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Docker Installation

In order to run the simulations explained in the Tutorials section, you will need to proceed with the Docker installation.

!!! Note Also refer to Autoware's Docker Installation for the Docker-based installation of Autoware.universe.

Installing Autoware (Docker version)

For the newest documentation for the Docker installation of Autoware, see their official documentation.

Prerequisites

Setup

Prepare the repository.

mkdir -p ~/workspace && cd ~/workspace
git clone https://github.com/autowarefoundation/autoware.git autoware_docker
cd autoware_docker

Run the setup script for docker installation.

./setup-dev-env.sh docker

You will need to restart your PC after the script is finished running.

Make directory to store maps

mkdir -p ~/data/maps

Launch container

# Launch Autoware container (with NVIDIA GPU)
rocker --nvidia --x11 --user --privileged --volume $HOME/workspace/autoware_docker --volume $HOME/data -- ghcr.io/autowarefoundation/autoware-universe:latest-cuda

# Launch Autoware container (without NVIDIA GPU)
rocker -e LIBGL_ALWAYS_SOFTWARE=1 --x11 --user --privileged --volume $HOME/workspace/autoware_docker --volume $HOME/data -- ghcr.io/autowarefoundation/autoware-universe:latest-cuda

Adding AutowareV2X

!!! Note From here, run commands inside the container.

Move into autoware_docker directory.

cd ~/workspace/autoware_docker

Edit the autoware.repos file and replace the following repositories.

repositories:
  core/autoware.core:
    type: git
    url: https://github.com/autowarefoundation/autoware.core.git
    version: 6bafedfb24fb34157ed65bfe3f6f4c1ed0fbc80b
  core/autoware_adapi_msgs:
    type: git
    url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
    version: 9679b5a7a1f4cfff2fa50b80d2759d3937f2f953
  core/autoware_common:
    type: git
    url: https://github.com/autowarefoundation/autoware_common.git
    version: 6916df26fafe6749db4b1d5bd6636a92444fc48d
  core/autoware_msgs:
    type: git
    url: https://github.com/autowarefoundation/autoware_msgs.git
    version: 4f13d4b8b465ed7f424fce9af17882dbe1752875
  core/external/autoware_auto_msgs:
    type: git
    url: https://github.com/tier4/autoware_auto_msgs.git
    version: 6b5bc4365f9a2fc913bc11afa74ec21ffa2dbf32
  launcher/autoware_launch:
    type: git
    url: https://github.com/autowarefoundation/autoware_launch.git
    version: e4abe673667a8d4f2d783ed22edacbf5d4784b8f
  param/autoware_individual_params:
    type: git
    url: https://github.com/autowarefoundation/autoware_individual_params.git
    version: 79cff0ba014808050be6f5cb3b4764ba2c96c21c
  sensor_component/external/sensor_component_description:
    type: git
    url: https://github.com/tier4/sensor_component_description.git
    version: 475857daeb4c4883ab0295336713364b326e8278
  sensor_component/external/tamagawa_imu_driver:
    type: git
    url: https://github.com/tier4/tamagawa_imu_driver.git
    version: 28ad3cd4fb043e5f92353a540c3531cd4cb7bef3
  sensor_component/external/velodyne_vls:
    type: git
    url: https://github.com/tier4/velodyne_vls.git
    version: baeafaf9a376c5798f7b67a77211890c33900f84
  sensor_kit/external/awsim_sensor_kit_launch:
    type: git
    url: https://github.com/RobotecAI/awsim_sensor_kit_launch.git
    version: d9022ee9bbfd958c239b673cfbb230eea50607be
  sensor_kit/sample_sensor_kit_launch:
    type: git
    url: https://github.com/autowarefoundation/sample_sensor_kit_launch.git
    version: 03decbd31bb954eb9f52daaf3a3fa2b921dbb0c3
  universe/autoware.universe:
    type: git
    url: https://github.com/autowarefoundation/autoware.universe.git
    version: febbc135b8e09e993ed345ee6d3cd7e65b6c1d68
  universe/external/morai_msgs:
    type: git
    url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git
    version: 6fd6a711e4bbf8a9989b54028e8074acabbbce6f
  universe/external/muSSP:
    type: git
    url: https://github.com/tier4/muSSP.git
    version: c79e98fd5e658f4f90c06d93472faa977bc873b9
  universe/external/ndt_omp:
    type: git
    url: https://github.com/tier4/ndt_omp.git
    version: f59e1667390fe66d72c5c3aa0b25385b5b6dd8cf
  universe/external/pointcloud_to_laserscan:
    type: git
    url: https://github.com/tier4/pointcloud_to_laserscan.git
    version: 948a4fca35dcb03c6c8fbfa610a686f7c919fe0b
  universe/external/tier4_ad_api_adaptor:
    type: git
    url: https://github.com/tier4/tier4_ad_api_adaptor.git
    version: 5084f9c8eaf03458a216060798da2b1e4fa96f28
  universe/external/tier4_autoware_msgs:
    type: git
    url: https://github.com/tier4/tier4_autoware_msgs.git
    version: a360ee9f5235a0d426427813f26e43027e32139d
  vehicle/external/pacmod_interface:
    type: git
    url: https://github.com/tier4/pacmod_interface.git
    version: b5ae20345f2551da0c6e4140a3dc3479d64efd1f
  vehicle/sample_vehicle_launch:
    type: git
    url: https://github.com/autowarefoundation/sample_vehicle_launch.git
    version: 157238ca77de7b0a59f71a0b28f456741fab3ca2
  v2x/autowarev2x:
    type: git
    url: https://github.com/tlab-wide/AutowareV2X.git
    version: 48a1f2d3db6ae59e92febb93aad7cde760f4f3ec
  v2x/vanetza:
    type: git
    url: https://github.com/yuasabe/vanetza.git
    version: cfffe9afda177297c59bbb804d3e8f66120c8453

!!! Note If you want to　follow the latest ver, edit the autoware.repos file and add the following two repositories to the end.

v2x/autowarev2x:
  type: git
  url: https://github.com/tlab-wide/AutowareV2X.git
  version: cpm-tr
v2x/vanetza:
  type: git
  url: https://github.com/yuasabe/vanetza.git
  version: master

Update the repository

mkdir src
vcs import src < autoware.repos
vcs pull src

Install dependent ROS packages

sudo apt update
rosdep update
rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -r

Build the workspace

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

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