Source installation

Prerequisites

• OS

  • Ubuntu 22.04

• ROS

  • ROS 2 Humble

  For ROS 2 system dependencies, refer to REP-2000.

• Git
  • Registering SSH keys to GitHub is preferable.

bash sudo apt-get -y update sudo apt-get -y install git

Note: If you wish to use ROS 2 Galactic on Ubuntu 20.04, refer to installation instruction from galactic branch, but be aware that Galactic version of Autoware might not have latest features.

How to set up a development environment

1. Clone autowarefoundation/autoware and move to the directory.

   bash git clone https://github.com/autowarefoundation/autoware.git cd autoware

2. If you are installing Autoware for the first time, you can automatically install the dependencies by using the provided Ansible script.

   bash ./setup-dev-env.sh

   If you encounter any build issues, please consult the Troubleshooting section for assistance.

Info

Before installing NVIDIA libraries, please ensure that you have reviewed and agreed to the licenses.

• CUDA
• cuDNN
• TensorRT

Note

The following items will be automatically installed. If the ansible script doesn't work or if you already have different versions of dependent libraries installed, please install the following items manually.

• Install ROS 2
• Install ROS 2 Dev Tools
• Install the RMW Implementation
• Install pacmod
• Install Autoware Core dependencies
• Install Autoware Universe dependencies
• Install pre-commit dependencies
• Install Nvidia CUDA
• Install Nvidia cuDNN and TensorRT

How to set up a workspace

1. Create the src directory and clone repositories into it.

   Autoware uses vcstool to construct workspaces.

   bash cd autoware mkdir src vcs import src < autoware.repos

2. Install dependent ROS packages.

   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.

   bash source /opt/ros/humble/setup.bash rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

3. Build the workspace.

   Autoware uses colcon to build workspaces. For more advanced options, refer to the documentation.

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

   If there is any build issue, refer to Troubleshooting.

How to update a workspace

1. Update the .repos file.

   bash cd autoware git pull <remote> <your branch>

   <remote> is usually git@github.com:autowarefoundation/autoware.git

2. Update the repositories.

   bash 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.

3. Install dependent ROS packages.

   bash source /opt/ros/humble/setup.bash rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

4. Build the workspace.

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