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Monash-Connected-Autonomous-Vehicle / autoware

Autoware - the world's leading open-source software project for autonomous driving
https://www.autoware.org/
Apache License 2.0
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Autoware installation on Twizy #33

Closed dylan-gonzalez closed 2 months ago

dylan-gonzalez commented 6 months ago

There is an Alienware laptop inside the Twizy that will be the Twizy's main compute

Goal: Install Autoware on this laptop. Make sure to use the MCAV forks of Autoware.

Robin-Chea commented 5 months ago

Installing all dependencies using the anisible script ./setup-dev-env.sh image missing python 3.10 venv so installed it with

sudo apt install python3.10-venv

rerun ./setup-dev-env.sh

Robin-Chea commented 5 months ago

image going to install dependencies from https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/ image image nvidia kernel conflict reinstalling and cleaning nvidia packages using the commands from this site https://forums.developer.nvidia.com/t/ubuntu-and-nvidia-provided-packages-conflict-breaking-installation/259150/11 now building workspace with colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

dtonda8 commented 2 months ago

Pretty much follow the source installation instructions and try to run some of the planning sims

amrsnch commented 2 months ago

Autoware is installed without any issues (probably bold to assume that it works, me and @tzdu will run some tests later this or next week to verify that). Original Autoware repo was used, and the solution provided should work for the MCAV fork as well (will check it later on a VM)

  1. Clone the repository

    MCAV fork : git clone https://github.com/Monash-Connected-Autonomous-Vehicle/autoware.git Autoware original: git clone https://github.com/autowarefoundation/autoware.git

  2. Run ./setup-dev-env.sh while in autoware directory on Linux

  3. It should give an error about the ccache failing, which is already there. So error can be ignored. If ccache is not there, it should be installed manually.

  4. There are 2 ROS dependencies (one if you are using Autoware fork) that ruins the rosdep install, those are: a. autoware_internal_msgs which can be fixed by copy-pasting the content of autoware.repos in Autoware fork into the autoware.repos in local directory (i.e on Linux) [I'll prly make a PR on that matter, so it is in our fork as well] b. libqt5-charts-dev can be downloaded via sudo apt install libqt5charts5-dev

  5. After that rodep install should run appropriately without any warnings.

  6. The other important thing is to be careful with is the colcon build. When you run colcon build on Alienware it attempts to occupy all threads on the laptop, so it will lead to a deadlock at some point and cause Alienware to crash. To resolve that add --parallel-workers number-of-threads flag at the end. Which basically sets a limit on treads that can be used by colcon (as far as I know the safe maximum is 8-10 threads). colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 8

amrsnch commented 2 months ago

Error while trying to run autoware, reinstalling artifacts and rebuilding the environment

amrsnch commented 2 months ago

Autoware is working now and sims run smoothly on Twizy. I had to resort to docker installation which is outlined here:

Pretty much follow the outlined instructions, however in some cases when you have several options, chose the following:

Apart from that everything is straightforward

You will still need to download libqt5-charts-dev via sudoapt install libqt5charts5-dev`

And yeah, ignore ccache error while running ansible script.

Run source ~/autoware/install/setup.bash to verify that autoware has been installed correctly. And after that you can proceed to simulations planning

amrsnch commented 2 months ago

Planning to run more sims in the following week with @tzdu