Software Installation

Prepare the Onboard Computer

NVIDIA Jetson AGX Orin 64G is the major platform for the onboard computer. Flash the Jetson box using SDK manager with the following configuration.

  • JetPack SDK with exact version 6.0.

    Note that newer releases such as 6.1 and 6.2 are not compatible.

  • Install all CUDA and TensorRT packages in the SDK manager window.

  • Flash the system on the external NVMe SSD disk with size at least 256GB .

    It's not recommended to boot on the builtin EMMC due to limited capacity.

Alternative: Ubuntu 22.04

The fresh Ubuntu 22.04 operating system with the following dependencies is preferable.

  • Visit the CUDA Archive and install CUDA 12.3 with "deb (network)" installer type.

  • NVIDIA driver 550 or above is recommended.

  • Proceed the download page and install TensorRT 8.6 GA.

Alternative: Docker Environment

If you don't have access to an NVIDIA Jetson AGX Orin or prefer a containerized approach, you can use our Docker environment. See the Docker Environment Setup page for detailed instructions.

Step 1: Run Ansible Automated Setup Script

The project ships an Ansible playbook that configures the environment automatically. The following tasks are done during the process.

  • Install ROS Humble.
  • Install Autoware 2025.02 binary release and its dependencies.
  • Install Blickfeld Scanner Lib required by the Blickfeld Cube 1 LiDAR.
  • Download artifacts for Autoware.
  • Set default RMW library to Cyclone DDS and optimize system-wide settings.
make setup

Step 2: Install Sensor Drivers

Installation for following packages still need manual manipulation.

  • Visit the release archive and install ZED SDK 4.2

  • Install the innovusion ROS driver for Seyond Robin-W LiDAR. You may contact the LiDAR vendor to obtain the Debian package.

Step 1: Install ROS Humble

Visit this guide and install ROS Humble. Please install both ros-humble-desktop and ros-dev-tools.

Step 2: Install Sensor Drivers and SDKs

  • Blickfeld Scanner Library 2.20.6

    • NVIDIA AGX Orin users Install the amd64 release.
    • PC/laptop users install the amd64 release.

  • Visit the release archive and install ZED SDK 4.2

  • Install the innovusion ROS driver for Seyond Robin-W LiDAR. You may contact the LiDAR vendor to obtain the Debian package.

Step 3: Install Autoware

Method 1: Debian Binary Release

Check Autoware 2025.02 binary release. It performs automated system configuration.

After the installation is complete, activate the development environment.

source /opt/autoware/autoware-env

Method 2: Build from Source

Visit the official tutorial and build the Autoware step by step.

After the installation is complete, activate the development environment.

source ~/autoware/install/setup.bash

Build the AutoSDV Project

Download the AutoSDV source repository.

git clone -b 2025.02 --recursive https://github.com/NEWSLabNTU/AutoSDV.git
cd AutoSDV

Assume that Autoware development environment is activated. Build the project in the following steps.

make prepare
make build

After the project is successfully built, activate the development environment.

source install/setup.sh