Autoware Core source installation guide

Prerequisites

Item	Requirement
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.

How to set up

1. Install dependent tools.

   sudo apt -y update
   sudo apt -y install git python3-colcon-common-extensions python3-rosdep
   sudo rosdep init
   

2. Create workspace and clone repository into it.

   git clone https://github.com/autowarefoundation/autoware.git $HOME/autoware_core_workspace
   cd $HOME/autoware_core_workspace
   mkdir -p src
   vcs import src < repositories/autoware.repos
   

3. This step is optional. If you want the latest branch, switch to the nightly.

   cd $HOME/autoware_core_workspace
   vcs import src < repositories/autoware-nightly.repos
   

4. Install dependent ROS packages.

   cd $HOME/autoware_core_workspace
   sudo apt update && sudo apt -y upgrade
   rosdep update
   rosdep install -y --from-paths src/core --ignore-src --rosdistro humble
   

5. Build the workspace.

   cd $HOME/autoware_core_workspace
   source /opt/ros/humble/setup.bash
   colcon build --symlink-install --base-paths src/core --cmake-args -DCMAKE_BUILD_TYPE=Release