# autoware.universe

**Repository Path**: zmqzhm/autoware.universe

## Basic Information

- **Project Name**: autoware.universe
- **Description**: universe repo
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 9
- **Created**: 2024-02-21
- **Last Updated**: 2024-02-21

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 请注意，为了课程资料保护，所有src文件夹下的代码请参考课程资料

# Autoware.universe高阶自动驾驶框架深度剖析课程专用代码仓库

课程资料：

链接：https://pan.baidu.com/s/11ZQfZW5tNhme1xIpubsQCA 

提取码：请留意购课群信息

# Autoware.universe环境配置教程

基本信息：本课程演示电脑的硬件配置为i7-12700KF 3.60 GHz处理器，16GB内存，RTX3080TI 12GB显卡，操作系统为Ubuntu20.04

1. 从课程资料中下载awsim模拟器安装包，解压安装

2. 本地系统需要自行安装好ros2 galactic版本以及与实际硬件对应的显卡驱动

3. 启动awsim模拟器，并使用"ros2 topic list"查看是否有传感器topic输出

4. 下载课程资料中.tar 格式的docker镜像包

5. "docker load -i XXXX.tar"导入docker镜像包

6. "docker images"指令查看导入镜像的image_id

7. "docker tag image_id universe:project"指令打好tag

8. clone完整代码（src文件夹下面的内容请从网盘资料中下载，）

9. 将universe_docker.sh文件下的 "/home/sixu/workspace:/workspace" 换成自己的实际工作路径，并检查最后的image_id是否和实际导入的镜像image_id一致

10. 授权并 "./universe_docker.sh" 进入docker容器

11. cd project_path_in_docker

12. colcon build指令编译源码

# Autoware.universe & Awsim simulation

11. 将awsim_launch.sh文件下的awsim安装路径换成自己实际的路径

12. 将universe_function_in_docker.sh文件下的路径换成自己实际的路径，别忘了包括后面指令的地图文件路径，这个路径是指docker容器内的路径

13. 授权并 "./awsim_launch.sh" 启动awsim模拟器

14. 授权并 "./universe_docker.sh" 进入docker容器

15. 容器内 "./universe_function_in_docker.sh" 启动autoware.universe

![Autoware_awsim_demo](images/universe_awsim_demo.png)

# Autoware.universe & rosbag replay

11. 从课程资料中下载rosbag data，解压

12. 将universe_function_replay_in_docker.sh, universe_rosbag_in_docker.sh文件下的路径换成自己实际的路径，别忘了包括后面指令的replay地图文件路径，rosbag data文件路径, 这个路径是指docker容器内的路径

13. 授权并 "./universe_docker.sh" 进入docker容器

14. 授权并 "./universe_function_replay_in_docker.sh" 启动autoware.universe

15. "docker ps"指令查看导入的container_id

14. 新建Terminal后"docker exec -it container_id bash"

15. 容器内 "./universe_rosbag_in_docker.sh" 启动rosbag data input

![Autoware_rosbag_replay_demo](images/replay_demo.png)

======================分割线============= 以下为源文件=========================

# Autoware - the world's leading open-source software project for autonomous driving

![Autoware_RViz](https://user-images.githubusercontent.com/63835446/158918717-58d6deaf-93fb-47f9-891d-e242b02cba7b.png)
[![Discord](https://img.shields.io/discord/953808765935816715?label=Autoware%20Discord&style=for-the-badge)](https://discord.gg/Q94UsPvReQ)

Autoware is an open-source software stack for self-driving vehicles, built on the [Robot Operating System (ROS)](https://www.ros.org/). It includes all of the necessary functions to drive an autonomous vehicles from localization and object detection to route planning and control, and was created with the aim of enabling as many individuals and organizations as possible to contribute to open innovations in autonomous driving technology.

![Autoware architecture](https://static.wixstatic.com/media/984e93_552e338be28543c7949717053cc3f11f~mv2.png/v1/crop/x_0,y_1,w_1500,h_879/fill/w_863,h_506,al_c,usm_0.66_1.00_0.01,enc_auto/Autoware-GFX_edited.png)

## Documentation

To learn more about using or developing Autoware, refer to the [Autoware documentation site](https://autowarefoundation.github.io/autoware-documentation/main/). You can find the source for the documentation in [autowarefoundation/autoware-documentation](https://github.com/autowarefoundation/autoware-documentation).

## Repository overview

- [autowarefoundation/autoware](https://github.com/autowarefoundation/autoware)
  - Meta-repository containing `.repos` files to construct an Autoware workspace.
  - It is anticipated that this repository will be frequently forked by users, and so it contains minimal information to avoid unnecessary differences.
- [autowarefoundation/autoware_common](https://github.com/autowarefoundation/autoware_common)
  - Library/utility type repository containing commonly referenced ROS packages.
  - These packages were moved to a separate repository in order to reduce CI execution time
- [autowarefoundation/autoware.core](https://github.com/autowarefoundation/autoware.core)
  - Main repository for high-quality, stable ROS packages for Autonomous Driving.
  - Based on [Autoware.Auto](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto) and [Autoware.Universe](https://github.com/autowarefoundation/autoware.universe).
- [autowarefoundation/autoware.universe](https://github.com/autowarefoundation/autoware.universe)
  - Repository for experimental, cutting-edge ROS packages for Autonomous Driving.
  - Autoware Universe was created to make it easier for researchers and developers to extend the functionality of Autoware Core
- [autowarefoundation/autoware_launch](https://github.com/autowarefoundation/autoware_launch)
  - Launch configuration repository containing node configurations and their parameters.
- [autowarefoundation/autoware-github-actions](https://github.com/autowarefoundation/autoware-github-actions)
  - Contains [reusable GitHub Actions workflows](https://docs.github.com/ja/actions/learn-github-actions/reusing-workflows) used by multiple repositories for CI.
  - Utilizes the [DRY](https://en.wikipedia.org/wiki/Don%27t_repeat_yourself) concept.
- [autowarefoundation/autoware-documentation](https://github.com/autowarefoundation/autoware-documentation)
  - Documentation repository for Autoware users and developers.
  - Since Autoware Core/Universe has multiple repositories, a central documentation repository is important to make information accessible from a single place.

## Using Autoware.AI

If you wish to use Autoware.AI, the previous version of Autoware based on ROS 1, switch to [autoware-ai](https://github.com/autowarefoundation/autoware.ai/tree/autoware-ai) branch. However, be aware that Autoware.AI will reach the end-of-life by the end of 2022, and we strongly recommend transitioning to Autoware Core/Universe for future use.

## Contributing

- [There is no formal process to become a contributor](https://github.com/autowarefoundation/autoware-projects/wiki#contributors) - you can comment on any [existing issues](https://github.com/autowarefoundation/autoware.universe/issues) or make a pull request on any Autoware repository!
  - Make sure to follow the [Contribution Guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/).
  - Take a look at Autoware's [various working groups](https://github.com/autowarefoundation/autoware-projects/wiki#working-group-list) to gain an understanding of any work in progress and to see how projects are managed.
- If you have any technical questions, you can start a discussion in the [Q&A category](https://github.com/autowarefoundation/autoware/discussions/categories/q-a) to request help and confirm if a potential issue is a bug or not.

## Useful resources

- [Autoware Foundation homepage](https://www.autoware.org/)
- [Support guidelines](https://autowarefoundation.github.io/autoware-documentation/main/support/support-guidelines/)