User Guide

All those steps tested on GitHub Actions test workflow

Build from source

Hardware and OS Requirement

• CPU: x86_64 4 Core or above
• RAM: 8G+
• Disk: 30G+ free space
• OS: Ubuntu 20.04

Install ROS2

1. Add ROS 2 apt repositories

    sudo apt update && sudo apt install curl gnupg2 lsb-release
    sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
   

2. Install ROS2 packages

    sudo apt update
    sudo apt install ros-foxy-desktop
   

3. Environment setup

    echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
    source ~/.bashrc
   

4. Install ROS2 build tools

    sudo apt install build-essential clang-tidy cmake git python3-rosdep python3-vcstool python3-colcon-common-extensions
   

5. Initialize rosdep

    sudo rosdep init
    rosdep update
   

Build Autoware.Auto

Autoware.Auto build and default install into /opt/AutowareAuto

$ git clone https://github.com/autocore-ai/AutowareAuto.git --depth 1 --branch zenoh-flow
$ sudo mkdir -p /opt/AutowareAuto
$ sudo chown -R $USER /opt/AutowareAuto
$ source /opt/ros/foxy/setup.bash
$ cd AutowareAuto
AutowareAuto$ git lfs install
AutowareAuto$ git lfs pull --include="*" --exclude=""
AutowareAuto$ vcs import < autoware.auto.foxy.repos
AutowareAuto$ rosdep install -y --from . --ignore-src --rosdistro foxy
AutowareAuto$ source /opt/ros/foxy/setup.bash
AutowareAuto$ colcon build --merge-install --install-base /opt/AutowareAuto

Build Autoware for Zenoh-Flow

$ cargo install cxxbridge-cmd --git https://github.com/autocore-ai/cxx.git --branch autocore-dev
$ git clone https://github.com/autocore-ai/zenoh_flow_autoware.git --depth 1
$ cd zenoh_flow_autoware
zenoh_flow_autoware$ source /opt/AutowareAuto/setup.bash
zenoh_flow_autoware$ colcon build --merge-install

Run demo

1. If zenoh-flow runtime is not installed, install and check it with below commands

    $ cargo install runtime --git https://github.com/autocore-ai/zenoh-flow-examples.git --branch autocore-dev
    $ runtime --help
    dpn 0.1.0
   
    USAGE:
        runtime [OPTIONS] --graph-file <graph-file> --runtime <runtime>
   
    FLAGS:
        -h, --help       Prints help information
        -V, --version    Prints version information
   
    OPTIONS:
        -g, --graph-file <graph-file>          
        -l, --loader_config <loader-config>    
        -o, --out-file <outfile>                [default: output.dot]
        -r, --runtime <runtime>                
   

2. In zenoh_flow_autoware folder, source the setup.bash and launch demo

    zenoh_flow_autoware$ source /opt/AutowareAuto/setup.bash
    zenoh_flow_autoware$ source install/setup.bash
    zenoh_flow_autoware$ runtime --graph-file ./demo.yaml --runtime local
   

3. When the graph file launched, the output likes:

    InitPoseReceiver
    GoalPoseReceiver
    NDTMapPublisherNode
    Lanelet2MapProviderNode
    [INFO] [1640084984.811272592] [Lanelet2MapProvider]: Waiting for earth to map transform - please start ndt_map_publisher .... : "earth" passed to lookupTransform argument target_frame does not exist. 
    Lanelet2MapVisualizer
    LanePlannerNode
    ParkingPlannerNode
    Lanelet2GlobalPlannerNode
    BehaviorPlannerNode
    PurePursuitNode
    SimplePlanningSimulator
    [INFO] [1640084985.554512447] [simple_planning_simulator]: vehicle_model_type = IDEAL_STEER_VEL
    [INFO] [1640084985.555540789] [simple_planning_simulator]: initialize_source : INITIAL_POSE_TOPIC
    Simulator waiting initialization...
    Simulator waiting initialization...
    Simulator waiting initialization...
    Simulator waiting initialization...
    ...
   

4. Launch a new terminal to open Rviz2

    $ source /opt/AutowareAuto/setup.bash
    $ ros2 launch autoware_auto_launch autoware_auto_visualization.launch.py
   

5. In Rviz2, Ctrl + O to open config avp.rviz in zenoh_flow_autoware folder.

6. After map loaded, drag start pose with 2D Pose Estimate and end pose with 2D Goal Pose, If all steps have no problem the vehicle will start pilot with zenoh_flow_autoware.