Autoware Safety Island
Contents
Overview
Workflow
Main Components
Autoware Components
ROS RCL abstraction mapping
User Guide
Quickstart
Prerequisites
Clone the repository
Enter the development container
Build the default target
What to do next
FreeRTOS POSIX
Prerequisites
Build
Run Locally
Run With The Demo Stack
Test Builds
Open AD Kit integration (release pins)
Release assets
Selecting the DDS interface
Domain-2 message size
Keeping Autoware’s own controller off
Closed-loop CAN and CARLA
Two repositories
Host loop
CAN-FD (optional)
DDS
Pins
Tests
Zephyr FVP TAP
Arm Virtual Hardware deployment
1. Launch the AVH instance
Configure credentials
Deploy with the script (recommended)
Deploy via the web UI
2. Launch the Autoware main compute on EC2
3. Connect the VPN
Using the script
Manual setup
4. Start Autoware
5. Drive the simulation
NXP S32Z270DC2 (real HW)
Build for the S32Z
Board-specific notes
Flashing
Network setup
FreeRTOS S32Z2
Prerequisites
Build
Status
Testing
Unit test (node + DDS round-trip)
DDS publisher only
DDS subscriber only
CAN output
DDS loopback
Running tests
Troubleshooting
DDS interface does not match the runtime path
Domain bridge is running but no traffic
Messages are truncated or dropped at size
Firmware appears hung for ~10 s at boot
RViz2 crashes with
libGL
error:
failed
to
create
drawable
AVH console logs stop streaming
Design
Apache License
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
2. Grant of Copyright License.
3. Grant of Patent License.
4. Redistribution.
5. Submission of Contributions.
6. Trademarks.
7. Disclaimer of Warranty.
8. Limitation of Liability.
9. Accepting Warranty or Additional Liability.
APPENDIX: How to apply the Apache License to your work
Changelog & Release Notes
Unreleased
v0.3.0
Changed
Removed
v0.2.0
Added
Changed
Fixed
v0.1.0
New features
Changed
Limitations
Third-party repositories
Legacy releases (previous project structure)
v2.0
New features
Changed
Limitations
Resolved issues
Third-party repositories
v1.0
Limitations
Known issues
Third-party repositories
Autoware Safety Island
»
Index
Index