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Autoware On Embedded

Autoware system for embedded boards

Environment

  • Ubuntu 18.04
  • ROS Melodic
  • CUDA 10.x
  • OpenCV 3.x

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 -r

Resolving OpenCV version issue

This package uses OpenCv 3.x. If you want to use OpenCV 4.x, follow below lines.

sudo apt-get install libopencv3.2 -y

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 rubis_ws

  • Install some dependency
sudo apt-get install ros-melodic-ackermann-msgs ros-melodic-serial ros-melodic-can-msgs -y
  • Initialize ROS workspace
cd <WORKSPACE_DIR>/rubis_ws/src
catkin_init_workspace

Launch script for additional setup

# Launch setup script
cd <WORKSPACE_DIR>/setup

# USER_NAME: directory name of home
# WORTSPACE_PATH: path to Autoware_On_Embedded
./setup.sh <USER_NAME> <WORKSPACE_PATH>
  • Build rubis_ws packages
cd <WORKSPACE_DIR>/rubis_ws
catkin_make

How to launch LGSVL scripts

  • Setup environments
cd <WORKSPACE_DIR>/autoware.ai/autoware_files/lgsvl_file/scripts
pip3 install --user .
  • Launch LGSVL scripts
sudo chomod 755 {TARGET_SCRIPTS}
./{TARGET_SCRIPTS}

Created by spiraline