3.2. Installation#

Setup Jetson-based ECUs.

Note

Internet connection is required in this step.

3.2.1. Download the repository and setup the environment#

As a first step, clone tier4/edge-auto-jetson and move to the directory.

git clone https://github.com/tier4/edge-auto-jetson.git
cd edge-auto-jetson

You can install the dependencies using the provided ansible script.

Caution

setup-dev-env.sh script may take several hours.

Note

It is recommended to change the power mode to MAXN before running setup-dev-env.sh.

./setup-dev-env.sh

During the installation process, you will be asked some question. Please answer by referring to the following:

  • BECOME password:

    • Input user password

  • Do you want to configure the network? This configuration may overwrite the IP address of the specific network interface [y/N]:

    • If y, IP addresses are assigned to some network interfaces (refer to the connection diagram on Hardware setup for more detail) using netplan.

    • If you would like to change network interfaces or IP addresses to be assigned, edit edge-auto/ansible/playbooks/vars/edge_auto.yaml before running setup-dev-env.sh

  • [Warning] Do you want to configure user resources? Only necessary if CONFIG_RT_GROUP_SCHED is enabled [y/N]:

    • If you would like configure about real time process setting, please type y

  • [Warning] Do you want to configure the TIER IV drivers? [y/N]:

    • If you have not installed TIER IV camera driver please type y

Finally, please reboot the system to make the installed dependencies and permission settings effective.

sudo reboot

3.2.2. Build edge-auto-jetson workspace#

Create your ROS workspace and clone repositories using vcstool.

cd edge-auto-jetson
mkdir src
vcs import src < autoware.repos

Install ros package dependencies and build your ROS workspace.

sudo rosdep init
rosdep update
rosdep install -y --from-paths `colcon list --packages-up-to edge_auto_jetson_launch -p` --ignore-src --skip-keys autoware_launch

cd edge-auto-jetson
./build.sh

3.2.3. Update your workspace#

If you want to update cloned repositories, use the following command.

vcs import src < autoware.repos
vcs pull src

3.2.4. Modify camera exposure timing#

Note

On the sample system introduced in Hardware setup step, this does not need to be changed.

If you want to change the exposure time of cameras for sensor synchronization, please modify the following files.

edge-auto-jetson/src/individual_params/individual_params/config/
└── default
    ├── camera0
    │   ├── trigger.param.yaml
    ├── camera1
    │   ├── trigger.param.yaml

For more details, please refer to the tier4/sensor_trigger repository.