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Docker installation and Autoware simulation

How to set up a development environment

  1. Install dependencies manually

How to set up a local configuration

  1. Create the autoware_map directory for map data later.

    mkdir ~/autoware_map
    chmod -R 777 ~/autoware_map
  2. Set local host.

    echo 'if [ ! -e /tmp/cycloneDDS_configured ]; then
        sudo ip link set lo multicast on
        touch /tmp/cycloneDDS_configured
    fi' >> ~/.bashrc
    

How to run a simulator

You can run the Autoware simulation by following this tutorial in a container:

  1. planning simulation

  2. rosbag replay simulation

  3. AWSIM simulation

(Optional) How to build a docker image locally

  1. Build a Docker image

    cd $HOME
    git clone [email protected]:tier4/autoware-online-document.git autoware
    cd autoware
    chmod +x -R docker
    ./docker/build.sh
  2. Use the Docker image

    You can use your Docker image built locally by replacing
    ghcr.io/tier4/online:humble-awsim-stable-prebuilt-cuda (pre-built) with ghcr.io/tier4/online:humble-awsim-stable-cuda (locally built). Keep in mind that you should source setup.sh by source ~/autoware/install/setup.bash

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