Reduced Installation of Autoware

What is this project about

This project is a reduced version of Autoware Universe v1.0, which only contains all the msg and srv packages developed by Autoware developers. These packages are necessary for deserializing record message data.

Prerequisite

ROS2 humble
Install the package build dependencies

pip install catkin_pkg lark empy==3.3.4 numpy
sudo apt install -y ros-humble-velodyne-msgs ros-humble-ublox-msgs ros-humble-geographic-msgs librange-v3-dev ros-humble-lanelet2

Clone this repo

git clone -b msgs_install --single-branch https://github.com/lethal233/autoware.git reduced_autoware

import vcs repos

cd reduced_autoware
mkdir src
vcs import src < autoware.repos
vcs import src < simulator.repos

Modifications

Modify ./src/universe/autoware.universe/planning/planning_validator/CMakeLists.txt to:

cmake_minimum_required(VERSION 3.22)
project(planning_validator)
find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()

rosidl_generate_interfaces(
  ${PROJECT_NAME}
  "msg/PlanningValidatorStatus.msg"
  DEPENDENCIES builtin_interfaces
)
ament_auto_package()

Modify ./src/universe/.universe/planning/planning_validator/package.xml to:

Click me

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>planning_validator</name>
<version>0.1.0</version>
<description>ros node for planning_validator</description>
<maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
<maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
<license>Apache License 2.0</license>

<author email="takamasa.horibe@tier4.jp">Takamasa Horibe</author>
<author email="yutaka.shimizu@tier4.jp">Yutaka Shimizu</author>

<buildtool_depend>ament_cmake_auto</buildtool_depend>
<!-- <buildtool_depend>_cmake</buildtool_depend> -->
<build_depend>rosidl_default_generators</build_depend>

<depend>_auto_planning_msgs</depend>
<!-- <depend>diagnostic_updater</depend> -->
<depend>geometry_msgs</depend>
<!-- <depend>motion_utils</depend> -->
<depend>nav_msgs</depend>
<!-- <depend>planning_test_utils</depend> -->
<!-- <depend>rclcpp</depend> -->
<!-- <depend>rclcpp_components</depend> -->
<!-- <depend>tier4__utils</depend> -->
<!-- <depend>vehicle_info_util</depend> -->
<depend>visualization_msgs</depend>

<!-- <test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>_lint_common</test_depend> -->

<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>

<export>
  <build_type>ament_cmake</build_type>
</export>
</package>

Modify ./src/universe/.universe/control/vehicle_cmd_gate/CMakeLists.txt to:

cmake_minimum_required(VERSION 3.5)
project(vehicle_cmd_gate)
find_package(rosidl_default_generators REQUIRED)
find_package(builtin_interfaces REQUIRED)

rosidl_generate_interfaces(
  ${PROJECT_NAME}
  "msg/IsFilterActivated.msg"
  DEPENDENCIES builtin_interfaces
)

ament_export_dependencies(rosidl_default_runtime)
ament_package()

Modify ./src/universe/autoware.universe/control/vehicle_cmd_gate/package.xml to:

Click me

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>vehicle_cmd_gate</name>
<version>0.1.0</version>
<description>The vehicle_cmd_gate package</description>
<maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
<maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
<license>Apache License 2.0</license>

<author email="hiroki.ota@tier4.jp">Hiroki OTA</author>

<buildtool_depend>ament_cmake</buildtool_depend>
<!-- <buildtool_depend>autoware_cmake</buildtool_depend> -->

<build_depend>rosidl_default_generators</build_depend>

<depend>autoware_adapi_v1_msgs</depend>
<depend>autoware_auto_control_msgs</depend>
<depend>autoware_auto_system_msgs</depend>
<depend>autoware_auto_vehicle_msgs</depend>
<!-- <depend>component_interface_specs</depend>
<depend>component_interface_utils</depend>
<depend>diagnostic_updater</depend> -->
<depend>geometry_msgs</depend>
<!-- <depend>motion_utils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>std_srvs</depend>
<depend>tier4_api_utils</depend> -->
<depend>tier4_control_msgs</depend>
<depend>tier4_debug_msgs</depend>
<depend>tier4_external_api_msgs</depend>
<depend>tier4_system_msgs</depend>
<depend>tier4_vehicle_msgs</depend>
<!-- <depend>vehicle_info_util</depend> -->
<depend>visualization_msgs</depend>

<exec_depend>rosidl_default_runtime</exec_depend>

<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>

<member_of_group>rosidl_interface_packages</member_of_group>

<export>
  <build_type>ament_cmake</build_type>
</export>
</package>

Modify ./src/universe/autoware.universe/control/control_validator/CMakeLists.txt to:

cmake_minimum_required(VERSION 3.22)
project(control_validator)
find_package(rosidl_default_generators REQUIRED)
find_package(builtin_interfaces REQUIRED)

rosidl_generate_interfaces(
  ${PROJECT_NAME}
  "msg/ControlValidatorStatus.msg"
  DEPENDENCIES builtin_interfaces
)

ament_export_dependencies(rosidl_default_runtime)
ament_package()

Modify ./src/universe/autoware.universe/control/control_validator/package.xml to:

Click me

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>control_validator</name>
<version>0.1.0</version>
<description>ros node for control_validator</description>
<maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
<maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
<maintainer email="makoto.kurihara@tier4.jp">Makoto Kurihara</maintainer>
<license>Apache License 2.0</license>

<author email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</author>
<author email="takamasa.horibe@tier4.jp">Takamasa Horibe</author>
<author email="makoto.kurihara@tier4.jp">Makoto Kurihara</author>

<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>
<build_depend>rosidl_default_generators</build_depend>

<depend>autoware_auto_planning_msgs</depend>
<!-- <depend>diagnostic_updater</depend> -->
<depend>geometry_msgs</depend>
<!-- <depend>motion_utils</depend> -->
<depend>nav_msgs</depend>
<!-- <depend>rclcpp</depend> -->
<!-- <depend>rclcpp_components</depend> -->
<!-- <depend>tier4_autoware_utils</depend> -->
<!-- <depend>vehicle_info_util</depend> -->
<depend>visualization_msgs</depend>

<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>

<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>

<export>
  <build_type>ament_cmake</build_type>
</export>
</package>

Modify ./src/universe/autoware.universe/control/operation_mode_transition_manager/CMakeLists.txt to:

cmake_minimum_required(VERSION 3.14)
project(operation_mode_transition_manager)

find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()

rosidl_generate_interfaces(
  ${PROJECT_NAME}
  "msg/OperationModeTransitionManagerDebug.msg"
  DEPENDENCIES builtin_interfaces
)
ament_auto_package()

Modify autoware/src/universe/autoware.universe/control/operation_mode_transition_manager/package.xml to:

Click me

<package format="3">
<name>operation_mode_transition_manager</name>
<version>0.1.0</version>
<description>The vehicle_cmd_gate package</description>
<maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
<maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
<license>Apache License 2.0</license>

<author email="takamasa.horibe@tier4.jp">Takamasa Horibe</author>

<buildtool_depend>autoware_cmake</buildtool_depend>
<build_depend>rosidl_default_generators</build_depend>

<depend>autoware_auto_control_msgs</depend>
<depend>autoware_auto_system_msgs</depend>
<depend>autoware_auto_vehicle_msgs</depend>
<!-- <depend>component_interface_specs</depend>
<depend>component_interface_utils</depend> -->
<depend>geometry_msgs</depend>
<!-- <depend>motion_utils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend> -->
<depend>std_srvs</depend>
<!-- <depend>tier4_autoware_utils</depend> -->
<depend>tier4_control_msgs</depend>
<depend>tier4_system_msgs</depend>
<depend>tier4_vehicle_msgs</depend>
<!-- <depend>vehicle_info_util</depend> -->

<!-- <test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend> -->

<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>

<export>
  <build_type>ament_cmake</build_type>
</export>
</package>

Build packages

source /opt/ros/humble/setup.bash

colcon build --packages-select $(colcon list | awk '{print $1}' | grep 'msgs$') vehicle_cmd_gate planning_validator control_validator operation_mode_transition_manager autoware_lint_common autoware_cmake autoware_utils lanelet2_extension lanelet2_extension_python dummy_perception_publisher tier4_autoware_utils --symlink-install

Source the environment

Under the directory reduced_autoware

source install/setup.bash

Usage in Python

Read rosbag files

import sqlite3
from rosidl_runtime_py.utilities import get_message
from rclpy.serialization import deserialize_message
import sys
import argparse



class BagFileParser():
    def __init__(self, bag_file):
        self.bag_file = bag_file
        self.conn = sqlite3.connect(bag_file)
        self.cursor = self.conn.cursor()

        topics_data = self.cursor.execute("SELECT id, name, type FROM topics").fetchall()
        self.topic_msg_message = {name_of:get_message(type_of) for id_of, name_of, type_of in topics_data}
        
        self.fetch_all_msgs_sql = "select topics.name as topic, data as message, timestamp as t from messages join topics on messages.topic_id = topics.id order by timestamp desc";

    def __del__(self):
        self.conn.close()

    def read_messages(self):
        rows = self.cursor.execute(self.fetch_all_msgs_sql).fetchall()
        return rows
    
    def deserialize_data(self, data, topic_name):
        return deserialize_message(data, self.topic_msg_message[topic_name])

if __name__ == '__main__':
    f = BagFileParser("/path/to/rosbag_record_file")
    for topic, message, t in f.read_messages():
        if topic in interest_topics:
            msg = f.deserialize_data(message, topic)

import Autoware data type

from autoware_auto_planning_msgs.msg import Trajectory
import autoware_auto_perception_msgs.msg
import geometry_msgs.msg
import nav_msgs.msg
# ...
# ...

Name		Name	Last commit message	Last commit date
Latest commit History 291 Commits
.github		.github
.gitignore		.gitignore
CODE_OF_CONDUCT.md		CODE_OF_CONDUCT.md
CONTRIBUTING.md		CONTRIBUTING.md
DISCLAIMER.md		DISCLAIMER.md
LICENSE		LICENSE
NOTICE		NOTICE
README.md		README.md
README_autoware.md		README_autoware.md
README_install_msgs_only.md		README_install_msgs_only.md
autoware.repos		autoware.repos
simulator.repos		simulator.repos

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Reduced Installation of Autoware

What is this project about

Prerequisite

Clone this repo

import vcs repos

Modifications

Build packages

Source the environment

Usage in Python

Read rosbag files

import Autoware data type

About

License

lethal233/autoware

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Repository files navigation

Reduced Installation of Autoware

What is this project about

Prerequisite

Clone this repo

import vcs repos

Modifications

Build packages

Source the environment

Usage in Python

Read rosbag files

import Autoware data type

About

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License

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