Installation of related tools#

Autoware itself does not need the tools on this page. Install them when your evaluation or your vehicle integration needs them. Each section assumes that you have a source workspace from the source installation in the autoware directory.

Autoware tools#

The autoware_tools repository holds packages that Autoware does not need at runtime: tools for benchmarking, debugging, tuning, calibration, and map work. The repositories/tools.repos file pins its version (0.8.0 for Autoware 2.0.0).

cd autoware
vcs import src < repositories/tools.repos
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Simulators#

The planning simulation needs no extra simulator. Its simple simulator (autoware_simple_planning_simulator) is part of the Autoware Core repositories in autoware.repos. The planning simulation page explains how to download its sample map. For other simulators, use the guides below:

scenario_simulator_v2: runs scenarios against Autoware. The repositories/simulator.repos file pins its version (22.0.0 for Autoware 2.0.0). For the build steps, see Scenario simulator installation.
AWSIM: a Unity-based simulator for end-to-end simulation. See the AWSIM tutorial.
CARLA: an Unreal-based simulator that connects to Autoware through autoware_carla_interface. See the CARLA tutorial.

The autoware repository also has Docker Compose stacks for the AWSIM, CARLA, and scenario simulator demos. See Pre-configured demo scenarios.

Calibration tools#

Calibration tools provided by TIER IV#

Once the Autoware is installed, you can install the calibration tools provided by TIER IV as follows:

cd autoware
wget https://raw.githubusercontent.com/tier4/CalibrationTools/refs/heads/tier4/universe/calibration_tools_autoware.repos
vcs import src < calibration_tools_autoware.repos
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Check the README.md file for a more detailed explanation.