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README.md

Open AD Kit: containerized workloads for Autoware

Open AD Kit offers containers for Autoware to simplify the development and deployment of Autoware and its dependencies. This directory contains scripts to build and run the containers.

Detailed instructions on how to use the containers can be found in the Open AD Kit documentation.

Development containers

When using Open AD Kit as a development container, it is easy to use Autoware's all-in-one development container image, ghcr.io/autowarefoundation/autoware:universe-devel-cuda. If you do not need the CUDA drivers, you can also use the smaller image ghcr.io/autowarefoundation/autoware:universe-devel.

$ git clone [email protected]:autowarefoundation/autoware.git
$ cd autoware
$ vcs import src < autoware.repos
$ docker run -it --rm \
  –v $PWD/src/universe/autoware.universe/XXX/autoware_YYY:/autoware/src/autoware_YYY \
  ghcr.io/autowarefoundation/autoware:universe-devel-cuda
$ colcon build --mixin debug compile-commands
$ source install/setup.bash
$ ros2 run --prefix "gdb -ex run --args" autoware_YYY ZZZ

For example, if you want to make modifications to autoware.universe/perception/autoware_bytetrack, you can execute the following commands to perform the volume mount and debug build and execution of only the autoware_bytetrack.

Note that gdb is not currently installed in the development containers, but it would be installed in the near future.

$ docker run -it --rm \
  -v $PWD/src/universe/autoware.universe/perception/autoware_bytetrack:/autoware/src/autoware_bytetrack \
  ghcr.io/autowarefoundation/autoware:universe-devel-cuda
$ root@a566e785c4d2:/autoware# colcon build --mixin debug compile-commands
Starting >>> autoware_bytetrack
[Processing: autoware_bytetrack]
Finished <<< autoware_bytetrack [37.9s]

Summary: 1 package finished [38.1s]
$ root@a566e785c4d2:/autoware# source install/setup.bash
$ root@a566e785c4d2:/autoware# apt update && apt install gdb
$ root@a566e785c4d2:/autoware# ros2 run --prefix "gdb -ex run --args" autoware_bytetrack bytetrack_node_exe
GNU gdb (Ubuntu 12.1-0ubuntu1~22.04.2) 12.1
...
[Thread debugging using libthread_db enabled]
...
[New Thread 0x7ff6f3fff640 (LWP 1205)]
Init ByteTrack!

Runtime containers

In the execution container, there is the all-in-one runtime container for Autoware, ghcr.io/autowarefoundation/autoware:universe-cuda, and the multi-containerized ghcr.io/autowarefoundation/autoware:universe-***-cuda for each component of Autoware Universe.

The all-in-one execution container also has the autoware_launch package installed, allowing it to be started in the same way as a locally built Autoware.

git clone [email protected]:autowarefoundation/autoware.git
cd autoware
docker run -it --rm ghcr.io/autowarefoundation/autoware:universe-cuda
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=...

For example, if you want to run the runtime container that only includes the sensing/perception components, you can execute it as follows.

docker run -it --rm ghcr.io/autowarefoundation/autoware:universe-sensing-perception-cuda
ros2 launch autoware_pointcloud_preprocessor preprocessor.launch.xml

Multi-stage Dockerfile structure

The suffix -devel (e.g. universe-devel) is intended for use as a development container. On the other hand, those without the -devel suffix (e.g. universe) are intended to be used as a runtime container.

$BASE_IMAGE

This is a base image of this Dockerfile. ros:humble-ros-base-jammy will be given.

base

This stage performs only the basic setup required for all Autoware images.

rosdep-depend

The ROS dependency package list files will be generated. These files will be used in the subsequent stages:

  • core-devel
  • universe-common
  • universe-COMPONENT-devel (e.g. universe-sensing-perception-devel)
  • universe-COMPONENT (e.g. universe-sensing-perception)
  • universe-devel
  • universe

By generating only the package list files and copying them to the subsequent stages, the dependency packages will not be reinstalled during the container build process unless the dependency packages change.

core-devel

This stage installs the dependency packages based on /rosdep-core-depend-packages.txt and build the packages under the core directory of autoware.repos.

universe-common-devel

This stage installs the dependency packages based on /rosdep-universe-common-depend-packages.txt and build the packages under the following directories of autoware.repos.

  • universe/external
  • universe/autoware.universe/common

universe-sensing-perception-devel

This stage installs the dependency packages based on /rosdep-universe-sensing-perception-depend-packages.txt and build the packages under the following directories of autoware.repos.

  • universe/autoware.universe/perception
  • universe/autoware.universe/sensing

universe-sensing-perception

This stage is a Autoware Universe Sensing/Perception runtime container. It only includes the dependencies given by /rosdep-universe-sensing-perception-exec-depend-packages.txt and the binaries built in the universe-sensing-perception-devel stage.

universe-localization-mapping-devel

This stage installs the dependency packages based on /rosdep-universe-localization-mapping-depend-packages.txt and build the packages under the following directories of autoware.repos.

  • universe/autoware.universe/localization
  • universe/autoware.universe/map

universe-localization-mapping

This stage is a Autoware Universe Localization/Mapping runtime container. It only includes the dependencies given by /rosdep-universe-localization-mapping-exec-depend-packages.txt and the binaries built in the universe-localization-mapping-devel stage.

universe-planning-control-devel

This stage installs the dependency packages based on /rosdep-universe-planning-control-depend-packages.txt and build the packages under the following directories of autoware.repos.

  • universe/autoware.universe/control
  • universe/autoware.universe/planning

universe-planning-control

This stage is a Autoware Universe Planning/Control runtime container. It only includes the dependencies given by /rosdep-universe-planning-control-exec-depend-packages.txt and the binaries built in the universe-planning-control-devel stage.

universe-vehicle-system-devel

This stage installs the dependency packages based on /rosdep-universe-vehicle-system-depend-packages.txt and build the packages under the following directories of autoware.repos.

  • universe/autoware.universe/vehicle
  • universe/autoware.universe/system

universe-vehicle-system

This stage is a Autoware Universe Vehicle/System runtime container. It only includes the dependencies given by /rosdep-universe-vehicle-system-exec-depend-packages.txt and the binaries built in the universe-vehicle-system-devel stage.

universe-devel

This stage installs the dependency packages based on /rosdep-universe-depend-packages.txt and build the remaining packages of autoware.repos:

  • launcher
  • param
  • sensor_component
  • sensor_kit
  • universe/autoware.universe/evaluator
  • universe/autoware.universe/launch
  • universe/autoware.universe/simulator
  • universe/autoware.universe/system
  • universe/autoware.universe/tools
  • universe/autoware.universe/vehicle
  • vehicle

This stage provides an all-in-one development container to Autoware developers. By running the host's source code with volume mounting, it allows for easy building and debugging of Autoware.

universe

This stage is an Autoware Universe runtime container. It only includes the dependencies given by /rosdep-exec-depend-packages.txt, the binaries built in the universe-devel stage, and artifacts.