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Docker Installation#

In order to run the simulations explained in the Tutorials section, you will need to proceed with the Docker installation.

Note

Also refer to Autoware's Docker Installation for the Docker-based installation of Autoware.universe.

Installing Autoware (Docker version)#

For the newest documentation for the Docker installation of Autoware, see their official documentation.

Prerequisites#

  • git

Setup#

  1. Prepare the repository. 

    mkdir -p ~/workspace && cd ~/workspace
git clone https://github.com/autowarefoundation/autoware.git autoware_docker
cd autoware_docker

  2. Run the setup script for docker installation. 

    ./setup-dev-env.sh docker
    You will need to restart your PC after the script is finished running.

  3. Make directory to store maps 

    mkdir -p ~/data/maps

Launch container#

# Launch Autoware container (with NVIDIA GPU)
rocker --nvidia --x11 --user --privileged --volume $HOME/workspace/autoware_docker --volume $HOME/data -- ghcr.io/autowarefoundation/autoware-universe:latest-cuda

# Launch Autoware container (without NVIDIA GPU)
rocker -e LIBGL_ALWAYS_SOFTWARE=1 --x11 --user --privileged --volume $HOME/workspace/autoware_docker --volume $HOME/data -- ghcr.io/autowarefoundation/autoware-universe:latest-cuda

Adding AutowareV2X#

Note

From here, run commands inside the container.

  1. Move into autoware_docker directory. 

    cd ~/workspace/autoware_docker

  2. Edit the autoware.repos file and replace the following repositories. 

    repositories:
  core/autoware.core:
    type: git
    url: https://github.com/autowarefoundation/autoware.core.git
    version: 6bafedfb24fb34157ed65bfe3f6f4c1ed0fbc80b
  core/autoware_adapi_msgs:
    type: git
    url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
    version: 9679b5a7a1f4cfff2fa50b80d2759d3937f2f953
  core/autoware_common:
    type: git
    url: https://github.com/autowarefoundation/autoware_common.git
    version: 6916df26fafe6749db4b1d5bd6636a92444fc48d
  core/autoware_msgs:
    type: git
    url: https://github.com/autowarefoundation/autoware_msgs.git
    version: 4f13d4b8b465ed7f424fce9af17882dbe1752875
  core/external/autoware_auto_msgs:
    type: git
    url: https://github.com/tier4/autoware_auto_msgs.git
    version: 6b5bc4365f9a2fc913bc11afa74ec21ffa2dbf32
  launcher/autoware_launch:
    type: git
    url: https://github.com/autowarefoundation/autoware_launch.git
    version: e4abe673667a8d4f2d783ed22edacbf5d4784b8f
  param/autoware_individual_params:
    type: git
    url: https://github.com/autowarefoundation/autoware_individual_params.git
    version: 79cff0ba014808050be6f5cb3b4764ba2c96c21c
  sensor_component/external/sensor_component_description:
    type: git
    url: https://github.com/tier4/sensor_component_description.git
    version: 475857daeb4c4883ab0295336713364b326e8278
  sensor_component/external/tamagawa_imu_driver:
    type: git
    url: https://github.com/tier4/tamagawa_imu_driver.git
    version: 28ad3cd4fb043e5f92353a540c3531cd4cb7bef3
  sensor_component/external/velodyne_vls:
    type: git
    url: https://github.com/tier4/velodyne_vls.git
    version: baeafaf9a376c5798f7b67a77211890c33900f84
  sensor_kit/external/awsim_sensor_kit_launch:
    type: git
    url: https://github.com/RobotecAI/awsim_sensor_kit_launch.git
    version: d9022ee9bbfd958c239b673cfbb230eea50607be
  sensor_kit/sample_sensor_kit_launch:
    type: git
    url: https://github.com/autowarefoundation/sample_sensor_kit_launch.git
    version: 03decbd31bb954eb9f52daaf3a3fa2b921dbb0c3
  universe/autoware.universe:
    type: git
    url: https://github.com/autowarefoundation/autoware.universe.git
    version: febbc135b8e09e993ed345ee6d3cd7e65b6c1d68
  universe/external/morai_msgs:
    type: git
    url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git
    version: 6fd6a711e4bbf8a9989b54028e8074acabbbce6f
  universe/external/muSSP:
    type: git
    url: https://github.com/tier4/muSSP.git
    version: c79e98fd5e658f4f90c06d93472faa977bc873b9
  universe/external/ndt_omp:
    type: git
    url: https://github.com/tier4/ndt_omp.git
    version: f59e1667390fe66d72c5c3aa0b25385b5b6dd8cf
  universe/external/pointcloud_to_laserscan:
    type: git
    url: https://github.com/tier4/pointcloud_to_laserscan.git
    version: 948a4fca35dcb03c6c8fbfa610a686f7c919fe0b
  universe/external/tier4_ad_api_adaptor:
    type: git
    url: https://github.com/tier4/tier4_ad_api_adaptor.git
    version: 5084f9c8eaf03458a216060798da2b1e4fa96f28
  universe/external/tier4_autoware_msgs:
    type: git
    url: https://github.com/tier4/tier4_autoware_msgs.git
    version: a360ee9f5235a0d426427813f26e43027e32139d
  vehicle/external/pacmod_interface:
    type: git
    url: https://github.com/tier4/pacmod_interface.git
    version: b5ae20345f2551da0c6e4140a3dc3479d64efd1f
  vehicle/sample_vehicle_launch:
    type: git
    url: https://github.com/autowarefoundation/sample_vehicle_launch.git
    version: 157238ca77de7b0a59f71a0b28f456741fab3ca2
  v2x/autowarev2x:
    type: git
    url: https://github.com/tlab-wide/AutowareV2X.git
    version: 48a1f2d3db6ae59e92febb93aad7cde760f4f3ec
  v2x/vanetza:
    type: git
    url: https://github.com/yuasabe/vanetza.git
    version: cfffe9afda177297c59bbb804d3e8f66120c8453

Note

If you want to怀follow the latest ver, edit the autoware.repos file and add the following two repositories to the end.

v2x/autowarev2x:
  type: git
  url: https://github.com/tlab-wide/AutowareV2X.git
  version: cpm-tr
v2x/vanetza:
  type: git
  url: https://github.com/yuasabe/vanetza.git
  version: master

  1. Update the repository 

    mkdir src
vcs import src < autoware.repos
vcs pull src

  2. Install dependent ROS packages 

    sudo apt update
rosdep update
rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -r

  3. Build the workspace 

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