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[MOOC] Autoware Course - Lecture 1 - Setup the environment
- Authors
- Name
- Viet Anh
- @vietanhdev
This is my note for lesson 1 of MOOC course: Self-Driving Cars with ROS and Autoware. You should follow the instructions in the course. I only write some notes here to highlight the best practices and how to fix some errors.
- Autoware course: https://www.apex.ai/autoware-course
- Lecture 1 tutorial: https://gitlab.com/ApexAI/autowareclass2020/-/blob/master/lectures/01_DevelopmentEnvironment/devenv.md.
Docker
This course uses [ADE Development Environment] to deploy examples. This will ensure that all students in the course have a common, consistent development environment.
I added a command to checkout a right version of source code first. This will help avoid unnecessary errors.
git checkout avp-demo
$ cd ${HOME}
$ mkdir adehome
$ cd adehome
$ wget https://gitlab.com/ApexAI/ade-cli/uploads/85a5af81339fe55555ee412f9a3a734b/ade+x86_64
$ mv ade+x86_64 ade
$ chmod +x ade
$ mv ade ~/.local/bin
$ which ade
# Update ade
$ ade update-cli
# Now setup ade
$ touch .adehome
$ git clone --recurse-submodules https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto.git
$ git checkout avp-demo
$ cd AutowareAuto/
$ ade start
# this will take awhile
$ ade enter
Install ROS 2
master
branch don't use ROS Dashing any more, you will need to switch to Foxy here if you run the source code from master
branch. Only use these command if you don't switch to avp-demo
with git checkout avp-demo
below.
ade$ sudo apt update
ade$ sudo apt install ros-foxy-turtlesim
ade$ sudo apt install ros-foxy-rqt-*
ade$ sudo apt install byobu
Install Terminator
Terminator is a terminal emulator
sudo apt install terminator
- Fix:
dbus.exceptions.DBusException: org.freedesktop.DBus.Error.Spawn.ExecFailed: /usr/bin/dbus-launch terminated abnormally without any error message
with following command:
sudo apt-get install dbus-x11
Install Autoware.Auto
We need to install Autoware.Auto from scratch:
- https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/building.html.
- https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/installation-no-ade.html.
Error
/home/vietanhdev/AutowareAuto/src/control/motion_testing/include/motion_testing/motion_testing.hpp:18:10: fatal error: autoware_auto_msgs/msg/trajectory.hpp: No such file or directory
18 | #include <autoware_auto_msgs/msg/trajectory.hpp>
Run object detection demo
There are some errors in the commands.
Error
ros2 run velodyne_node velodyne_cloud_node_exe __ns:=/lidar_front __params:=/home/${USER}/autowareclass2020/code/src/01_DevelopmentEnvironment/velodyne_node.param.yaml
Package 'velodyne_node' not found
-> Use following command
ros2 run velodyne_nodes velodyne_cloud_node_exe --ros-args --remap "__ns:=/lidar_front" --params-file /home/${USER}/autowareclass2020/code/src/01_DevelopmentEnvironment/velodyne_node.param.yaml
ROS Foxy uses a new way to pass parameters. We need to fix it also: