69 lines
1.8 KiB
Markdown
69 lines
1.8 KiB
Markdown
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# Installing AutowareV2X
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AutowareV2X is used as an add-on module to the open-source autonomous driving stack called [Autoware](https://autowarefoundation.github.io/autoware-documentation/main/). Therefore, in order to properly use AutowareV2X, Autoware must first be installed on the system.
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## Prerequisites
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- OS
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- Ubuntu 20.04
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- Ubuntu 22.04
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- ROS
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- ROS2 Galactic
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## Installing Autoware
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Refer to the [Official Autoware Documentation](https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/) for the newest installation procedures. In a nutshell, you can run the following commands:
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```bash
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# Clone repository
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git clone https://github.com/autowarefoundation/autoware.git
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cd autoware
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# Install dependencies using Ansible
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./setup-dev-env.sh
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# Use vcstool to import more repositories
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mkdir src
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vcs import src < autoware.repos
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# Install dependent ROS packages
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source /opt/ros/galactic/setup.bash
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rosdep update
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rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
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# Build the workspace
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colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
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```
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## Adding AutowareV2X
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1. Edit the `autoware.repos` file and add the following two repositories to the end.
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```
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v2x/autoware_v2x:
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type: git
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url: git@github.com:tlab-wide/autoware_v2x.git
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version: main
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v2x/vanetza:
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type: git
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url: git@github.com:tlab-wide/vanetza.git
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version: socktap-cpm-tr103562
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```
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2. Update the repository
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```
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vcs import src < autoware.repos
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vcs pull src
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```
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3. Install dependent ROS packages
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```bash
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source /opt/ros/galactic/setup.bash
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rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
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```
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4. Build the workspace
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```
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colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
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```
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