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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

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

# Install dependencies using Ansible
./setup-dev-env.sh docker

# 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 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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