selfdrive

Autonomy Lab's monorepo

Getting Started

selfdrive is a monorepo consisting of various Autonomy Lab projects written in different languages with various dependencies. To avoid dependency hell, we've opted to utilize the Nix package manager to handle dependency resolution along with direnv to automate this process.

Installing Nix

Head over to https://nixos.org/download and proceed with the installation for your platform. Once the process is complete, you'll need to enable Nix flakes by adding the following to ~/.config/nix/nix.conf:

experimental-features = flakes nix-command

You'll also need to enable the unstable channel if you'd like to install the latest versions of software:

$ nix-channel --add https://nixos.org/channels/nixpkgs-unstable nixpkgs
$ nix-channel --update

Installing direnv

The easiest way to install direnv is through nix-env:

$ nix-env -iA nixpkgs.direnv

Optionally, feel free to use your system's package manager to go through with the installation of direnv.

Once installed, hook direnv into your shell.

Cloning selfdrive

Make sure that you've installed Git and Git-LFS before cloning.

Clone the repo:

$ git clone git@github.com:CooperUnion/selfdrive.git

Once cloned, make sure to initialize all the submodules:

$ git submodule update --init --recursive

We also recommend to configure Git to automatically update submodules recursively:

$ git config --global submodule.recurse true

Bootstrapping

Once everything's installed and set up, you can pass over the bootstrap process to direnv:

$ direnv allow

If everything worked, you should be able to run SCons successfully:

$ scons --help

Copyright & Licensing

Copyright (C) 2021--2024 Autonomy Lab

Distributed under the GPLv3 only.