This repository provides additional packages and modifications for running Autoware on the Pixkit 2.0 enquipped with a Velodyne VLP LiDAR (other type of lidar sensors will be supported later).
It is designed to extend Autoware’s functionality and adapt it to Pixkit-based vehicle systems.
This repository contains:
- Custom drivers and launch files for Pixkit integration
- Modified configuration and interface nodes for Autoware
- Example setup for building a Pixkit-compatible Autoware workspace
Before using this package, make sure you have:
- Ubuntu 22.04
- ROS 2 Humble
- Proper build tools (
colcon,vcstool, etc.) - Internet access for downloading dependencies
Follow the official Autoware installation guide:
git clone https://github.com/autowarefoundation/autoware.git
cd autoware
git checkout tags/0.45.1Then follow the instructions as described in the Autoware User Guide.
After fetching the src files, go to step 2.
vcs import src < autoware.reposClone this repository into a separate folder:
Copy and replace the contents from this repository into your Autoware workspace:
cp -r your_path/Pixkit_Autoware/* your_path/autoware/This will overwrite existing files as needed to enable Pixkit support.
From the root of your Autoware workspace:
Follow the build instructions as described in the Autoware User Guide.
After successful build, source the workspace:
source install/setup.bashModify your file path and map path in autoware_velodyne_kashiwa.sh
Then you can run & test Pixkit Autoware by running the .sh file.
- This repository replaces some Autoware core packages with Pixkit-specific modifications.
Make sure you are using the correct release version (0.45.1) before applying. - If you wish to restore original Autoware files, simply reclone the Autoware repository and reimport its sources.
This project follows the same license as the main Autoware repository, unless otherwise stated.
Pixkit Autoware Integration
Maintained by tlab-wide
For inquiries or issues, please open a GitHub issue in this repository.