Autoware Comiple & Start#

Install Docker#

Download docker http://download.miivii.com:3000/s/NHFn4DjRx3DGSPz?path=%2F99.MIIVII-AUTOWARE%2Ftoolchain

sudo docker load -i miivii-autoware-base.v1.0.0.tar.gz

Build Compilation Environment#

Start docker image

#Make terminal can connect to X-Window
xhost + 

#set autoware dir to root group
sudo chown -R root:root /mnt/autoware/

#start docker
sudo docker run --privileged -it --rm --net=host --runtime nvidia -v /mnt:/mnt -v /opt/miivii/:/opt/miivii -v /dev:/dev -e DISPLAY=$DISPLAY -v /tmp/:/tmp/ harbor.internal.miivii.com/ros2/autoware/miivii-autoware-base:v1.0.0 bash

Compilation#

cd /mnt/autoware
export ISAAC_ROS_WS=/mnt/autoware/src/vendor/nvidia/isaac/
export ISAAC_ROS_ACCEPT_EULA=1

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=off

Run#

source /mnt/autoware/install/setup.bash
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/mnt/autoware_map/sample-map-planning data_path:=/mnt/autoware_data vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

Expect Result#

Running Steps#

  • Use the ‘2D Pose Estimate’ tool in the toolbar or press the ‘p’ key, then draw the initial pose on the map. Dragging along the lane will display the vehicle.

  • Use the ‘2D Goal Pose’ tool in the toolbar or press the ‘g’ key, then similarly drag along the lane to draw the target pose. If there are no issues, the planned path will be automatically displayed.

  • Open another terminal, log into the docker container and execute

#Start another terminal
sudo docker ps
#Display as below
#CONTAINER ID   IMAGE                                                                   COMMAND                  CREATED          STATUS          PORTS     NAMES
#b7d6303b8e72   harbor.internal.miivii.com/ros2/autoware/miivii-autoware-base:v1.0.0   "/opt/nvidia/nvidia_…"   40 minutes ago   Up 40 minutes             nervous_grothendieck
sudo docker exec -it b7d6303b8e72 bash
#In docker container
source /mnt/autoware/install/setup.bash
ros2 service call /api/operation_mode/change_to_autonomous autoware_adapi_v1_msgs/srv/ChangeOperationMode {}

运行效果#