab=readme-ov-file

If a repository contains more than one README file, then the file shown is chosen from locations in the following order: the .github directory, then the repository's root directory, and finally the docs directory.

https://docs.github.com/en/repositories/managing-your-repositorys-settings-and-features/customizing-your-repository/about-readmes