Autoware Installation using Prebuilt docker image - hcn1519/ADS GitHub Wiki

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Autoware docker - Autoware Docker Installation
simulator - tier4 - quick start

Installation

If your major task is running/replaying scenario simulator v2 on top of the Autoware, you can start with prebuilt image that Autoware release. You can save a lot of time by skipping many build issues.

Tested Version

ubuntu 22.04
ROS 2 humble
NVIDIA cuda

Installation

Download docker image

docker pull ghcr.io/autowarefoundation/autoware-universe:humble-latest-prebuilt

Create autoware_map directory and download map data

Note: You can create it anywhere. Just specify that directory as an additional volume when running docker.

mkdir autoware_map

Launch docker

cd username # move where autoware_map directory is located
rocker --nvidia --x11 --user --volume ./autoware_map \
-- ghcr.io/autowarefoundation/autoware-universe:humble-latest-prebuilt

rocker --nvidia --x11 --user --volume ./autoware_map \
-- hcn1519/humble-202402-prebuilt-cuda-with-simulator:latest

Create src directory in autoware/ and import simulator source code

If your repository does not have simulator.repos at autoware/, create one and import it.(simulator.repos)

echo 'repositories:
  simulator/scenario_simulator:
    type: git
    url: https://github.com/tier4/scenario_simulator_v2.git
    version: master' > simulator.repos

echo 'repositories:
  simulator/scenario_simulator:
    type: git
    url: https://github.com/tier4/scenario_simulator_v2.git
    version: master' | sudo tee simulator.repos > /dev/null

cd somePath/autoware/
mkdir src
vcs import src < simulator.repos

Update dependencies

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

Build Autoware simulator package using colcon

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

Source the workspace setup script

source install/setup.bash

Run sample planning

ros2 launch autoware_launch planning_simulator.launch.xml \
map_path:=../autoware_map/sample-map-planning \
vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit