1. 설치

1.1 도커

Autoware newer than 1.6.0 is supported in Docker

[요구사항]
Ubuntu 16.04 / 18.04
Generic amd64 (64-bit x86) Docker

A. Case 1: Using Pre-built Autoware Docker Images

B. Case 2: Creating a Custom Autoware Docker Image

$ git clone https://gitlab.com/autowarefoundation/autoware.ai/docker.git
$ cd docker/generic
$ ./build.sh

1.2 소스 코드

https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Source-Build

2. Quick Start : The operations of main functionalities

Quick Start : youtube

2.1 replay of demo data

Replay the rosbag demo data downloaded from Nagoya University.
1. Setup of demo data
2. Launch Autoware
3. Prepare to play rosbag
4. Localization
5. Mission planning
6. Motion following

A. Setup of demo data : ROSBAG Demo

데이터셋 준비

cd ~
mkdir .autoware
cd ~/.autoware


# A script for generating a demo launch file:
wget http://db3.ertl.jp/autoware/sample_data/my_launch.sh

#Map/calibration/path data (Moriyama area, 175MB):
wget http://db3.ertl.jp/autoware/sample_data/sample_moriyama_data.tar.gz

#rosbag data (3GB):
wget http://db3.ertl.jp/autoware/sample_data/sample_moriyama_150324.tar.gz
# Note that this ROSBAG data do not contain the video data. Therefore the object detection is not supported

# Unpack the demo data as follows.
tar xfz sample_moriyama_data.tar.gz
tar xfz sample_moriyama_150324.tar.gz

Run my_launch.sh

# Run the following script to generate launch files.
sh my_launch.sh

# my_launch/폴더에 아래 파일들 생성 확인
my_map.launch        　　　　　# Load PointClouds and vector maps
my_sensing.launch    　        # Load device drivers
my_localization.launch    　        # Localozation
my_detection.launch    　        # Object detection
my_mission_planning.launch    　# Path planning
my_motion_planning.launch    　# Path following

B. Launch Autoware

/src/Autoware/ros
bash ./run

2.2 Autoware on a real vehicle

Drive a real vehicle with Autoware autonomously.

2.3 rosbag replay

Replay the data corrected on the procedure on left.

Autoware

Github, Homepage

1. 설치

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-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

sudo apt-get update

1.1 Indigo (Ubuntu 14.04)

sudo apt-get install ros-indigo-desktop-full ros-indigo-nmea-msgs ros-indigo-nmea-navsat-driver ros-indigo-sound-play ros-indigo-jsk-visualization ros-indigo-grid-map ros-indigo-gps-common

sudo apt-get install ros-indigo-controller-manager ros-indigo-ros-control ros-indigo-ros-controllers ros-indigo-gazebo-ros-control ros-indigo-sicktoolbox ros-indigo-sicktoolbox-wrapper ros-indigo-joystick-drivers ros-indigo-novatel-span-driver

sudo apt-get install libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev software-properties-common libyaml-cpp-dev python-flask python-requests

sudo add-apt-repository ppa:mosquitto-dev/mosquitto-ppa; apt-get update

sudo apt-get install libmosquitto-dev

NOTE: Please do not install ros-indigo-velodyne-pointcloud package. Please uninstall it if you already installed.

1.1 Kinetic (Ubuntu 16.4)

sudo apt-get install ros-kinetic-desktop-full ros-kinetic-nmea-msgs ros-kinetic-nmea-navsat-driver ros-kinetic-sound-play ros-kinetic-jsk-visualization ros-kinetic-grid-map ros-kinetic-gps-common ros-kinetic-controller-manager ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-gazebo-ros-control ros-kinetic-joystick-drivers libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev python-wxgtk3.0 software-properties-common libmosquitto-dev libyaml-cpp-dev python-flask python-requests libcanberra-gtk-module

sudo rosdep init

rosdep update

# ENVIRONMENT SETUP
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

1.1 소스 설치

PCL소스 설치 후 진행

OR PCL 패키지 설치 후 libopenni2-dev, VTK 설치 필요



$ cd $HOME
$ git clone https://github.com/CPFL/Autoware.git --recurse-submodules
$ cd ~/Autoware/ros/src
$ catkin_init_workspace
$ cd ../
$ rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
$ ./catkin_make_release

$ cd $HOME/Autoware/ros
$ ./run

Error Code	Solution
Could NOT find GLEW	`sudo apt-get install libglew-dev`
gconf_value_free: assertion 'value != NULL' failed	`ssh -X localhost`, `./run`

1.2 Docker 설치

docker pull autoware/autoware:1.7.0-kinetic
docker pull kunfengchen/u14-indigo-autoware 
docker pull nownicked/autoware-x11running7

2. 실행

2.1 소스설치시

2.2 Docker 설치시

xmanager - 연결 설정 - Connection/SSH/Tunneling/X11 Forwarding 체크, xManager체크
도커 실생 docker run -it --rm --net host --env="DISPLAY" --privileged -v /tmp/.X11-unix:/tmp/.X11-unix --volume "$HOME/.Xauthority:/root/.Xauthority:rw" --name "x11" adioshun/ubuntu16:Open3D /bin/bash
도커 내에서 cd /src/Autoware/ros/ && ./run

Error

Process Manager ./run: line 49: --geometry=50x10+0+0: command not found ./run: line 52: --geometry=50x10+500+0: command not found


#!/bin/bash
# get where I am
MY_PATH=$(readlink -f  $(dirname $0))

# what type of terminal
OPTION_WORKING_DIR='--working-directory'
OPTION_CORE_GEOMETRY='--geometry=50x10+0+0'
OPTION_RM_GEOMETRY='--geometry=50x10+500+0'
OPTION_COMMAND='--command'


MASTER_DISPLAY_OPTION="${OPTION_CORE_GEOMETRY} ${OPTION_TITLE}\=\"roscore\""
RUNMGR_DISPLAY_OPTION="${OPTION_RM_GEOMETRY} ${OPTION_TITLE}\=\"runtime_manager\""

if [ $(which gnome-terminal) ]; then
    TERMINAL=gnome-terminal
    GNOME_VERSION=$(gnome-terminal --version | cut -d '.' -f 2)
    if [ ${GNOME_VERSION} -ge 14 ]; then
        MASTER_DISPLAY_OPTION=''
        RUNMGR_DISPLAY_OPTION=''
    fi
elif [ $(which mate-terminal) ]; then
    TERMINAL=mate-terminal
elif [ $(which xfce4-terminal) ]; then
    TERMINAL=xfce4-terminal
elif [ $(which lxterminal) ]; then
    TERMINAL=lxterminal
elif [ $(which konsole) ]; then
    TERMINAL=konsole
    OPTION_WORKING_DIR='--workdir'
    OPTION_CORE_GEOMETRY=''
    OPTION_RM_GEOMETRY=''
    OPTION_PM_GEOMETRY=''
    OPTION_COMMAND='-e'
    OPTION_TITLE='-T'
fi

echo "Process Manager"

gksudo --message "Please input password for launching process manager" \
       -- $MY_PATH/run_proc_manager &

ADDR=$($MY_PATH/src/.config/rviz/subnet_chk.py -)
if [ "$?" == "0" ]; then
  export ROS_IP=$ADDR
fi

# boot ros-master
#${TERMINAL} ${MASTER_DISPLAY_OPTION} ${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; roscore'"&

# boot runtime_manager
#${TERMINAL} ${RUNMGR_DISPLAY_OPTION} ${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; rosrun runtime_manager runtime_manager_dialog.py'"


if [ $(TERMINAL) ]; then
 ${TERMINAL} ${OPTION_CORE_GEOMETRY} ${OPTION_TITLE}="roscore" --${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; roscore'"&

 # boot runtime_manager
 ${TERMINAL} ${OPTION_RM_GEOMETRY} ${OPTION_TITLE}="runtime_manager" --${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; rosrun runtime_manager runtime_manager_dialog.py'"

else
     bash -c 'source ./devel/setup.bash; roscore'&
     bash -c 'source ./devel/setup.bash; rosrun runtime_manager runtime_manager_dialog.py'
fi

설치

1. 설치

1.1 도커

A. Case 1: Using Pre-built Autoware Docker Images

B. Case 2: Creating a Custom Autoware Docker Image

1.2 소스 코드

2. Quick Start : The operations of main functionalities

2.1 replay of demo data

A. Setup of demo data : ROSBAG Demo

B. Launch Autoware

2.2 Autoware on a real vehicle

2.3 rosbag replay

Autoware

1. 설치

1.1 Indigo (Ubuntu 14.04)

1.1 Kinetic (Ubuntu 16.4)

1.1 소스 설치

1.2 Docker 설치

2. 실행

2.1 소스설치시

2.2 Docker 설치시

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