Autoware

Mac tutorial:

Section A: docker installation link, and some other prerequisites

1. Let's start with installing brew:

/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"

2. And then let's install docker through brew:

brew install cmake coreutils wget git

brew install --cask docker

brew install –cask xquartz  # May not be necessary

3. I would suggest to use conda to create a virtual environment first.

conda create -n tutorial python==3.10 (mac doesn't support python version earlier than 3.7)

4. Start the docker daemon, and try this command to see if it works:

docker run hello-world

5. Now let's do a little bit work for forwarding visulization from inside the docker:

xhost +local:root

6. However, comparing with Ubuntu system, MacOS doesn't support to use CARLA docker unless built from source, but Mac doesn't have a GPU to accelerate relevant units. So we need to jump through the CARLA section.

7. Before we start to do the compiling work, open docker engine, and go to:

Settings - Resources - Advanced - Memory Limit, set to 16gb, otherwise the compilation will fail due to fatal error: cc1plus.

And please change the screen resolution as high as possible for better visualization.

8. Download the UDAutoware, Autoware_map, AutowareUniverse-Carla( but will not be used for MacOS showcase) , unzip them using:

unzip ~/Downloads/UDAutoware.zip -d ~/Desktop

unzip ~/Downloads/autoware_map.zip -d ~/Desktop

unzip ~/Downloads/AutowareUniverse-Carla.zip -d ~/Desktop

and use this command:

docker pull bytian/autoware_mac_aarch64:v1

9. Launch the docker with the following command (make sure to mount the UDAutoware, autoware_map from the right folders):

docker run -it --rm \

-p 6080:80 \

--security-opt seccomp=unconfined \

--shm-size=512m \

-v ~/Desktop/UDAutoware:/home/carla/UDAutoware \

-v ~/Desktop/autoware_map:/home/carla/autoware_map \

-v ~/Desktop/AutowareUniverse-Carla:/home/carla/AutowareUniverse-Carla \

bytian/autoware_mac_aarch64:v1

10. Start the compiling process with:

colcon build –symlink-install –cmake-args -DCMAKE_BUILD_TYPE=Release –parallel-workers 2 (short of memory)

11. Then after finish building autoware, you can also try to build AutowareUniverse-Carla bridge, by:

cd ../AutowareUniverse-Carla && colcon build

12. Don't forget to do the sourcing each time we attach to or launch the docker:

source /home/carla/UDAutoware/install/setup.bash && source /home/carla/AutowareUniverse-Carla/install/setup.bash

and start autoware using:

ros2 launch autoware_launch autoware.launch.xml map_path:=/home/carla/autoware_map/carla_map/Town10 vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

Ubuntu tutorial:

Section A: docker installation link

1. Begin by updating your package list to ensure you have the latest information on available packages: 

sudo apt update

2. Install the necessary packages to allow apt to use repositories over HTTPS:​

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

3. Add Docker's GPG key to your system to verify the authenticity of the packages:​

curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg

4. Add the Docker repository to your system's apt sources:​

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null

5. Update your package index to include Docker's repository:​

sudo apt update

6. Install Docker Engine:​

sudo apt install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin

7. Check if Docker is installed and running:​

sudo systemctl status docker

8. Verify that Docker is working correctly by running the hello-world image:​

docker run hello-world

9. Use command:

exit

to close this sample docker.

10. Install rocker for better docker launching: rocker github link

sudo apt-get install python3-rocker

Section B: CARLA and Autoware preparation and compilation

1. Pull CARLA docker to host machine:

docker pull carlasim/carla:0.9.15

2. Docker run CARLA command: 

docker run --privileged --gpus all --net=host -e DISPLAY=$DISPLAY carlasim/carla:0.9.15 /bin/bash ./CarlaUE4.sh -carla-rpc-port=2000

3. Pull the docker image with built-in environment for Autoware compilation and launch

docker pull williamhecoin/blueice:hydrau-env

4. Download the required Autoware src code, Autoware_maps and AutowareUniverse-Carla, and unzip them to your $HOME directory.

Google drive link for Autoware, Autoware_map, AutowareUniverse-Carla 

5. Now we are going to do the compilation but first you need to use this command on your terminal (for display connecting), and WHENEVER you open a terminal in this tutorial, please use this command:

xhost +local:root

6. Start the docker with built environments and load all the files into the docker by using this command:

rocker --x11 --nvidia --network=host --volume ~/autoware:/home/carla/autoware --volume ~/autoware_map:/home/carla/autoware_map --volume ~/AutowareUniverse-Carla:/home/carla/AutowareUniverse-Carla -- williamhecoin/blueice:hydrau-env 

7. We need to add several python packages into the base environment of this docker:

pip3 install carla pynput pyzmq 

8. Start compiling Autoware by cd to the directory and use:

colcon build

And then, please source install/setup.bash

9. Next, please cd to the AutowareUniverse-Carla directory and use:

colcon build

And then, please source install/setup.bash

10. Now we may bring up the Autoware GUI:

ros2 launch autoware_launch autoware.launch.xml map_path:=/home/carla/autoware_map/carla_map/Town10 vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

11. Open a new terminal, and use these command first:

xhost +local:root

docker ps

12. Now please check your docker ID, and fill it into this command:

docker exec -it _____ /bin/bash

13. Now you are attached to the current running Autoware docker, please remember to:

source /home/carla/autoware/install/setup.bash && source /home/carla/AutowareUniverse-Carla/install/setup.bash

to source the environment first.

14. Then please use the command:

ros2 run vehicle host_vehicle

And you may see a little vehicle spawned at a fixed point on the CARLA map, and Autoware.universe is publishing topics about surrounding environment.

Section D: CRI calculation demo