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How to run Autoware#

This page explains how to run Autoware on the development platform that are set up in the Installation chapter.

Minimum requirements#

  • Developer Platform: TODO
  • In-Vehicle Development Platform 1: TODO
  • Software Tool: TODO
  • Container Image: TODO

1. Run Autoware on the developer platform#

Run Autoware.Auto on AVA platform or PCU or Xavier#

  1. Access AVA platform or PCU or Xavier via SSH.

  2. Deploy kubernetes clusters for Autoware.

    kubectl apply -f comhpc-deployments

    💬 You can make sure deployments are deployed.

    root@comhpc:~# kubectl get deploy -o wide
NAME               READY   UP-TO-DATE   AVAILABLE   AGE   CONTAINERS   IMAGES                                                                         SELECTOR
comhpc-control     1/1     1            1           15h   comhpc       ghcr.io/autowarefoundation/autoware-universe:galactic-20220728-prebuilt-cuda   io.kompose.service=comhpc
comhpc-api         1/1     1            1           15h   comhpc       ghcr.io/autowarefoundation/autoware-universe:galactic-20220728-prebuilt-cuda   io.kompose.service=comhpc
comhpc-planning    1/1     1            1           15h   comhpc       ghcr.io/autowarefoundation/autoware-universe:galactic-20220728-prebuilt-cuda   io.kompose.service=comhpc
comhpc-simulator   1/1     1            1           15h   comhpc       ghcr.io/autowarefoundation/autoware-universe:galactic-20220728-prebuilt-cuda   io.kompose.service=comhpc
comhpc-map         1/1     1            1           15h   comhpc       ghcr.io/autowarefoundation/autoware-universe:galactic-20220728-prebuilt-cuda   io.kompose.service=comhpc
comhpc-system      1/1     1            1           17h   comhpc       ghcr.io/autowarefoundation/autoware-universe:galactic-20220728-prebuilt-cuda   io.kompose.service=comhpc
comhpc-vehicle     1/1     1            1           17h   comhpc       ghcr.io/autowarefoundation/autoware-universe:galactic-20220728-prebuilt-cuda   io.kompose.service=comhpc

    💬 Please make sure all pods are running.

    root@comhpc:~# kubectl get pod -o wide
NAME                                READY   STATUS    RESTARTS   AGE    IP              NODE   NOMINATED NODE   READINESS GATES
comhpc-control-58cb5b9dbd-fqckv     1/1     Running   0          104m   192.168.10.27   ava    <none>           <none>
comhpc-api-7b588f7988-n4rb7         1/1     Running   0          103m   192.168.10.27   ava    <none>           <none>
comhpc-planning-d964b9646-92rzc     1/1     Running   0          104m   192.168.10.27   ava    <none>           <none>
comhpc-simulator-7f5b9fb97d-7kvqm   1/1     Running   0          104m   192.168.10.27   ava    <none>           <none>
comhpc-map-7867476c98-mgrm5         1/1     Running   0          103m   192.168.10.27   ava    <none>           <none>
comhpc-system-c5599d5b-xxhg2        1/1     Running   0          103m   192.168.10.27   ava    <none>           <none>
comhpc-vehicle-9d6b5b9b8-k95q9      1/1     Running   0          103m   192.168.10.27   ava    <none>           <none>

2. Run Autoware on the in-vehicle development platform#

If you do NOT need a vehicle-edge platform, please skip this step.

TODO

3. Run simulators on the development platform#

Please refer to the How to run simulators section.

4. Run centerpoint object detection simultaneously on the development platform#

Please refer to the tutorial

  1. This is optional if you do NOT need a vehicle-edge platform. ↩