autoware_dockerfile

This Dockerfile is used to set up an Autoware environment based on Ubuntu 22.04 without GPU.

https://github.com/autowarefoundation/autoware

Usage

Create Docker Image

docker build -t autoware-no-cuda .

Creating and launching docker containers

xhost +local:docker
docker compose up

If there is no docker image.

docker compose up --build

~/autoware_dockerfile_latest$ docker compose up
[+] Running 1/1
 ✔ Container autoware  Recreated                                                                                                                                                                       0.1s 
Attaching to autoware

Stop and remove container.

docker compose down

Run Planning simulation

• Launch Planning simulation

docker exec -it autoware bash
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

• Start the ego vehicle

ros2 service call /api/operation_mode/change_to_autonomous autoware_adapi_v1_msgs/srv/ChangeOperationMode {}

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