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Manual Setup and Customization

This guide provides detailed manual installation steps and customization options for advanced users. For the recommended automated installation, see the Software Installation guide.

Manual Environment Setup

ROS 2 Humble Installation

If you prefer to install ROS 2 manually instead of using the Ansible script:

  1. Add ROS 2 apt repository:

    sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

  2. Install ROS 2 Humble:

    sudo apt update
sudo apt install ros-humble-desktop ros-dev-tools

  3. Configure environment:

    echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc

Autoware Installation Options

Option 1: Build Autoware from Source

For developers who want to modify Autoware components:

  1. Clone Autoware repository:

    mkdir -p ~/autoware_ws
cd ~/autoware_ws
git clone https://github.com/autowarefoundation/autoware.git -b release/2025.02

  2. Install dependencies:

    cd autoware
./setup-dev-env.sh
sudo apt install python3-vcstool

  3. Import repositories and build:

    mkdir src
vcs import src < autoware.repos
rosdep install -y --from-paths src --ignore-src --rosdistro humble
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

  4. Source the workspace:

    echo "source ~/autoware_ws/autoware/install/setup.bash" >> ~/.bashrc

Option 2: Custom Autoware Configuration

To use a custom Autoware installation path:

  1. Modify the build script:

    export AUTOWARE_PATH=/your/custom/autoware/path

  2. Update AutoSDV's build configuration: Edit ~/AutoSDV/clean_build.sh and change the Autoware path:

    AUTOWARE_WS="/your/custom/autoware/path"

Manual Sensor Driver Installation

Blickfeld Scanner Library

Manual installation for different architectures:

  1. Download the appropriate package:

  2. Install the package:

    sudo dpkg -i blickfeld-scanner-lib_*.deb
sudo apt-get install -f  # Fix any dependency issues

Velodyne LiDAR Driver

For Velodyne VLP-32C support:

sudo apt install ros-humble-velodyne ros-humble-velodyne-pointcloud

GNSS/IMU Drivers

Install additional GNSS and IMU support:

# NMEA GPS support
sudo apt install ros-humble-nmea-navsat-driver

# Serial communication for IMU
sudo apt install ros-humble-serial-driver
pip3 install pyserial

System Optimization

Real-time Performance Tuning

  1. Configure CPU governor:

    sudo apt install cpufrequtils
echo 'GOVERNOR="performance"' | sudo tee /etc/default/cpufrequtils
sudo systemctl restart cpufrequtils

  2. Increase system limits: Add to /etc/security/limits.conf:

    * soft memlock unlimited
* hard memlock unlimited
* soft rtprio 99
* hard rtprio 99

  3. Disable CPU frequency scaling (Jetson):

    sudo jetson_clocks
sudo nvpmodel -m 0  # Maximum performance mode

Network Configuration

Configure Cyclone DDS

  1. Create configuration file:

    mkdir -p ~/.ros
cat > ~/.ros/cyclone_dds.xml << EOF
<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
  <Domain>
    <General>
      <NetworkInterfaceAddress>auto</NetworkInterfaceAddress>
      <AllowMulticast>true</AllowMulticast>
    </General>
    <Discovery>
      <ParticipantIndex>auto</ParticipantIndex>
      <MaxAutoParticipantIndex>120</MaxAutoParticipantIndex>
    </Discovery>
  </Domain>
</CycloneDDS>
EOF

  2. Set as default RMW:

    echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc
echo "export CYCLONEDDS_URI=file://$HOME/.ros/cyclone_dds.xml" >> ~/.bashrc

Configure FastDDS (Alternative)

If you prefer FastDDS over Cyclone DDS:

sudo apt install ros-humble-rmw-fastrtps-cpp
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp

Custom Build Options

Debug Build

For development with debug symbols:

cd ~/AutoSDV
colcon build \
  --base-paths src \
  --symlink-install \
  --cmake-args -DCMAKE_BUILD_TYPE=Debug

Selective Package Building

Build only specific packages:

# Build only vehicle interface packages
colcon build --packages-select \
  autosdv_vehicle_interface \
  autosdv_vehicle_launch

# Build with dependencies
colcon build --packages-up-to autosdv_launch

Cross-compilation

For cross-compiling to different architectures:

# Example for ARM64 on x86_64 host
colcon build \
  --cmake-args \
  -DCMAKE_TOOLCHAIN_FILE=/path/to/toolchain.cmake \
  -DCMAKE_BUILD_TYPE=Release

Environment Variables

Essential Variables

Add to ~/.bashrc for persistent configuration:

# ROS 2 Configuration
export ROS_DOMAIN_ID=0  # Change for multi-robot setups
export ROS_LOCALHOST_ONLY=0  # Set to 1 for local-only communication

# GPU Configuration (if applicable)
export CUDA_HOME=/usr/local/cuda
export PATH=$CUDA_HOME/bin:$PATH
export LD_LIBRARY_PATH=$CUDA_HOME/lib64:$LD_LIBRARY_PATH

# Autoware Configuration
export AUTOWARE_PATH=/opt/autoware  # Or your custom path

Development Tools

Install additional development utilities:

# Code formatting and linting
sudo apt install clang-format python3-autopep8

# Debugging tools
sudo apt install gdb valgrind ros-humble-plotjuggler

# Build acceleration
sudo apt install ccache
export CC="ccache gcc"
export CXX="ccache g++"

Troubleshooting Manual Installations

Missing Dependencies

If encountering missing package errors:

# Update rosdep database
rosdep update

# Install missing dependencies
cd ~/AutoSDV
rosdep install --from-paths src --ignore-src -r -y

Library Path Issues

For custom library installations:

# Add custom library paths
echo "/usr/local/lib" | sudo tee /etc/ld.so.conf.d/local.conf
sudo ldconfig

Permission Issues

For device access (sensors, CAN bus):

# Add user to required groups
sudo usermod -a -G dialout $USER
sudo usermod -a -G plugdev $USER
# Logout and login for changes to take effect

Next Steps