Installation

This document contains step-by-step instruction on how to build AWF Autoware Core/Universe with driving_log_replayer_v2.

Requirements

• CPU amd64
• Ubuntu 22.04
• ROS humble
• Python 3.10
• NVIDIA GPU (required if running perception)
• 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_v2:
       type: git
       url: https://github.com/tier4/driving_log_replayer_v2.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