운영 환경

MacBookPro A1708 (Core i7, 16GB RAM, 512GB SSD)

우분투 18.04

ROS Melodic

Qt Creator 4.9.2

Autoware 1.14.0

Autoware.AI 소스에서 설치

기본적으로 공식 소스에서 설치 절차 참조합니다.

System dependencies for Ubuntu 18.04/Melodic

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
$ sudo apt update
$ sudo apt install git
$ sudo apt install -y python-catkin-pkg python-rosdep ros-melodic-catkin
$ sudo apt install -y python3-pip python3-colcon-common-extensions python3-setuptools python3-vcstool
$ pip3 install -U setuptools

소스 컴파일

$ mkdir -p autoware.ai/src
$ cd autoware.ai
$ wget -O autoware.ai.repos "https://gitlab.com/autowarefoundation/autoware.ai/autoware/raw/1.14.0/autoware.ai.repos?inline=false"
$ vcs import src < autoware.ai.repos
$ sudo rosdep init
$ rosdep update
$ rosdep install -y --from-paths src --ignore-src --rosdistro melodic
$ source /opt/ros/melodic/setup.bash

# With CUDA support
$ AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

# Without CUDA Support
$ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

Autoware ROSBAG Demo 실행

공식의 ROSBAG 데모 순서를 참고했습니다만, 최신 Autoware 1.14.0 소스로 공식의 “Video steps”대로가 되지 않으므로,
TIER IV ACADEMY 자동 운전 시스템 구축 학원 를 참고했습니다.

Download Demo data

$ cd ~
$ mkdir .autoware
$ cd .autoware
$ wget https://autoware-ai.s3.us-east-2.amazonaws.com/sample_moriyama_data.tar.gz
$ wget https://autoware-ai.s3.us-east-2.amazonaws.com/sample_moriyama_150324.tar.gz
$ tar zxfv sample_moriyama_150324.tar.gz
$ tar zxfv sample_moriyama_data.tar.gz

Autoware 시작

$ roslaunch runtime_manager runtime_manager.launch

Load sample ROSBAG data

Simulation tab에서 ".autoware/sample_moriyama_150324.bag"를 선택합니다.

Set the start time to 140, then click Play and Pause just after it has started playing

Launch RViz

1. Launch RViz through the RViz button
2. Load default.rviz(File -> Open Config)
autoware/documentation/autoware_quickstart_examples/config/default.rviz