Autoware

Open-source software for urban autonomous driving. The following functions are supported:

• 3D Localization
• 3D Mapping
• Path Planning
• Path Following
• Accel/Brake/Steering Control
• Data Logging
• Car/Pedestrian/Object Detection
• Traffic Signal Detection
• Traffic Light Recognition
• Lane Detection
• Moving Object Tracking
• Sensor Calibration
• Sensor Fusion
• Cloud-based Dynamic Maps
• Android Navigation
• Simulation
• Gamificated HMI

License

• New BSD License
  • See LICENSE

Requirements

• ROS indigo(Ubuntu 13.10, 14.04) or ROS hydro(Ubuntu 13.04)
• OpenCV 2.4.8 or higher
• Qt 5.2.1 or higher
• CUDA(Optional)
• FlyCapture2(optional)
• Armadillo

Install dependencies for Ubuntu 14.04 indigo

% sudo apt-get install ros-indigo-desktop-full ros-indigo-nmea-msgs ros-indigo-nmea-navsat-driver ros-indigo-sound-play
% sudo apt-get install libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev

Install dependencies for Ubuntu 13.10 indigo and Ubuntu 13.04 hydro

% sudo apt-get install ros-hydro-desktop-full ros-hydro-nmea-msgs ros-hydro-sound-play
% sudo apt-get install libnlopt-dev freeglut3-dev libssh2-1-dev libarmadillo-dev

Install Velodyne Driver dependencies

% sudo apt-get install libpcap-dev
% mkdir -p ~/ros_drivers/src
% cd ~/ros_drivers/src 
% catkin_init_workspace
% git clone https://github.com/ros-drivers/velodyne.git
% cd ~/ros_drivers 
% catkin_make
% source devel/setup.bash

You cannot build Autoware/ros source code with those OpenCV and Qt5 packages, because they are too old. So you have to install newer versions of OpenCV and Qt5.

Install OpenCV

You can download the source code from here.

% unzip opencv-2.4.8.zip
% cd opencv-2.4.8
% cmake .
% make
% make install

Install Qt 5

The installation document is here.

First you have to install Qt5 dependencies.

% sudo apt-get build-dep qt5-default
% sudo apt-get install build-essential perl python git
% sudo apt-get install "^libxcb.*" libx11-xcb-dev libglu1-mesa-dev libxrender-dev libxi-dev
% sudo apt-get install flex bison gperf libicu-dev libxslt-dev ruby
% sudo apt-get install libssl-dev libxcursor-dev libxcomposite-dev libxdamage-dev libxrandr-dev libfontconfig1-dev
% sudo apt-get install libasound2-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev

% git clone git://code.qt.io/qt/qt5.git
% cd qt5
% git checkout v5.2.1 # <- Same as Ubuntu 14.04 'qtbase5-dev'
% perl init-repository --no-webkit # <- webkit is very too large
% ./configure -developer-build -opensource -nomake examples -nomake tests # And accept the license 
% make -j # You may take a few hours
% make install
% sudo cp -r qtbase /usr/local/qtbase5

This page could help you when make returns error.

How to Build

$ cd $HOME
$ git clone https://github.com/CPFL/Autoware.git
$ cd ~/Autoware/ros/src
$ catkin_init_workspace
$ cd ../
$ ./catkin_make_release

How to Start

$ cd $HOME/Autoware/ros
$ ./run

Documents

See Autoware/docs. As of Aug 25 2015, we provide only Japanese documents. English documents will be added shortly.

Instruction Videos

Quick Start

Localization with GNSS

Localization without GNSS

Mapping

Detection

Planning

Sample Data

3D map of Moriyama in Nagoya

ROSBAG data of Moriyama driving

Contact

Autoware Developers ([email protected])