Installation steps#

Note: If the CUDA or TensorRT frameworks have already been installed, we strongly recommend uninstalling them first.

We use vcstool to setup the workspace. Please install it first if it's not installed yet.

sudo apt update && sudo apt install curl gnupg lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt-get update && sudo apt-get install python3-vcstool

Set up the Autoware repository

mkdir -p ~/workspace
cd ~/workspace
git clone git@github.com:tier4/autoware.proj.git
cd autoware.proj
mkdir src
vcs import src < autoware.proj.repos

Run the setup script to install CUDA, cuDNN 8, OSQP, ROS 2 and TensorRT 7, entering 'y' when prompted (this step will take around 45 minutes)
```
./setup_ubuntu20.04.sh
```
Build the source code (this will take around 15 minutes)
```
source ~/.bashrc
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
```
Several modules will report stderr output, but these are just warnings and can be safely ignored.

Updating workspace#

When you update your workspace after installation, please follow the steps below.

cd autoware.proj
git pull

# Usually you can ignore this step, but note that it sometimes causes errors.
rm -rf src
mkdir src
rm -rf build/ install/ log/

vcs import src < autoware.proj.repos
vcs pull src
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release