This article demonstrates how to use the Agile Development Environment (ADE) to develop Autoware.Auto applications.

Install ADE

ADE is a modular Docker-based tool to ensure that all developers in a project have a common, consistent development environment.

Follow the install instructions, which are reproduced here for convenience:

  1. Verify that the requirements listed here are fulfilled
  1. Download the statically-linked binary from the Releases page of the ade-cli project
  1. Name the binary ade and install it in your PATH (on Ubuntu, /usr/local/bin is recommended)
  1. Make the binary executable: chmod +x ade
  1. Check that it is installed:
$ which ade
$ ade --version

Setup ADE home and project checkout

ADE needs a directory on the host machine which is mounted as the user's home directory within the container. The directory is populated with dotfiles, and must be different than the user's home directory outside of the container. In the event ADE is used for multiple, projects it is recommended to use dedicated adehome directories for each project.

ADE looks for a directory containing a file named .adehome starting with the current working directory and continuing with the parent directories to identify the ADE home directory to be mounted.

$ mkdir adehome
$ cd adehome
$ touch .adehome

For ADE to function, it must be properly configured. Autoware.Auto provides an .aderc file which is expected to exist in the current working directory, or in any parent directory. Additionally, default configuration values can be overridden by setting environment variables. See the ade --help output for more information about using environment variables to define the configuration.

$ cd adehome
$ git clone --recurse-submodules

How to build

$ ade start --update --enter
ade$ cd AutowareAuto
ade$ colcon build
ade$ colcon test
ade$ colcon test-result


ADE uses Docker, and over time unused images, containers, and volumes begin to clutter the hard drive. Follow the steps below to clean the Docker filesytem of stale images.

Start relevant Docker resources

First, verify that ADE is running:

$ cd adehome/AutowareAuto
$ ade start

If ADE is used for more than one project, verify all ADE instances are running; the same rule applies for any other non-ADE Docker containers that should be preserved.

Docker resources that are not started/running will be removed!

Docker disk usage

To assess the disk usage situation, run the following command:

$ docker system df
Images 13 11 14.03GB 916.9MB (6%)
Containers 11 0 2.311MB 2.311MB (100%)
Local Volumes 17 15 5.411GB 17.8MB (0%)
Build Cache 0 0 0B 0B

Remove unused docker items

Use docker system prune to remove unused Docker items:

$ docker system prune -a --volumes


General Troubleshooting

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/

If you are still having trouble after these commands have been run, please post a request for help on ROS Answers.

Troubleshooting Specific Errors


When starting ade with GPU support enabled for Nvidia graphics, you may sometimes receive the following error:

docker: Error response from daemon: OCI runtime create failed: container_linux.go:349: starting container process caused "process_linux.go:449: container init caused \"process_linux.go:432: running prestart hook 0 caused \\\"error running hook: exit status 1, stdout: , stderr: nvidia-container-cli: initialization error: cuda error: forward compatibility was attempted on non supported hw\\\\n\\\"\"": unknown.
ERROR: Command return non-zero exit code (see above): 125

This usually indicates that a new Nvidia graphics driver has been installed (usually via apt) but the system has not yet been restarted.


Restart your system after installing the new NVIDIA driver.