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CAWSR ROS2 Packages

This repository contains the following packages needed to run CAWSR:

  • autoware_carla_interface: A fork of autoware_carla_interface, the officially supported bridge to CARLA from Autoware. The fork is modified to enable synchronous ticking based on messages to a ROS2 service.
  • autoware_manager: A custom ROS2 Package to launch / shutdown Autoware instances using a topic.

Development with VSCode and Docker

To make development easy, we have provided a ROS2 Humble docker container. To begin, modify the USERNAME field in .devcontainer/devcontainer.json to match the local user.

{
 "name": "ROS 2 Development Container",
    "privileged": true,
    "remoteUser": "USERNAME",
    "build": {
        "dockerfile": "Dockerfile",
        "args": {
            "USERNAME": "USERNAME"
        }
    }
}

Next, install the Dev Containers extension for VSCode (here). Once installed, open the command palette CTRL+SHIFT+P and find the command Dev Containers: Reopen in container. This will build the docker container (this may take a while) and open a new VSCode instance within it.

Before developing, to stop commiting any changes to .devcontainers, run the following git command to remove it from the index tree,

git update-index --skip-worktree .devcontainers/