Source Installation

Prerequisites

• OS
  • Ubuntu 20.04
  • Ubuntu 22.04
• ROS
  • ROS2 Galactic

Installing Autoware

Refer to the Official Autoware Documentation for the newest installation procedures. In a nutshell, you can run the following commands:

# Clone repository
git clone https://github.com/autowarefoundation/autoware.git
cd autoware

# Install dependencies using Ansible
./setup-dev-env.sh

# Use vcstool to import more repositories
mkdir src
vcs import src < autoware.repos

# Install dependent ROS packages
source /opt/ros/galactic/setup.bash
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

# Build the workspace
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Adding AutowareV2X

1. 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　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

   vcs import src < autoware.repos
   vcs pull src
   

2. Install dependent ROS packages

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

3. Build the workspace

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