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
- New BSD License
- See LICENSE
- 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
% 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
% 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
% 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.
You can download the source code from here.
% unzip opencv-2.4.8.zip
% cd opencv-2.4.8
% cmake .
% make
% make install
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.
$ cd $HOME
$ git clone https://github.com/CPFL/Autoware.git
$ cd ~/Autoware/ros/src
$ catkin_init_workspace
$ cd ../
$ ./catkin_make_release
$ cd $HOME/Autoware/ros
$ ./run
See Autoware/docs. As of Aug 25 2015, we provide only Japanese documents. English documents will be added shortly.
ROSBAG data of Moriyama driving
Autoware Developers (autoware@googlegroups.com)