[Autoware] Quick Start Manual

Only applicable for Ubuntu installed hardware (Cannot be run in Vitualbox environment)

1. Environment Setting

Graphics Driver

• Enable NVIDIA driver instead of Nouveau driver.

Docker Installation

• Install Docker CE

  • Install docker as follows; refer to link below for detailed instructions.

    • $ sudo apt-get update

    • $ sudo apt-get install apt-transport-https ca-certificates curl software-properties-common

    • $ curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -

    • $ sudo apt-key fingerprint 0EBFCD88

    • $ sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"

    • $ sudo apt-get update

    • $ sudo apt-get install docker-ce

  • https://gitlab.com/autowarefoundation/autoware.ai/autoware/-/wikis/docker-installation  

Nvidia Docker Installation

• Install Docker as follows to enable usage of graphics card in virtual environment.

  • $ distribution=$(. /etc/os-release;echo $ID$VERSION_ID) && curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - && curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list

  • $ sudo apt-get update

  • $ sudo apt-get install -y nvidia-docker2

  • $ sudo pkill -SIGHUP dockerd

  • $ sudo usermod -a -G docker $USER

  • $ sudo service docker restart

Download Autoware

• $ cd ~  && git clone https://gitlab.com/autowarefoundation/autoware.ai/docker.git (Install Autoware)

• $ git clone https://gitlab.com/gusto94/shared_dir.git (Install Morai shared directory)

  • Create share_dir folder during installation.

Network Setup

• Configure Network as follows.

  • Change topic names for the fields highlighted in red boxes. Leave remaining fields unchanged.

  • Ego Etrl Emd(Sim ← User)

    • Message Type : autoware_msgs/ControlCmdStamped

    • Default Topic : /ctrl_cmd

  • Ego Vehicle Status(Sim → User)

    • Message Type : autoware_msgs/VehicleStatus

    • Default Topic : /Ego_topic1 → Ego_topic

  • Ego Vehicle Status(Sim → User)

    • Message Type : morai_msgs/EgoVehicleStatus

    • Default Topic : /Ego_topic → Ego_topic1

• Sensor Settings

  • GPS, IMU. Set camera to use ROS protocol

  • Set Lidar to use UDP protocol. Select Lidar model and click ‘Confirm.’
    

3. AutoWare Run

Run in virtual environment

• $ sudo docker/generic/run.sh -s -i mgko/autoware -t 2.0.4

Invalid file id - UNKNOWN_MEDIA_ID

Run Terminator

Terminator is used to display input window.

• $ terminator (Terminal window for Terminator is displayed)

• $ roslaunch rosbridge_server rosbridge_websocket.launch

• $ roslaunch gps2utm morai_bridge.launch

• $ roslaunch runtime_manager runtime_manager.launch

• Input commands in Terminator

-AutoWare Dislay -

4. Autoware Setup and Driving Test

Runtime Manager Setting

• Setup

  • Enable TF, Vehicle Model, Vehicle Info
    

    

• Map

  • Enable Point Cloud

  • Enable Vector Map

  • Enable TF
    

    

• Sensing

  • Select LiDar model designated in Simulator
    

    

Driving Test Settings

• Computing

  • autoware_connector

    • vel_pose_connect

  • OpenPlanner - Global Planning (Global path must be executed before generating Local path)

    • op_global_planner

  • OpenPlanner - Local planning

    • op_common_params

    • op_trajectort_generator

    • op_motion_predictor

    • op_trajectory_evaluator

    • op_behavior_selector

  • waypoint follower

    • pure_pursuit

    • Twist_filter

      

• Check Rviz

  • Click ‘Rviz’ found in lower right-hand corner of Runtime Manager.

    • In the lower left-hand corner of Rviz, click Add - By topic and add the following two topics as follows.

      • /vector_map_center_lines_rviz (Generate global_path)
        Pose can be designated in global_path to configure start and end locations.

        • 2D Pose Estimate (Configure start location)

        • 2D Nav Goal (Configure end location)

      • /local_trajectories_eval_rviz (Generate local_path)
        

        

        

• Run Simulator

  • After Simulator is configured, press Q on Simulator screen to activate AutoMode