Autoware Core source installation guide#

Prerequisites#

Item	Requirement
OS	Ubuntu 22.04 or Ubuntu 24.04
ROS	ROS 2 Humble on Ubuntu 22.04, ROS 2 Jazzy on Ubuntu 24.04 (For ROS 2 system dependencies, refer to REP-2000)
Git	Registering SSH keys to GitHub is preferable.

Tip

If ROS 2 is not installed yet, the Ansible playbook of the source installation can install it together with the other Autoware Core dependencies. The core tag selects only the parts for Autoware Core (ROS 2, the ROS 2 development tools, the build tools, the RMW implementation, Agnocast, the recommended development tools, and the RViz theme). Run only the git clone and cd commands of step 2 first. Then run these commands from the root folder of the repository:

bash ansible/scripts/install-ansible.sh
source ~/.bashrc
ansible-galaxy collection install -f -r ansible-galaxy-requirements.yaml
ansible-playbook autoware.dev_env.install_dev_env --tags core --ask-become-pass

The playbook also installs the tools of step 1 and runs sudo rosdep init, so you can skip step 1. After the playbook finishes, continue with the rest of step 2.

How to set up#

In the commands below, replace jazzy with humble on Ubuntu 22.04.

Install dependent tools.

sudo apt -y update
sudo apt -y install git python3-colcon-common-extensions python3-rosdep python3-vcs2l
sudo rosdep init

If rosdep is already initialized, sudo rosdep init prints an error. You can ignore it.

Create workspace and clone repository into it.

git clone https://github.com/autowarefoundation/autoware.git $HOME/autoware_core_workspace
cd $HOME/autoware_core_workspace
git checkout 2.0.0  # optional: use a release tag instead of the main branch
mkdir -p src
vcs import src < repositories/autoware.repos

This step is optional. If you want the latest branch, switch to the nightly.

cd $HOME/autoware_core_workspace
vcs import src < repositories/autoware-nightly.repos

Install dependent ROS packages.

cd $HOME/autoware_core_workspace
source /opt/ros/jazzy/setup.bash
sudo apt update && sudo apt -y upgrade
rosdep update
rosdep install -y --from-paths src/core --ignore-src --rosdistro $ROS_DISTRO

Build the workspace.

cd $HOME/autoware_core_workspace
source /opt/ros/jazzy/setup.bash
colcon build --symlink-install --base-paths src/core --cmake-args -DCMAKE_BUILD_TYPE=Release

The src/core folder holds the repositories under core/ in autoware.repos: autoware_core, the message and utility repositories, autoware_lanelet2_extension, autoware_rviz_plugins, autoware_simple_planning_simulator, autoware_system_designer, and agnocast. The --base-paths src/core option builds only these repositories.