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Installation#

This document contains step-by-step instruction on how to build AWF Autoware Core/Universe with driving_log_replayer.

Requirements#

  • CPU amd64
  • Ubuntu 20.04 / 22.04
  • ROS humble
  • Python 3.10
  • NVIDIA GPU (required if running perception)
  • pipx
  • zstd
    • sudo apt install zstd

How to build#

  1. Navigate to the Autoware workspace:

    cd autoware

  2. Add dependency packages:

    nano simulator.repos
# add repositories below.

      simulator/perception_eval:
    type: git
    url: https://github.com/tier4/autoware_perception_evaluation.git
    version: main
  simulator/driving_log_replayer:
    type: git
    url: https://github.com/tier4/driving_log_replayer.git
    version: main
  simulator/vendor/ros2_numpy:
    type: git
    url: https://github.com/Box-Robotics/ros2_numpy.git
    version: humble
  simulator/vendor/ros2bag_extensions:
    type: git
    url: https://github.com/tier4/ros2bag_extensions.git
    version: main

  3. Import Simulator dependencies:

    vcs import src < simulator.repos

  4. Update rosdep:

    rosdep update

  5. Install dependent ROS packages:

    rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

  6. Build the workspace:

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

  7. Install cli to run driving_log_replayer:

    pipx install git+https://github.com/tier4/driving_log_replayer.git

  8. Install shell completion scripts

    # bash
_DLR_COMPLETE=bash_source dlr > $HOME/.dlr-complete.bash
_DLR_COMPLETE=bash_source dlr > $HOME/.dlr-analyzer-complete.bash

echo "source $HOME/.dlr-complete.bash" >> ~/.bashrc
echo "source $HOME/.dlr-analyzer-complete.bash" >> ~/.bashrc

    # fish
_DLR_COMPLETE=fish_source dlr > $HOME/.config/fish/completions/dlr.fish
_DLR_ANALYZER_COMPLETE=fish_source dlr-analyzer > $HOME/.config/fish/completions/dlr-analyzer.fish