Autoware.Auto
Installation w/o ADE

Table of Contents

Goals

This article demonstrates how to successfully build Autoware.Auto applications without the ade framework.

Installation Requirements

To compile Autoware.Auto project from sources, the following tools must be installed in the system.

  • Apt packages
    $ sudo apt install -y git cmake python3-pip
  • Python modules
    $ pip3 install -U colcon-common-extensions vcstool

ROS 2 core

First, the ROS 2 core components and tools must be installed. The full guide is available at ROS 2 Installation. Once installed source the setup file:

source /opt/ros/$ROS_DISTRO/setup.bash

where ROS_DISTRO is one of the supported version mentioned in Target Software Platforms.

ROS 2 package dependencies

Autoware.Auto project requires some ROS 2 packages in addition to the core components. The tool rosdep allows an automatic search and installation of such dependencies.

$ sudo apt update
$ sudo apt install -y python3-rosdep
$ sudo rosdep init
$ rosdep update

Once installed, dependencies can be deduced from the sources of the Autoware.Auto project.

$ git clone https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto.git
$ cd AutowareAuto
$ vcs import < autoware.auto.$ROS_DISTRO.repos
$ export ROS_VERSION=2
$ rosdep install -y -i --from-paths src
Note
If you wish to use the stable release, checkout the latest release by checking out the corresponding tag or release branch. Alternatively, when not checking out any specific tag, the latest master branch will be used which may include features that are still being developed. For example:
$ git checkout tags/1.0.0 -b release-1.0.0

Next, to compile the source code, see Building.

Troubleshooting

In case where ros-foxy-autoware-auto-msgs is installed on the system, colcon uses it instead of the one in the AutowareAuto/src/external/ folder. This may cause errors. To prevent this, please remove the package by:

sudo apt purge -y ros-foxy-autoware-auto-msgs

In case an error occurs related to acado package, please run:

sudo apt purge -y ros-foxy-acado-vendor
sudo apt install -y ros-foxy-acado-vendor