Add documentation
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Yu Asabe
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nav:
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- Introduction: index.md
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- installation
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- tutorials
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- how-to-guides
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- design
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- support
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- index.md
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# Design
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- index.md
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# How-to-guides
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# AutowareV2X Documentation
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## About AutowareV2X
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AutowareV2X is an open-source module that can be added onto the newest [Autoware.universe](https://github.com/autowarefoundation/autoware) to enable V2X communication.
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It utilizes [Vanetza](https://github.com/riebl/vanetza) as the protocol suite for ETSI C-ITS standards.
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We have also provided a working example of a CPM application, where Collective Perception Messages can be used to exchange perception information in Autoware.
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## Getting started
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- [Installation](/installation) pages explain the installation steps of AutowareV2X and its prerequisites.
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- [Tutorials](/tutorials) pages provide several tutorials to follow after installation.
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- [Design](/design) pages explain the design concept and architecture of AutowareV2X.
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- [Support](/support) pages are the place to go if you need additional help.
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- index.md
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- docker-installation.md
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# Docker Installation
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In order to run the simulations explained in the [Tutorials](/tutorials) section, you will need to proceed with the Docker installation.
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## Installing Autoware (Docker version)
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For the newest documentation for the Docker installation of Autoware, see their [official documentation](https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/docker-installation/).
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In a nutshell, the following commands should work:
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```bash
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git clone https://github.com/autowarefoundation/autoware.git autoware_docker
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cd autoware_docker
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# Install dependencies using Ansible
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./setup-dev-env.sh docker
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# Make directory to store maps
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mkdir ~/autoware_map
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# Launch Autoware container
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rocker --nvidia --x11 --user --volume $HOME/autoware_docker --volume $HOME/autoware_map -- ghcr.io/autowarefoundation/autoware-universe:latest-cuda
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```
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## Adding AutowareV2X
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From here, run commands inside the container.
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1. Move into `autoware_docker` directory.
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```bash
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cd autoware_docker
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```
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2. 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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3. 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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4. Install dependent ROS packages
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```bash
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sudo apt update
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rosdep update
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rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO
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```
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5. 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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# 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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nav:
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- index.md
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# Support
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- Contact: yuasabe[at]hongo.wide.ad.jp
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nav:
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- index.md
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# Tutorials
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Simulations can be an easy way of verifying the functionality of AutowareV2X before an actual field test.
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Here, since we want to test both the sending and receiving of information through AutowareV2X, we will need at least two AutowareV2X instances. For this, we will use a Docker-based environment.
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site_name: AutowareV2X
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theme:
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name: material
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features:
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- navigation.expand
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- navigation.indexes
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- navigation.instant
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- navigation.sections
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- navigation.tabs
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- navigation.tabs.sticky
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- navigation.top
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palette:
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- scheme: default
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primary: white
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toggle:
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icon: material/weather-sunny
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name: Switch to dark mode
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- scheme: slate
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primary: grey
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toggle:
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icon: material/weather-night
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name: Switch to light mode
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language: en
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extra:
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font:
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text: Roboto
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code: Roboto Mono
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version:
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provider: mike
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extra_css:
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- https://use.fontawesome.com/releases/v5.15.4/css/all.css
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extra_javascript:
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- https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js?config=TeX-AMS-MML_HTMLorMML
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plugins:
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- awesome-pages
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- search
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markdown_extensions:
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- abbr
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- admonition
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- attr_list
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- codehilite:
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guess_lang: false
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- fontawesome_markdown
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- footnotes
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- mdx_math
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- plantuml_markdown:
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server: http://www.plantuml.com/plantuml
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format: svg
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- pymdownx.arithmatex
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- pymdownx.details
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- pymdownx.highlight
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- pymdownx.snippets:
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auto_append:
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- includes/abbreviations.md
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- pymdownx.superfences:
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custom_fences:
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- name: mermaid
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class: mermaid
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format: !!python/name:pymdownx.superfences.fence_code_format
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- toc:
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permalink: "#"
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toc_depth: 3
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