Autoware Universe Training

autoware-training.md

Autoware Universe Training

This training series is part of the video playlist in: https://www.youtube.com/watch?v=xbLBJRSYybY&list=PLuCQPvHJs-PsdRduUGJxPq_FwF63FlB3a

Ubuntu installation

• Be very careful, you might accidentally remove your drives/files permanently if you are not familiar with this.
• https://releases.ubuntu.com/22.04/
  • https://rufus.ie/en/ (you can use this tool on Windows to create Ubuntu Drives)
    • Choose GPT partitioning
• While partitioning the disk space, keep theese in mind:
  • Swap + Your system RAM should be 64GB
  • Your hard disk space should be at least 100GB
  • Have some EFI partition at the beginning
  • Put swap partition to the end of the disk, this way resizing it in the future will be easier if necessary
• I dit it like following:
  • efi 100MB
  • ext4 130GB (with / mount point)
  • swap 20GB

System setup

• Open the "Software & Updates"
  • Switch to Main Server
  • Disable automatic updates (optional, not recommended)
• Update your system
  • sudo apt update
  • sudo apt dist-upgrade
  • sudo apt autoremove
• Install graphics card drivers (for Nvidia)
  • wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.0-1_all.deb (Source)
  • sudo dpkg -i cuda-keyring_1.0-1_all.deb
  • sudo apt update
  • sudo apt install nvidia-driver-470 (following the advice in the comment from @isouf )

Intro to Git and Gitkraken

• https://git-scm.com/docs/gittutorial
• https://www.gitkraken.com/learn/git/tutorials

Autoware documentation and support

• Main Documentation: https://autowarefoundation.github.io/autoware-documentation/main/
• Discord: https://discord.com/invite/Q94UsPvReQ
• Github Discussions Q/A: https://github.com/autowarefoundation/autoware/discussions/categories/q-a
• Autoware Universe Issues: https://github.com/autowarefoundation/autoware.universe/issues
• Autoware Issues: https://github.com/autowarefoundation/autoware/issues

Autoware installation

• sudo snap install gitkraken --classic (Optional)
• sudo apt install htop (for visualizing system resources usages)
• https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/
  • I used following command to build it in the VM(virtual machine): MAKEFLAGS="-j12" colcon build --symlink-install --parallel-workers 1 --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_EXPORT_COMPILE_COMMANDS=1
  • MAKEFLAGS="-j12" ensures each package uses maximum 12 parallel threads while building.
  • --parallel-workers 1 ensures only 1 package is built at a time.
  • You can choose to tweak or remove these flags based on your system resources. On my host system I don't use these.
• I also recommend following ~/.bash_aliases file for making it easier to use colcon:

  alias colbu="colcon build --symlink-install "
  
  alias colbu_rd="colbu --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_EXPORT_COMPILE_COMMANDS=1 "
  alias colbu_r="colbu --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=1 "
  alias colbu_d="colbu --cmake-args -DCMAKE_BUILD_TYPE=Debug -DCMAKE_EXPORT_COMPILE_COMMANDS=1 "
  
  alias colbu_sel_rd="colbu_rd --packages-select "
  alias colbu_sel_r="colbu_r --packages-select "
  alias colbu_sel_d="colbu_d --packages-select "
  
  alias colbu_upto_rd="colbu_rd --packages-up-to "
  alias colbu_upto_r="colbu_r --packages-up-to "
  alias colbu_upto_d="colbu_r --packages-up-to "

Planning simulator tutorial

• https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/

Rosbag replay simulation tutorial

• https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/rosbag-replay-simulation/

Introduction to CLion

Autoware launch system explained

Editing a package in autoware

Creating a new package for autoware

AWSIM training

Contributing to Autoware

Reviewing a PR

Creating a PR

Quick intro to Autoware CI

@taikitanaka3 thanks!

So, I should create more videos for empty titles from the list on first post here.
Normally my next step should be to create Rosbag replay simulation tutorial video.

Right now I'm focused on https://github.com/orgs/autowarefoundation/discussions/3194#discussioncomment-4681967 this discussion items.
This training series is waiting a for that reason.
Are you interested in generating training course content too?

when i try to lunch autoware , the terminal turns to infinity loop of messages like : [component_container_mt-29] [INFO] [1701376755.166459408] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: waiting for scenario_topic
[component_container_mt-35] [INFO] [1701376758.358768983] [default_ad_api.node.operation_mode]: control, planning component state is unhealthy. Autonomous is not available.
[component_container-34] [INFO] [1701376758.838682064] [control.trajectory_follower.controller_node_exe]: Waiting for trajectory.
[component_container-34] [INFO] [1701376758.838728051] [control.trajectory_follower.controller_node_exe]: Control is skipped since input data is not ready.
[scenario_selector-26] [INFO] [1701376758.988883953] [planning.scenario_planning.scenario_selector]: Waiting for route.
is that normal ? and i can't write any commands.
note : i try to lunch it without simulators

@nourhanMohamed0 did you follow https://gist.github.com/xmfcx/aeee631ea819ddfc734da26f98c6ee0e#planning-simulator-tutorial ?

What were the steps you have followed?

@xmfcx
I already followed steps from the playlist

@nourhanMohamed0 please create a post in https://github.com/orgs/autowarefoundation/discussions/categories/q-a so we can help you there. And more people can benefit from the answers.

Since these are planning related logs, we can ask for help from the planning team members.

@xmfcx Thank you