Autoware

This is the Mcity version of Autoware Universe. For more information check out Autoware Documentation

Installation

# Clone the repository
git clone [email protected]:QZJGeorge/autoware.git

cd autoware

# Install Autoware Dependencies using the provided Ansible script. 
# Note that this step involves chaging some system settings. 
# When prompted to enter BECOME password, enter system password,
./setup-dev-env.sh

# Install python depedencies
pip install redis

# Install c++ depedencies
sudo apt-get install libhiredis-dev libgeographic-dev libglm-dev

# Install ROS2 dependencies
rosdep init
rosdep update

# Open a new terminal to apply the changes.
cd autoware
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

# Build packages
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

# Source the autoware workspace
. install/setup.bash

Launch Terasim Autoware

To launch the simulation (change path to your own)

ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware/map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit lanelet2_map_file:=lanelet2_mcity_v42.osm

To launch the real car (change path to your own)

ros2 launch autoware_launch autoware.launch.xml map_path:=$HOME/autoware/map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit lanelet2_map_file:=lanelet2_mcity_v42.osm

To Replay a rosbag (change path to your own)

ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/autoware/map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit lanelet2_map_file:=lanelet2_mcity_v42.osm