autoware.universe for TARS5

For Autoware's general documentation, see Autoware Documentation.

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

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

   ---

   First time installation (Source Installation):

8. Install Ubuntu 22.04 on x86 Device

9. 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

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

    cd autowarefoundation
    mkdir src
    vcs import src < autoware.repos

11. Install ROS dependencies

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

12. Build the workspace

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

13. 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/

    ---

    Git Pull Entire Workspace

14. Install mr tool by running ./setup.sh from tarsv5_ws repo

15. Pull all Autoware repos from HWR Repo

    cd autowarefoundation
    mr pull

    ---

    Git Push Entire Workspace

    mr commit
    mr push

    ---

    Sync forked repos in HWR github with Autoware official repos

16. Go into each invidually forked repos in HWR github

17. Click sync fork option in github

18. 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

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

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

    sudo apt install chrony

20. 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

21. 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

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

    systemctl restart chronyd