Docker installation and Autoware simulation

How to set up a development environment

1. Install dependencies manually

   • Install Docker Engine

   • Install NVIDIA Container Toolkit

   • Install rocker

How to set up a local configuration

1. Create the autoware_map directory for map data later.

   mkdir ~/autoware_map
   chmod -R 777 ~/autoware_map

2. Set local host.

   echo 'if [ ! -e /tmp/cycloneDDS_configured ]; then
       sudo ip link set lo multicast on
       touch /tmp/cycloneDDS_configured
   fi' >> ~/.bashrc
   

How to run a simulator

You can run the Autoware simulation by following this tutorial in a container:

1. planning simulation

2. rosbag replay simulation

3. AWSIM simulation

(Optional) How to build a docker image locally

1. Build a Docker image

   cd $HOME
   git clone git@github.com:tier4/autoware-online-document.git autoware
   cd autoware
   chmod +x -R docker
   ./docker/build.sh

2. Use the Docker image

   You can use your Docker image built locally by replacing
   ghcr.io/tier4/online:humble-awsim-stable-prebuilt-cuda (pre-built) with ghcr.io/tier4/online:humble-awsim-stable-cuda (locally built). Keep in mind that you should source setup.sh by source ~/autoware/install/setup.bash