77 lines
2.1 KiB
Markdown
77 lines
2.1 KiB
Markdown
# 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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!!! Note
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Also refer to [Autoware's Docker Installation](https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/docker-installation/) for the Docker-based installation of Autoware.universe.
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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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### Setup
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```bash
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mkdir -p ~/workspace && cd ~/workspace
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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 -p ~/data/maps
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```
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### Launch container
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```
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# Launch Autoware container (with NVIDIA GPU)
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rocker --nvidia --x11 --user --privileged --volume $HOME/workspace/autoware_docker --volume $HOME/data -- ghcr.io/autowarefoundation/autoware-universe:latest-cuda
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# Launch Autoware container (without NVIDIA GPU)
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rocker -e LIBGL_ALWAYS_SOFTWARE=1 --x11 --user --privileged --volume $HOME/workspace/autoware_docker --volume $HOME/data -- ghcr.io/autowarefoundation/autoware-universe:latest-cuda
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```
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## Adding AutowareV2X
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!!! Note
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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 ~/workspace/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/autowarev2x:
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type: git
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url: https://github.com/tlab-wide/AutowareV2X.git
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version: cpm-tr
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v2x/vanetza:
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type: git
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url: https://github.com/yuasabe/vanetza.git
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version: master
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```
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3. Update the repository
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```
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mkdir src
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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 -r
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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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