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

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