Autoware.Auto
Building

# Prerequisites

You need to be inside an ADE container, or have installed the dependencies manually. See Installation.

If you haven't done so already, get the source code with

$cd AutowareAuto$ vcs import < autoware.auto.$ROS_DISTRO.repos Optionally, you can choose a DDS implementation other than the default Cyclone DDS: Choosing a DDS Vendor # How to build the code To build all packages in Autoware.Auto, navigate into the AutowareAuto directory and run ade$ colcon build

It's important that you always run colcon build from the repository root. If everything went well, you should not see "failed" on your screen, although "packages had stderr output" is okay.

By default, this produces a maximally optimized build in order to run the stack as efficiently as possible. For debugging symbols and/or reduced compile times, you can add --cmake-args -DCMAKE_BUILD_TYPE="Debug" to the command line.

To verify that everything works as expected, see if all tests pass:

ade$colcon test ade$ colcon test-result --verbose

The first command will run the tests attached to the packages in your workspace. The second command gives you detailed output from the tests on which ones passed and which failed.

ROS 2 uses the colcon build system. For more information and details about options and flags, take a look at

colcon build --help

and see the colcon documentation. In the following, a few of the most useful options are listed. Note that colcon options are spelled with an underscore instead of a dash – this is a common cause of typos.

### Selecting packages to build

To just build a single package:

colcon build --packages-select <package_name>

Note that this does not automatically also build or rebuild its dependencies recursively. To do that:

colcon build --packages-up-to <package_name>

These options are also accepted by colcon test.

To add a compiler flag to all packages, e.g. for enabling the undefined behavior sanitizer:

colcon build --cmake-args -DCMAKE_CXX_FLAGS="-fsanitize=undefined"

### Cleaning the build output

colcon isn't very good at being stateless, so when you build, make changes, and build again, you can sometimes end up with a different result than when you build from scratch. To make sure you're getting a fresh build of a package, just do

rm -rf {build,install}/my_package

to remove all build artifacts associated with that package. Alternatively, if you don't want to delete the old binaries, you can specify custom build and install directories:

colcon build --build-base build_mybranch --install-base install_mybranch

### Seeing compiler commands

To see the compiler and linker invocations for a package, use

VERBOSE=1 colcon build --packages-up-to <package_name> --event-handlers console_direct+

## Starting from a clean slate

Most issues with building Autoware.Auto are caused by out-of-date software or old build files. To update ade and the Docker containers it manages as well as clear old builds, run the following in your adehome/AutowareAuto folder:

$ade stop$ sudo ade update-cli
$ade start --update --enter ade$ cd AutowareAuto
ade$rm -rf build/ install/ log/ src/external/ ade$ git pull
ade$vcs import < autoware.auto.$ROS_DISTRO.repos

If you are using Autoware.Auto outside of ade, try updating your system and running the following in your AutowareAuto folder and re-building (where $ROS_DISTRO is the current distro, e.g. foxy):$ rm -rf build/ install/ log/ src/external/
$git pull$ source /opt/ros/$ROS_DISTRO/setup.bash$ vcs import < autoware.auto.\$ROS_DISTRO.repos

If you are still having trouble after these commands have been run, please see the Support Guidelines for where to ask questions.