INSTALL.md

Installation Guide for Linux

The instructions were tested on Ubuntu 20.04. Other Linuxes may work but it might extra fix-ups.

Prepare Toolchains

Install build tools. This step is done at most once.

curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
cargo install --git https://github.com/jerry73204/cargo-ament-build.git
pip3 install git+https://github.com/jerry73204/colcon-ros-cargo.git@merge-colcon-cargo

Install Dependencies

This package runs on ROS Galactic. It will be upgraded to ROS Humble in the future as Autoware drops support for Galactic since Dec, 2022. For the time being, Galactic versions of Ubuntu and Autoware are used.

Install extra dependencies:

sudo apt install ros-galactic-moveit-msgs
pip install https://github.com/usdot-fhwa-stol/opendrive2lanelet/archive/develop.zip

To use Galactic version of Autoware,

git clone https://github.com/autowarefoundation/autoware.git
cd autoware

git checkout galactic
vcs import src < autoware.repos
vcs pull src < autoware.repos

Repository Preparation

Prepare a ROS repository including this bridge, Autoware and Carla's ros-bridge.

repo/
└── src/
    ├── carla_autoware_bridge_plus/ (this repo)
    ├── ros-bridge/ (https://github.com/carla-simulator/ros-bridge master branch)
    └── autoware/ (https://github.com/autowarefoundation/autoware.git galactic branch)

The ros-bridge has git submodules. Remember to update them.

cd repo/src/ros-bridge
git submodule update --init --recursive

The autoware tracks underlying dependencies using vcs. Please update the dependencies this way.

cd repo/src/autoware
git checkout galactic  # Use Galactic branch

mkdir -p src
vcs import src < autoware.repos
vcs pull src < autoware.repos

Build the Repository

Build the whole repository inside the repo/ directory.

cd repo/

colcon build \
    --symlink-install \
    --cmake-args -DCMAKE_BUILD_TYPE=Release \
    --cargo-args --release