Source installation

Prerequisites

• OS

  • Ubuntu 20.04

• ROS

  • ROS 2 Galactic

  For ROS 2 system dependencies, refer to REP-2000.

• Git
  • Registering SSH keys to GitHub is preferable.

sudo apt-get -y update
sudo apt-get -y install git

How to set up a development environment

1. Clone autowarefoundation/autoware and move to the directory.

   git clone https://github.com/autowarefoundation/autoware.git -b galactic
   cd autoware
   

2. You can install the dependencies either manually or using the provided Ansible script.

Note: Before installing NVIDIA libraries, confirm and agree with the licenses.

• CUDA
• cuDNN
• TensorRT

Installing dependencies manually

• Install ROS 2
• Install ROS 2 Dev Tools
• Install the RMW Implementation
• Install pacmod
• Install Autoware Core dependencies
• Install Autoware Universe dependencies
• Install pre-commit dependencies
• Install Nvidia CUDA
• Install Nvidia cuDNN and TensorRT

Installing dependencies using Ansible

Be very careful with this method. Make sure you read and confirmed all the steps in the Ansible configuration before using it.

If you've manually installed the dependencies, you can skip this section.

./setup-dev-env.sh

How to set up a workspace

1. Create the src directory and clone repositories into it.

   Autoware uses vcstool to construct workspaces.

   cd autoware
   mkdir src
   vcs import src < autoware.repos
   

2. Install dependent ROS packages.

   Autoware requires some ROS 2 packages in addition to the core components. The tool rosdep allows an automatic search and installation of such dependencies. You might need to run rosdep update before rosdep install.

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

3. Build the workspace.

   Autoware uses colcon to build workspaces. For more advanced options, refer to the documentation.

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

   If there is any build issue, refer to Troubleshooting.

How to update a workspace

1. Update the .repos file.

   cd autoware
   git pull
   

2. Update the repositories.

   vcs import src < autoware.repos
   vcs pull src
   

   For Git users:

   • vcs import is similar to git checkout.
     • Note that it doesn't pull from the remote.
   • vcs pull is similar to git pull.
     • Note that it doesn't switch branches.

   For more information, refer to the official documentation.

3. Install dependent ROS packages.

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

4. Build the workspace.

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