autoware

This is one of the prototype repositories for Autoware Core/Universe that AWF agreed to create in the TSC meeting on 2021/11/17. Tier IV and AWF members are working in tier4/proposal branch for showing the possibility of moving from GitLab to GitHub.

This is the list of the prototype repositories and their roles.

• autowarefoundation/autoware
  • This is a meta-repository that contains .repos files to construct a workspace.
  • Since it's prospected to be forked by users, we don't put a lot of information here to avoid unnecessary differences.
• autowarefoundation/autoware_common
  • This is a repository that contains ROS packages referenced in common by many repositories like libraries and utilities.
  • In order to reduce the CI execution time, splitting that kind of packages from a big repository is a good practice.
• autowarefoundation/autoware.core
  • This is a core repository that contains high-quality and stable ROS packages for Autonomous Driving.
  • Although it's almost empty at this time, it will be implemented based on Autoware.Auto and Autoware.Universe during the next ODD project.
• autowarefoundation/autoware.universe
  • This is a core repository that contains experimental but cutting-edge ROS packages for Autonomous Driving.
• autowarefoundation/autoware_launch
  • This is a launch configuration repository that contains node configurations and their parameters.
• autowarefoundation/autoware-github-actions
  • This is a repository for CI that contains reusable workflows of GitHub Actions.
  • Since Autoware has a lot of repositories in total, making CI scripts DRY is efficient.
• autowarefoundation/autoware-documentation
  • This is a documentation repository for Autoware users and developers.
  • Since Autoware Core/Universe has multiple repositories, preparing a central documentation repository is more user-friendly than writing distributed documentation in each repository.

If you have any questions or ideas, feel free to start a discussion on GitHub Discussions in autowarefoundation/autoware.

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Note: Detailed setup documents will be put into autowarefoundation/autoware-documentation soon.

Installation

Prerequisite

• Ubuntu 20.04
• Git
  • Registering SSH keys to GitHub is preferable.

sudo apt-get -y update
sudo apt-get -y install git

How to set up a development environment

There are two ways of installation. Choose one depending on your preference.

1. Docker installation

   Docker can ensure that all developers in a project have a common, consistent development environment. It is recommended for beginners, light users, people who do not use Ubuntu.

2. Source installation

   Source installation is for the cases where more granular control of the installation environment is needed. It is recommended for skilled users or people who want to customize the environment.

   Note that some problems may occur depending on your local environment.

Docker installation

1. Clone autowarefoundation/autoware and move to the directory.

   git clone https://github.com/autowarefoundation/autoware.git
   cd autoware

2. Install the dependencies.

   ./setup-dev-env.sh docker

See docker/README.md for the usage.

Source installation

1. Clone autowarefoundation/autoware and move to the directory.

   git clone https://github.com/autowarefoundation/autoware.git
   cd autoware

2. Install the dependencies.

   Note: Before installing NVIDIA libraries, confirm and agree with the licenses.

   • CUDA
   • cuDNN
   • TensorRT

   ./setup-dev-env.sh

How to set up a workspace

Suppose that you've installed a development environment.

1. Create the src directory and clone repositories into it.

   mkdir src
   vcs import src < autoware.repos

2. Install dependent ROS packages.

   source /opt/ros/galactic/setup.bash
   rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO

3. Build the workspace.

   colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Usage

Suppose that you've set up a workspace.

How to run a closed-loop simulation

1. Download a sample map here and unzip it.

   cd ~/Downloads
   unzip planning_simulator_sample_map.zip -d sample_map

2. Launch a simulation.

   source install/setup.bash
   ros2 launch tier4_autoware_launch planning_simulator.launch.xml vehicle_model:=lexus sensor_model:=aip_xx1 map_path:=$HOME/Downloads/sample_map

Note: More tutorials will be written here soon.