Installation w/o ADE

Table of Contents

• Goals
• Installation Requirements
• ROS 2 core
• ROS 2 package dependencies

Goals

This article demonstrates how to successfully build Autoware.Auto applications without the ade framework.

Installation Requirements

To compile Autoware.Auto project from sources, the following tools must be installed in the system.

• Apt packages

  $ sudo apt install -y git cmake python3-pip

• Python modules

  $ pip3 install -U colcon-common-extensions vcstool

ROS 2 core

First, the ROS 2 core components and tools must be installed. The full guide is available at ROS 2 Installation. Once installed source the setup file:

source /opt/ros/$ROS_DISTRO/setup.bash

where ROS_DISTRO is one of the supported version mentioned in Target Software Platforms.

ROS 2 package dependencies

Autoware.Auto project requires some ROS 2 packages in addition to the core components. The tool rosdep allows an automatic search and installation of such dependencies.

$ sudo apt update
$ sudo apt install -y python3-rosdep
$ sudo rosdep init
$ rosdep update

Once installed, dependencies can be deduced from the sources of the Autoware.Auto project.

$ git clone https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto.git
$ cd AutowareAuto
$ vcs import < autoware.auto.$ROS_DISTRO.repos
$ rosdep install -y -i --from-paths src

Next, to compile the source code, see Building.