Software Installation

This guide provides the recommended installation process for AutoSDV. For manual installation or customization options, see the Manual Setup Guide.

System Requirements

Hardware Options

Choose one of the following platforms:

1. NVIDIA Jetson AGX Orin 64GB (Recommended for vehicle deployment)
2. Ubuntu 22.04 PC with NVIDIA GPU (For development and testing)
3. Docker Environment (For simulation and development) - See Docker Setup

Storage Requirements

• Minimum 256GB SSD (NVMe recommended for Jetson)
• At least 100GB free space for software installation

Installation Steps

Step 1: Prepare the Operating System

For NVIDIA Jetson AGX Orin

1. Download and install NVIDIA SDK Manager
2. Flash the Jetson with the following configuration:
   • JetPack SDK version: 6.0 (exactly - not 6.1 or 6.2)
   • Install all CUDA and TensorRT packages
   • Flash to external NVMe SSD (not internal eMMC)

For Ubuntu 22.04 PC

1. Install Ubuntu 22.04 LTS
2. Install NVIDIA drivers (version 550 or higher):

   sudo apt update
   sudo apt install nvidia-driver-550
   

3. Install CUDA 12.3 using the deb (network) installer
4. Install TensorRT 8.6 GA

Step 2: Clone AutoSDV Repository

cd ~
git clone https://github.com/NEWSLabNTU/AutoSDV.git
cd AutoSDV

Step 3: Run Automated Setup

The project includes an Ansible playbook that automatically configures your environment:

make setup

This script will:

• Install ROS 2 Humble
• Install Autoware 2025.02 binary release
• Install Blickfeld Scanner Library for Cube 1 LiDAR
• Download required Autoware artifacts
• Configure Cyclone DDS as default RMW
• Optimize system settings for real-time performance

Step 4: Install Additional Sensor Drivers

Some sensor drivers require manual installation:

ZED Camera SDK

1. Visit the ZED SDK 4.2 Release Page
2. Download and install:
   • For Jetson AGX Orin: ZED SDK for JetPack 6.0 GA
   • For Ubuntu 22.04 PC: ZED SDK for Ubuntu 22

# After downloading the installer
chmod +x ZED_SDK_*.run
sudo ./ZED_SDK_*.run

Seyond Robin-W LiDAR Driver (Optional)

If using the Robin-W LiDAR, install the Innovusion ROS driver:

• Contact Seyond/Innovusion to obtain the driver package
• Install the provided .deb package

Step 5: Build AutoSDV

cd ~/AutoSDV
make prepare  # Install ROS dependencies
make build    # Build the project

Step 6: Verify Installation

Test the installation by launching the system:

source install/setup.bash
ros2 launch autosdv_launch autosdv.launch.yaml

Next Steps

• Operating the Vehicle - Learn how to run AutoSDV
• Development Guide - Start developing with AutoSDV
• Docker Setup - Alternative Docker-based installation
• Manual Setup Guide - Manual installation and customization options

Troubleshooting

Build Errors with Autoware Dependencies

If you encounter missing Autoware package errors during build:

1. Ensure Autoware is properly installed:

   source /opt/autoware/autoware-env
   

2. Use the clean build script:

   ./clean_build.sh clean
   

CUDA/TensorRT Issues

Verify CUDA installation:

nvcc --version  # Should show 12.3
nvidia-smi      # Should show driver 550+

ROS 2 Environment Issues

Always source ROS 2 before building:

source /opt/ros/humble/setup.bash