⚠️Important Note⚠️: Please do not install ROS or Nvidia driver/CUDA software by yourself, these software will be installed automatically.
Please make sure you have installed Ubuntu22.04, and make sure you have not installed any conflicting software (it is best not to actively install any software).
https://www.balena.io/etcher
https://ubuntu.com/download/desktop/thank-you?version=22.04.1&architecture=amd64
Setting -> Display -> Open the Fractional Scaling ->
Adjust Scale to 125%
sudo apt -y update
sudo apt -y upgrade
sudo apt -y install openssh-server git vim htop net-tools
sudo vim /etc/ssh/sshd_config
editPermitRootLogin yes
systemctl restart sshd
# for reboot OS
sudo reboot
At this time, you can use ssh username@ip-address to remotely access this computer, which is convenient for subsequent multi-threaded installation.
Setting -> Privacy -> Screen
Turn the Blank Screen Delay to Never
Turn off the Automatic Screen Lock
Turn off the Lock Screen on Suspend
autowarefoundation/autoware and move to the directory.cd
git clone https://github.com/XRMobility/xrm-autoware.git autoware
cd autoware
Be very careful with this method. Make sure you read and confirmed all the steps in the Ansible configuration before using it.
If you've manually installed the dependencies, you can skip this section.
./setup-dev-env.sh
src directory and clone repositories into it.Autoware uses vcstool to construct workspaces.
cd
cd autoware
mkdir src
vcs import src < autoware.repos
Autoware requires some ROS 2 packages in addition to the core components. The tool rosdep allows an automatic search and installation of such dependencies. You might need to run rosdep update before rosdep install.
source /opt/ros/humble/setup.bash
sudo apt-get install -y libqt5serialport5-dev
sudo apt-get install -y libyaml-cpp-dev
sudo apt-get install -y libpcap-dev
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
Autoware uses colcon to build workspaces. For more advanced options, refer to the documentation.
# For release build
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
# For debug build
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
Note⚠️ : If rclcpp is killed, it may be due to insufficient memory. Please follow the steps below to expand virtual memory and try again several times.
# Optional: Check the current swapfile
free -h
# Remove the current swapfile
sudo swapoff /swapfile
sudo rm /swapfile
# Create a new swapfile
sudo fallocate -l 32G /swapfile
sudo chmod 600 /swapfile
sudo mkswap /swapfile
sudo swapon /swapfile
# Optional: Check if the change is reflected
free -h
.repos file.cd autoware
git pull
vcs import src < autoware.repos
vcs pull src
For Git users:
vcs import
is similar to
git checkout
Note that it doesn't pull from the remote.
vcs pull
is similar to
git pull
Note that it doesn't switch branches.
For more information, refer to the official documentation.
source /opt/ros/humble/setup.bash
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
By default, ROS 2 logger doesn't colorize the output. To colorize it, write the following in your .bashrc:
export RCUTILS_COLORIZED_OUTPUT=1
By default, ROS 2 logger doesn't output detailed information such as file name, function name, or line number. To customize it, write the following in your .bashrc:
export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity} {time}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})"
For more options, see here.
By default, ROS 2 communicates using multi-cast, which may unnecessarily increase the network traffic. To avoid it, write the following in your .bashrc:
export ROS_LOCALHOST_ONLY=1
ROS_DOMAIN_IDROS 2 uses ROS_DOMAIN_ID to create groups and communicate between machines in the groups. Since all ROS 2 nodes use domain ID 0 by default, it may cause unintended interference.
To avoid it, set a different domain ID for each group in your .bashrc:
# Replace X with the Domain ID you want to use
# Domain ID should be a number in range [0, 101] (inclusive)
export ROS_DOMAIN_ID=X
For more information, see here.
https://autowarefoundation.github.io/autoware-documentation/main/support/troubleshooting/
Autoware Documentation-Installation https://autowarefoundation.github.io/autoware-documentation/main/installation/
Autoware Universe Documentation https://autowarefoundation.github.io/autoware.universe/main/
git clone https://github.com/wkentaro/gdown.git
cd gdown
sudo pip install gdown
Download and unpack a sample map.
gdown -O ~/autoware_map/ 'https://docs.google.com/uc?export=download&id=1499_nsbUbIeturZaDj7jhUownh5fvXHd'
unzip -d ~/autoware_map ~/autoware_map/sample-map-planning.zip
Download and unpack a sample map.
gdown -O ~/autoware_map/ 'https://docs.google.com/uc?export=download&id=1A-8BvYRX3DhSzkAnOcGWFw5T30xTlwZI'
unzip -d ~/autoware_map/ ~/autoware_map/sample-map-rosbag.zip
gdown -O ~/autoware_map/ 'https://docs.google.com/uc?export=download&id=1VnwJx9tI3kI_cTLzP61ktuAJ1ChgygpG'
unzip -d ~/autoware_map/ ~/autoware_map/sample-rosbag.zip