166 lines
5.3 KiB
Markdown
166 lines
5.3 KiB
Markdown
# Source Installation
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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 replace the following repositories.
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```
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repositories:
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core/autoware.core:
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type: git
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url: https://github.com/autowarefoundation/autoware.core.git
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version: 6bafedfb24fb34157ed65bfe3f6f4c1ed0fbc80b
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core/autoware_adapi_msgs:
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type: git
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url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
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version: 9679b5a7a1f4cfff2fa50b80d2759d3937f2f953
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core/autoware_common:
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type: git
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url: https://github.com/autowarefoundation/autoware_common.git
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version: 6916df26fafe6749db4b1d5bd6636a92444fc48d
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core/autoware_msgs:
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type: git
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url: https://github.com/autowarefoundation/autoware_msgs.git
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version: 4f13d4b8b465ed7f424fce9af17882dbe1752875
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core/external/autoware_auto_msgs:
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type: git
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url: https://github.com/tier4/autoware_auto_msgs.git
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version: 6b5bc4365f9a2fc913bc11afa74ec21ffa2dbf32
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launcher/autoware_launch:
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type: git
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url: https://github.com/autowarefoundation/autoware_launch.git
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version: e4abe673667a8d4f2d783ed22edacbf5d4784b8f
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param/autoware_individual_params:
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type: git
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url: https://github.com/autowarefoundation/autoware_individual_params.git
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version: 79cff0ba014808050be6f5cb3b4764ba2c96c21c
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sensor_component/external/sensor_component_description:
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type: git
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url: https://github.com/tier4/sensor_component_description.git
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version: 475857daeb4c4883ab0295336713364b326e8278
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sensor_component/external/tamagawa_imu_driver:
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type: git
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url: https://github.com/tier4/tamagawa_imu_driver.git
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version: 28ad3cd4fb043e5f92353a540c3531cd4cb7bef3
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sensor_component/external/velodyne_vls:
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type: git
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url: https://github.com/tier4/velodyne_vls.git
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version: baeafaf9a376c5798f7b67a77211890c33900f84
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sensor_kit/external/awsim_sensor_kit_launch:
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type: git
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url: https://github.com/RobotecAI/awsim_sensor_kit_launch.git
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version: d9022ee9bbfd958c239b673cfbb230eea50607be
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sensor_kit/sample_sensor_kit_launch:
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type: git
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url: https://github.com/autowarefoundation/sample_sensor_kit_launch.git
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version: 03decbd31bb954eb9f52daaf3a3fa2b921dbb0c3
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universe/autoware.universe:
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type: git
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url: https://github.com/autowarefoundation/autoware.universe.git
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version: febbc135b8e09e993ed345ee6d3cd7e65b6c1d68
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universe/external/morai_msgs:
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type: git
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url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git
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version: 6fd6a711e4bbf8a9989b54028e8074acabbbce6f
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universe/external/muSSP:
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type: git
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url: https://github.com/tier4/muSSP.git
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version: c79e98fd5e658f4f90c06d93472faa977bc873b9
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universe/external/ndt_omp:
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type: git
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url: https://github.com/tier4/ndt_omp.git
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version: f59e1667390fe66d72c5c3aa0b25385b5b6dd8cf
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universe/external/pointcloud_to_laserscan:
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type: git
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url: https://github.com/tier4/pointcloud_to_laserscan.git
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version: 948a4fca35dcb03c6c8fbfa610a686f7c919fe0b
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universe/external/tier4_ad_api_adaptor:
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type: git
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url: https://github.com/tier4/tier4_ad_api_adaptor.git
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version: 5084f9c8eaf03458a216060798da2b1e4fa96f28
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universe/external/tier4_autoware_msgs:
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type: git
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url: https://github.com/tier4/tier4_autoware_msgs.git
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version: a360ee9f5235a0d426427813f26e43027e32139d
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vehicle/external/pacmod_interface:
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type: git
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url: https://github.com/tier4/pacmod_interface.git
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version: b5ae20345f2551da0c6e4140a3dc3479d64efd1f
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vehicle/sample_vehicle_launch:
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type: git
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url: https://github.com/autowarefoundation/sample_vehicle_launch.git
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version: 157238ca77de7b0a59f71a0b28f456741fab3ca2
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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: 48a1f2d3db6ae59e92febb93aad7cde760f4f3ec
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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: cfffe9afda177297c59bbb804d3e8f66120c8453
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```
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!!! Note
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If you want to follow the latest ver, 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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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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