-
Notifications
You must be signed in to change notification settings - Fork 60
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge branch 'master' into 1377/isInLanelet
- Loading branch information
Showing
83 changed files
with
17,191 additions
and
144 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,51 +1,96 @@ | ||
| # Build Instructions | ||
|
|
||
| This setup instruction is based on ROS 2 humble. | ||
| These setup instructions guide you through the process of building **Scenario Simulator v2**, which currently supports **ROS 2 Humble Hawksbill**. | ||
|
|
||
| ## Setup ROS 2 environment | ||
|
|
||
| This framework only supports ROS 2 Galactic Geochelone now. (We are planning to support ROS 2 Humble Hawksbill) | ||
| You can install Galactic by executing the command below in your terminal. | ||
| 1. Configure the locale. | ||
| Ensure that your system is configured with a locale that supports UTF-8. | ||
|
|
||
| ```bash | ||
| sudo apt update && sudo apt install locales | ||
| sudo locale-gen en_US en_US.UTF-8 | ||
| sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 | ||
| export LANG=en_US.UTF-8 | ||
| ``` | ||
|
|
||
| Verify that the locale is properly set: | ||
| ```bash | ||
| locale | ||
| ``` | ||
|  | ||
| <br>*The expected result after running the `locale` command should look like this, with `LANG` set to `en_US.UTF-8` by default.* | ||
|
|
||
| 3. Enable the Ubuntu Universe repository. | ||
| ```bash | ||
| sudo apt install software-properties-common | ||
| sudo add-apt-repository universe | ||
| ``` | ||
|
|
||
| 4. Add the ROS 2 GPG key. | ||
| ```bash | ||
| sudo apt update && sudo apt install curl -y | ||
| sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg | ||
| ``` | ||
|
|
||
| 5. Add the ROS 2 repository to the system's package sources list. | ||
| ```bash | ||
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null | ||
| ``` | ||
| 6. Install ROS 2 Humble Desktop. | ||
| ```bash | ||
| sudo apt update | ||
| sudo apt install ros-humble-desktop | ||
| ``` | ||
| 7. Install development tools. | ||
| ```bash | ||
| sudo apt install ros-dev-tools | ||
| ``` | ||
| !!! info | ||
| For more detailed information, refer to the [ROS 2 Humble Installation Guide](https://docs.ros.org/en/humble/Installation.html). | ||
| ```bash | ||
| sudo apt update | ||
| sudo apt install locales | ||
| sudo locale-gen en_US en_US.UTF-8 | ||
| sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 | ||
| export LANG=en_US.UTF-8 | ||
| sudo apt update | ||
| sudo apt install curl gnupg2 lsb-release | ||
| curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - | ||
| sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list' | ||
| sudo apt update | ||
| sudo apt install ros-humble-desktop | ||
| source /opt/ros/humble/setup.bash | ||
| sudo apt install -y python3-pip python3-rosdep2 python3-vcstool python3-colcon-common-extensions | ||
| rosdep update | ||
| ``` | ||
| reference : <https://docs.ros.org/en/humble/Installation.html> | ||
| ## Setup workspace | ||
| ```bash | ||
| mkdir -p ~/scenario_simulator_ws/src | ||
| cd ~/scenario_simulator_ws/src | ||
| git clone https://github.com/tier4/scenario_simulator_v2.git | ||
| # These lines are necessary right now, but it will be removed in the near future | ||
| cd scenario_simulator_v2 | ||
| # This script clones the part of the source codes in Autoware and add it to the workspace | ||
| vcs import external < dependency_humble.repos | ||
| ``` | ||
| 1. Create the workspace directory. | ||
| ```bash | ||
| mkdir -p ~/scenario_simulator_ws/src | ||
| cd ~/scenario_simulator_ws/src | ||
| ``` | ||
| 2. Clone the Scenario Simulator repository. | ||
| ```bash | ||
| git clone https://github.com/tier4/scenario_simulator_v2.git | ||
| cd scenario_simulator_v2 | ||
| ``` | ||
| 3. Import Autoware dependencies. | ||
| ```bash | ||
| vcs import external < dependency_humble.repos | ||
| ``` | ||
| ## Install dependencies via rosdep | ||
| ```bash | ||
| cd ~/scenario_simulator_ws | ||
| source /opt/ros/humble/setup.bash | ||
| rosdep install -iry --from-paths src/scenario_simulator_v2 --rosdistro humble | ||
| ``` | ||
| 1. Move to the workspace directory. | ||
| ```bash | ||
| cd ~/scenario_simulator_ws | ||
| ``` | ||
| ## Build scenario_simulator_v2 | ||
| 2. Source the ROS 2 environment. | ||
| ```bash | ||
| source /opt/ros/humble/setup.bash | ||
| ``` | ||
| 3. Install all required dependencies. | ||
| ```bash | ||
| rosdep install -iry --from-paths src/scenario_simulator_v2 --rosdistro humble | ||
| ``` | ||
| ## Build scenario_simulator_v2 | ||
| To build **Scenario Simulator v2**, run this command: | ||
| ```bash | ||
| colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release | ||
| ``` | ||
|  | ||
| *As a result of running the `colcon build` command, all packages should be built successfully.* |
Oops, something went wrong.