Source installation#

Prerequisites#

OS
- Ubuntu 22.04

ROS
- ROS 2 Humble
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

Note: If you wish to use ROS 2 Galactic on Ubuntu 20.04, refer to installation instruction from galactic branch, but be aware that Galactic version of Autoware might not have the latest features.

How to set up a development environment#

Clone autowarefoundation/autoware and move to the directory.

git clone https://github.com/autowarefoundation/autoware.git
cd autoware

If you are installing Autoware for the first time, you can automatically install the dependencies by using the provided Ansible script.
```
./setup-dev-env.sh
```
If you encounter any build issues, please consult the Troubleshooting section for assistance.

Info

Before installing NVIDIA libraries, please ensure that you have reviewed and agreed to the licenses.

Note

The following items will be automatically installed. If the ansible script doesn't work or if you already have different versions of dependent libraries installed, please install the following items manually.

Install Ansible
Install Build Tools
Install Dev Tools
Install gdown
Install geographiclib
Install pacmod
Install the RMW Implementation
Install ROS 2
Install ROS 2 Dev Tools
Install Nvidia CUDA
Install Nvidia cuDNN and TensorRT
Install the Autoware RViz Theme (only affects Autoware RViz)
Download the Artifacts (for perception inference)

How to set up a workspace#

Using Autoware Build GUI

If you prefer a graphical user interface (GUI) over the command line for launching and managing your simulations, refer to the Using Autoware Build GUI section at the end of this document for a step-by-step guide.

Create the src directory and clone repositories into it.

Autoware uses vcstool to construct workspaces.
```
cd autoware
mkdir src
vcs import src < autoware.repos
```
If you are an active developer, you may also want to pull the nightly repositories, which contain the latest updates:
```
vcs import src < autoware-nightly.repos
```
⚠️ Note: The nightly repositories are unstable and may contain bugs. Use them with caution.

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/humble/setup.bash
# Make sure all previously installed ros-$ROS_DISTRO-* packages are upgraded to their latest version
sudo apt update && sudo apt upgrade
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

Install and set up ccache to speed up consecutive builds. (optional but highly recommended)
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.
Follow the steps in Network Configuration before running Autoware.
Apply the settings recommended in Console settings for ROS 2 for a better development experience. (optional)

How to update a workspace#

Update the .repos file.
```
cd autoware
git pull <remote> <your branch>
```
<remote> is usually git@github.com:autowarefoundation/autoware.git
Update the repositories.
```
vcs import src < autoware.repos
```
⚠️ If you are using nightly repositories, you can also update them.
```
vcs import src < autoware-nightly.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.

It might be the case that dependencies imported via vcs import have been moved/removed. VCStool does not currently handle those cases, so if builds fail after vcs import, cleaning and re-importing all dependencies may be necessary:
```
rm -rf src/*
vcs import src < autoware.repos
```
⚠️ If you are using nightly repositories, import them as well.
```
vcs import src < autoware-nightly.repos
```

Install dependent ROS packages.

source /opt/ros/humble/setup.bash
# Make sure all previously installed ros-$ROS_DISTRO-* packages are upgraded to their latest version
sudo apt update && sudo apt upgrade
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

Using Autoware Build GUI#

In addition to the traditional command-line methods of building Autoware packages, developers and users can leverage the Autoware Build GUI for a more streamlined and user-friendly experience. This GUI application simplifies the process of building and managing Autoware packages.

Integration with Autoware source installation#

When using the Autoware Build GUI in conjunction with the traditional source installation process:

Initial Setup: Follow the standard Autoware source installation guide to set up your environment and workspace.
Using the GUI: Once the initial setup is complete, you can use the Autoware Build GUI to manage subsequent builds and package updates.

This integration offers a more accessible approach to building and managing Autoware packages, catering to both new users and experienced developers.

Getting started with Autoware Build GUI#

Installation: Ensure you have installed the Autoware Build GUI. Installation instructions.
Launching the App: Once installed, launch the Autoware Build GUI.
Setting Up: Set the path to your Autoware folder within the GUI.
Building Packages: Select the Autoware packages you wish to build and manage the build process through the GUI.

4.1. Build Configuration: Choose from a list of default build configurations, or select the packages you wish to build manually.

4.2. Build Options: Choose which build type you wish to use, with ability to specify additional build options.
Save and Load: Save your build configurations for future use, or load a previously saved configuration if you don't wish to build all packages or use one of the default configurations provided.
Updating Workspace: Update your Autoware workspace's packages to the latest version using the GUI or adding Calibration tools to the workspace.