ichthus_autoware_universe

This repository was created to manage the source code of the ICHTHUS autoware.universe It consist of the shell scripts for easy to installation, easy to pull latest autoware.universe source code.

Files

Files

file name	description
ichthus.repos	repositories that are required to run ICHTHUS Autoware
pub_engage_topic.sh	easy to publish engage topic when run the simple planning simulator
pull.sh	pull latest source code from Autoware Foundation and ICHTHUS dependent repositories
run.sh	docker run script for autoware.universe public docker image
setup.sh	setup shell script to setup the ICHTHUS Autoware environment for the first time (only once)

Environment Setting

1. Create shared_dir for share the files between host to container

• (host) $mkdir ~/shared_dir

2. Clone this repository in the shared_dir

• (host) $ cd ~/shared_dir
• (host) $ git clone https://github.com/sethut1224/ichthus_autoware_universe.git

3. Download and Run autowarefoundation's official autoware.universe docker image

• (host) $ cd ~/shared_dir/ichthus_autoware_universe
• (host) $ ./run.sh ghcr.io/autowarefoundation/autoware-universe:galactic-20220524-cuda-amd64

(docker run without --rm option, docker container is persistent even if reboot the PC)

Now, you are in the docker container!

4. Copy the scripts and repos file to autoware directory

• (container) $ cd /autoware
• (container) $ cp -r ~/shared_dir/ichthus_autoware_universe/* .

5. Setup the ichthus autoware.universe

• (container) $ ./setup.sh (clone external packages) (container) $ ./pull.sh (pull latest source code from autowarefoundation)

6. Build the ichthus autoware.universe

• (container) $ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
• another build command
  • colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-select <package_name>
  • colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to <package_name>

How To Guides

autowarefoundation official documentation
https://autowarefoundation.github.io/autoware-documentation/main/tutorials/

For visualization, allow the docker user to access the x server
(host) $ xhost +

• Error is occurred if docker user can't access to x server
  Unable to init server: Could not connect: Connection refused* Failed to parse arguments: Cannot open display

ichthus autoware.universe with LGSVL Simulator
(container) $ ros2 launch ichthus_launch ichthus_launch_taeho.launch.xml (Todo..)