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#

Prepare the repository.

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

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.
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.

Move into autoware_docker directory.
```
cd ~/workspace/autoware_docker
```

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

Update the repository

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

Install dependent ROS packages

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

Build the workspace

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