Autoware.auto Installation Guideline

Autoware is the open-source software originally founded by the team of Nagayo university in 2015. There are many packages provided for building autonomous vehicle such as localization, detection, prediction, planning, and control.

For the installation, there is step-by-step tutorial about how to install Autoware provided in the Autoware Gitlab (https://gitlab.com/ApexAI/autowareclass2020/-/blob/master/lectures/01_DevelopmentEnvironment/devenv.md). However, since there are lots of huge development in software side, codes and commands embed in Gitlab site are not working as expected. So, this tutorial will provide the guideline to install it through Agile Development Environment (ADE).

Environment: Ubuntu 18.04 LTS

• Install docker on Ubuntu 18.04 LTS https://docs.docker.com/engine/install/ubuntu/
• After finish installation, please check by launching

sudo docker run hello-world

• Install ade by this installation guide.
  https://ade-cli.readthedocs.io/en/latest/install.html#requirements
• Once finished, start installing Autoware by

mkdir -p ~/adehome
cd ~/adehome
touch .adehome
git clone https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto.git
cd AutowareAuto
export ADE_DOCKER_RUN_ARGS="--cap-add=SYS_PTRACE --net=host --privileged --add-host ade:127.0.0.1 -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" 

export ADE_GITLAB=gitlab.com 

export ADE_REGISTRY=registry.gitlab.com 

export ADE_IMAGES="registry.gitlab.com/autowarefoundation/autoware.auto/autowareauto/ade:master   registry.gitlab.com/autowarefoundation/autoware.auto/autowareauto:master   registry.gitlab.com/apexai/ade-lgsvl:2020.08-native-bridge"

• Start ade by entering this command

ade start --update

• Enter to ade environment

ade enter

• Download .pcap file by https://drive.google.com/file/d/1vNA009j-tsVVqSeYRCKh_G_tkJQrHvP-/view and put it in ${HOME}/adehome/data
• Launching object detection to check Autoware installation

udpreplay ~/data/route_small_loop_rw-127.0.0.1.pcap -r -1

• Open a new terminal and enter

cd adehome/AutowareAuto
ade enter
source /opt/AutowareAuto/setup.bash
rviz2 -d /opt/AutowareAuto/share/autoware_auto_examples/rviz2/autoware_perception_stack.rviz

• Open a new terminal and enter

cd adehome/AutowareAuto
ade enter
source /opt/AutowareAuto/setup.bash
ros2 run velodyne_node velodyne_cloud_node_exe --model vlp16 __ns:=/lidar_front __params:=/opt/AutowareAuto/share/velodyne_node/param/vlp16_test.param.yaml

• Open a new terminal and enter

cd adehome/AutowareAuto
ade enter
source /opt/AutowareAuto/setup.bash
ros2 run robot_state_publisher robot_state_publisher /opt/AutowareAuto/share/lexus_rx_450h_description/urdf/lexus_rx_450h_pcap.urdf Initialize urdf model from file: /opt/AutowareAuto/share/lexus_rx_450h_description/urdf/lexus_rx_450h_pcap.urdf

• Open a new terminal and enter

cd adehome/AutowareAuto
ade enter
source /opt/AutowareAuto/setup.bash
ros2 run point_cloud_filter_transform_nodes point_cloud_filter_transform_node_exe __ns:=/lidar_front __params:=/opt/AutowareAuto/share/point_cloud_filter_transform_nodes/param/vlp16_sim_lexus_filter_transform.param.yaml __node:=filter_transform_vlp16_front  --remap points_in:=/lidar_front/points_raw

• Open a new terminal and enter

cd adehome/AutowareAuto
ade enter
source /opt/AutowareAuto/setup.bash
ros2 run ray_ground_classifier_nodes ray_ground_classifier_cloud_node_exe __params:=/opt/AutowareAuto/share/ray_ground_classifier_nodes/param/vlp16_lexus.param.yaml --remap points_in:=/lidar_front/points_filtered

• Open a new terminal and enter

cd adehome/AutowareAuto
ade enter
source /opt/AutowareAuto/setup.bash
ros2 run euclidean_cluster_nodes euclidean_cluster_node_exe __params:=/opt/AutowareAuto/share/euclidean_cluster_nodes/param/vlp16_lexus_cluster.param.yaml --remap points_in:=/points_nonground

• In Rviz, it will show like this picture below.

Source:

Install Docker Engine on Ubuntu

ADE

Euclidean Clustering - No executable found Error (#46) · Issues · ApexAI / AutowareClass2020

Installation with ADE