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Additional settings for developers#

The pages in this section change the configuration of your computer and your shell, not of Autoware itself. Apply them after you install Autoware.

Console settings#

By default, ROS 2 prints log messages without the source location, and without color when ros2 launch starts the nodes. This page sets environment variables in ~/.bashrc that color the logger output, add the function, file, and line number to each message, and color the GoogleTest output of colcon test. These settings are optional. See Console settings for ROS 2.

Network configuration#

Autoware sends large messages, such as point clouds and images, between its nodes. Without network tuning, these messages do not arrive. The network configuration pages explain how to:

  • Tune the Linux kernel buffers and configure CycloneDDS, the default middleware of Autoware.
  • Enable multicast on the loopback interface for communication on one computer.
  • Use Zenoh as an alternative middleware.
  • Connect several computers and synchronize their clocks.

The source installation requires the network configuration before you run Autoware.