autoware.universe for TARS5

For Autoware's general documentation, see Autoware Documentation.

For detailed documents of Autoware Universe components, see Autoware Universe Documentation.

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First time installation (Docker Installation):

1. Check if docker is installed, if not installed, install it

   docker
   

2. Clone autowarefoundation repo

    git clone https://github.com/HelloWorldRobotics/autowarefoundation.git
   

3. Clone the main repos

   cd autowarefoundation
   mkdir src
   vcs import src < autoware.repos
   

4. Load docker image from .tar file (Find a way to get this file from Mr. Kennedy)

    docker load -i autoware_universe.tar
    #Note: Your image name might be different, and this process takes awhile
   

5. Run the docker

   docker run --rm -it --network=host --privileged -v $HOME:$HOME -v /dev:/dev autoware_universe
   #Note: Your image name might be different
   

6. Build autoware universe workspace

   cd /home/nvidia/autowarefoundation
   #Note: Your directory path to autowarefoudation might be different
   
   colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release    
   

7. Run autoware

   ros2 launch autoware_launch autoware.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit map_path:=$HOME/autoware_maps/mranti
   Note: Change the paths and arguments based on your use
   

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First time installation (Source Installation):

1. Install Ubuntu 22.04 on x86 Device

2. Clone autowarefoundation repo and install dependencies

sudo apt-get -y update
sudo apt-get -y install git
git clone https://github.com/HelloWorldRobotics/autowarefoundation.git
cd autowarefoundation
./setup-dev-env.sh

3. Construct the workspace and pull from all repos relating to autoware from HWR Github

cd autowarefoundation
mkdir src
vcs import src < autoware.repos

4. Install ROS dependencies

source /opt/ros/humble/setup.bash
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

5. Build the workspace

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
source /autowarefoundation/install/setup.bash

6. Launch autoware (replace arguments to suit your needs)

ros2 launch autoware_launch autoware.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit map_path:=$HOME/autoware_maps/ninshinjuku/

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Git Pull Entire Workspace

1. Install mr tool by running ./setup.sh from tarsv5_ws repo
2. Pull all Autoware repos from HWR Repo

cd autowarefoundation
mr pull

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Git Push Entire Workspace

mr commit
mr push

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Sync forked repos in HWR github with Autoware official repos

1. Go into each invidually forked repos in HWR github
2. Click sync fork option in github
3. If you get merge conflicts, resolve them by following this guide: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/working-with-forks/syncing-a-fork

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If setting up 2 devices in 1 Robot, sync the clock on host and client devices

1. Note: Skip this step if using Docker image, we already installed it in the docker

sudo apt install chrony

2. Outside the docker, add this line in the host computer in /etc/chrony/chrony.conf Note: Change the subnet (3rd number) to match your router subnet

allow 192.168.1.0/24

3. Outside the docker, add this line in the client computer in /etc/chrony/chrony.conf Note: Change the IP address to match your Host device IP

server 192.168.1.XX iburst

4. Outside the docker, run this command on both host and client computers. Done! Will affect the docker too

systemctl restart chronyd