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Build Instructions#

These setup instructions guide you through the process of building Scenario Simulator v2, which currently supports ROS 2 Humble Hawksbill.

Setup ROS 2 environment#

  1. Configure the locale. Ensure that your system is configured with a locale that supports UTF-8.
sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

Verify that the locale is properly set: 

locale
Locale Verification
The expected result after running the locale command should look like this, with LANG set to en_US.UTF-8 by default.

  1. Enable the Ubuntu Universe repository. 

    sudo apt install software-properties-common
sudo add-apt-repository universe

  2. Add the ROS 2 GPG key. 

    sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

  3. Add the ROS 2 repository to the system's package sources list. 

    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

  4. Install ROS 2 Humble Desktop. 

    sudo apt update
sudo apt install ros-humble-desktop

Info

For more detailed information, refer to the ROS 2 Humble Installation Guide.

Setup workspace#

  1. Create the workspace directory. 

    mkdir -p ~/scenario_simulator_ws/src
cd ~/scenario_simulator_ws/src

  2. Clone the Scenario Simulator repository. 

    git clone https://github.com/tier4/scenario_simulator_v2.git
cd scenario_simulator_v2

  3. Import Autoware dependencies. 

    vcs import external < dependency_humble.repos

Install dependencies via rosdep#

  1. Move to the workspace directory. 

    cd ~/scenario_simulator_ws

  2. Source the ROS 2 environment. 

    source /opt/ros/humble/setup.bash

  3. Install all required dependencies. 

    rosdep install -iry --from-paths src/scenario_simulator_v2 --rosdistro humble

Build scenario_simulator_v2#

To build Scenario Simulator v2, run this command: 

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
Build success As a result of running the colcon build command, all packages should be built successfully.