Autoware with LKAS

Autoware with safety guarantee mechanism

Environment

• Ubuntu 18.04
• ROS Melodic
• Python 3.x
• CUDA > 10.x (optional)

How to install ROS melodic

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl -y
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-melodic-desktop-full -y
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential python-rosdep -y
sudo rosdep init
rosdep update

How to build Autoware

System Dependencies of Ubuntu 18.04 / ROS Melodic

sudo apt-get update
sudo apt install -y python-catkin-pkg python-rosdep ros-$ROS_DISTRO-catkin
sudo apt install -y python3-pip python3-colcon-common-extensions python3-setuptools python3-vcstool
pip3 install -U setuptools

Eigen build

wget https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.tar.gz
mkdir eigen
tar --strip-components=1 -xzvf eigen-3.3.7.tar.gz -C eigen
cd eigen
mkdir build
cd build
cmake ..
make
sudo make install

Older versions may already be installed. If /usr/lib/cmake/eigen3/Eigen3Config.cmake is older than 3.3.7 version, copy files in /usr/local/share/eigen3/cmake to /usr/lib/cmake/eigen3.

sudo rm /usr/lib/cmake/eigen3/*
sudo cp /usr/local/share/eigen3/cmake/* /usr/lib/cmake/eigen3

Install dependent packages

cd {$WORKSPACE_DIR}/autoware.ai
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

Resolving OpenCV version issue

sudo apt-get install libopencv3.2 -y

You should change some code to use OpenCV 4.x.

If you have /usr/local/opencv4 directory,

change set(_include_dirs "include;/usr/include;/usr/include/opencv")

to set(_include_dirs "include;/usr/include;/usr/include/opencv4")

in below three files (sudo required)

• /opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake
• /opt/ros/melodic/share/image_geometry/cmake/image_geometryConfig.cmake
• /opt/ros/melodic/share/grid_map_cv/cmake/grid_map_cvConfig.cmake

Autoware Build

# If you have CUDA
AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

# Build only some package
AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-select $(pakcage name)

# Build without some package
AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-skip $(pakcage name)

# If you don't have CUDA
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

How to build package in spiraline_ws

• Install some dependency

sudo apt-get install ros-melodic-ackermann-msgs ros-melodic-serial ros-melodic-veldoyne ros-melodic-velodyne-driver -y

• Initialize ROS workspace

cd ${WORKSPACE_DIR}/spiraline_ws/src
catkin_init_workspace

• Build spiraline_ws packages

ln -s ${WORKSPACE_DIR}/autoware.ai ~/autoware.ai
echo "source ~/autoware.ai/install/setup.bash" >> ~/.bashrc
source ~/.bashrc
cd ${WORKSPACE_DIR}/spiraline_ws
catkin_make
ln -s ${WORKSPACE_DIR}/spiraline_ws ~/spiraline_ws
echo "source ~/spiraline_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Additional Install for SVL

sudo apt-get install -y ros-melodic-rosbridge-server net-tools openssh-server
python3 -m pip install -U PyYAML
python3 -m pip install rospkg matplotlib opencv-python
cd setup/svl
python3 -m pip install -r requirements.txt --user .

• Allow Firewall

sudo ufw allow 9090