autoware_nova_carter

Integration of NVIDIA Nova Carter with Autoware

Installation

• Clone the repository

git clone https://github.com/tier4/autoware_nova_carter.git
vcs import src < autoware_nova_carter/build_depends.repos

• Build Docker Image

docker build -t autoware_nova_carter -f ./docker/Dockerfile .

Build Autoware Launch

git clone https://github.com/tier4/autoware_launch -b nova-carter-integration src/autoware_launch
./docker_run_autoware.sh
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --continue-on-error --packages-select autoware_launch autoware_nova_carter_description

Run Docker Container

TERMINAL 1

./docker_sensing_vehicle.sh
source /autoware_nova_carter/install/setup.bash
ros2 launch autoware_nova_carter_sensing sensing.launch.xml

TERMINAL 2

docker exec -it vehicle_sensing /bin/bash
ros2 launch autoware_nova_carter_vehicle vehicle.launch.xml

TERMINAL 3

./docker_run_autoware.sh
source /autoware_nova_carter/install/setup.bash

ros2 launch autoware_launch autoware.launch.xml map_path:=/autoware_map/shinagawa_2F vehicle_model:=autoware_nova_carter sensor_model:=sample_sensor_kit data_path:=/autoware_data

HOST Machine (You need to build autoware first)

source $HOME/autoware/install/setup.bash
rviz2 -d src/launcher/autoware_launch/autoware_launch/rviz/autoware.rviz