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Autoware

Open-source software for urban autonomous driving. The following functions are supported:

  • 3D Localization
  • 3D Mapping
  • Path Planning
  • Path Following
  • Accel/Brake/Steering Control
  • Data Logging
  • Car/Pedestrian/Object Detection
  • Traffic Signal Detection
  • Traffic Light Recognition
  • Lane Detection
  • Moving Object Tracking
  • Sensor Calibration
  • Sensor Fusion
  • Cloud-based Dynamic Maps
  • Android Navigation
  • Simulation
  • Gamificated HMI

License

  • New BSD License
    • See LICENSE

Spec Recommendation

  • of CPU cores: 8

  • RAM size: 32GB
  • Storage size: 30GB

Requirements

  • ROS indigo(Ubuntu 14.04) or ROS jade(Ubuntu 15.04)
  • OpenCV 2.4.8 or higher NOTE: Autoware does not support OpenCV 3. Please use OpenCV 2
  • Qt 5.2.1 or higher
  • CUDA(Optional)
  • FlyCapture2(optional)
  • Armadillo

Please use checkout revision before 2015/OCT/21 if you use Autoware on ROS hydro or Ubuntu 13.04, 13.10.

Install dependencies for Ubuntu 14.04 indigo

% sudo apt-get install ros-indigo-desktop-full ros-indigo-nmea-msgs ros-indigo-nmea-navsat-driver ros-indigo-sound-play
% sudo apt-get install libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu

NOTE: Please do not install ros-indigo-velodyne-pointcloud package. Please uninstall it if you already installed.

Install dependencies for Ubuntu 15.04 jade

% sudo apt-get install ros-jade-desktop-full ros-jade-nmea-msgs ros-jade-nmea-navsat-driver ros-jade-sound-play
% sudo apt-get install libnlopt-dev freeglut3-dev qt5-default libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu

How to Build

$ cd $HOME
$ git clone https://github.com/CPFL/Autoware.git
$ cd ~/Autoware/ros/src
$ catkin_init_workspace
$ cd ../
$ ./catkin_make_release

How to Start

$ cd $HOME/Autoware/ros
$ ./run

For Developers

Be careful for changing files under ros/src/sensing/drivers/lidar/packages/velodyne. There is subtree. Original repository is here. If you change those files from this repository, you must use git subtree push. (Please never change and push code if you don't understand git subtree well).

Documents

See Autoware/docs. As of Aug 25 2015, we provide only Japanese documents. English documents will be added shortly.

Research Papers for Citation

  1. S. Kato, E. Takeuchi, Y. Ishiguro, Y. Ninomiya, K. Takeda, and T. Hamada. "An Open Approach to Autonomous Vehicles", IEEE Micro, Vol. 35, No. 6, pp. 60-69, 2015. Link

Instruction Videos

Quick Start

Quick Start

Localization with GNSS

Localization with GNSS

Localization without GNSS

Localization without GNSS

Mapping

Mapping

Detection

Detection

Planning

Planning

Sample Data

3D map of Moriyama in Nagoya

ROSBAG data of Moriyama driving

Contact

Autoware Developers (autoware@googlegroups.com)