Autoware Core Docker installation guide#

Prerequisites#

Item	Requirement
Docker	Docker Engine. Core images do not use the GPU, so the NVIDIA Container Toolkit is not required.

To install Docker Engine with the Ansible playbook of the autoware repository, see step 2 of the Docker installation and add --skip-tags nvidia.

Select docker image#

Image	Description
ghcr.io/autowarefoundation/autoware:core-jazzy	This is a runtime image. It contains the compiled Autoware Core packages and their runtime dependencies only.
ghcr.io/autowarefoundation/autoware:core-devel-jazzy	This is a develop image. It contains the build dependencies and the compiled Autoware Core packages in `/opt/autoware`.

Replace jazzy with humble for ROS 2 Humble. Tag scheme: <stage>-<ros_distro>[-<date>|-<version>]. For example, core-jazzy-2.0.0 is the image of the Autoware 2.0.0 release. The full image catalog and tag list lives in autoware/docker/README.md.

How to set up#

Pull the Docker image you want to use. The following command is for core-jazzy:
```
docker pull ghcr.io/autowarefoundation/autoware:core-jazzy
```
Start a container from the image.
```
docker run --rm -it --net host ghcr.io/autowarefoundation/autoware:core-jazzy
```
The entrypoint tries to enable multicast on lo and to apply the kernel settings for DDS. Without --privileged, these steps fail and the entrypoint prints [entrypoint] WARN lines. With --net host, the container uses the network of the host. In this case, apply the DDS settings and enable multicast for lo on the host, or add --privileged to the command.

The container opens a Bash shell. In the runtime image, the entrypoint sources /opt/ros/<distro>/setup.bash and /opt/autoware/setup.bash. In the develop image, run source /opt/autoware/setup.bash yourself before you use the Autoware Core packages.

For the volume, display, and network options of docker run, see docker/README.md → Usage. To develop Autoware Core in Visual Studio Code, use the core-devel configuration of the devcontainer.