Skip to content

Cooperative Autoware

Download

Cooperative Autoware

Build

The repository comes as a workspace by itself. To build the workspace follow the steps below:

  • Clone this repository to some desired folder: 

    git clone git@github.com:hoosh-ir/autoware.git

  • Navigate to the root of the workspace: 

    cd autoware

  • Execute the ansible script to download and install system dependencies: 

    ./setup-dev-env.sh

  • Install ROS dependencies: 

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

  • Build the workspace: 

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

Memory Issues At Build Time

Building Autoware requires and enormous amount RAM (about 32GB). If you have insufficient memory, use the following commands to allocate 32GB of swap file: 

# Optional: Check the current swapfile
free -h

# Remove the current swapfile
sudo swapoff /swapfile
sudo rm /swapfile

# Create a new swapfile
sudo fallocate -l 32G /swapfile
sudo chmod 600 /swapfile
sudo mkswap /swapfile
sudo swapon /swapfile

# Optional: Check if the change is reflected
free -h

Additional Options Provided

lightweight_localisation_ndt:=true/false lightweight_perception_detection:=true/false used along with pseudo_sensing_topic:=<AWSIM pseudo sensor topic> lightweight_perception_traffic_light:=true/false cooperative_mode:=true/false