Building Autoware.Auto for QNX
Table of Contents
The following instructions go over the steps for building Autoware.Auto for QNX.
Overview of the build process
The build process will cross compile Autoware.Auto’s source code against a QNX SDP 7.1 installation and the necessary cross-compiled dependencies. This will generate binaries for the following CPU architectures:
aarch64le
x86_64
The generated files can then be transferred to the required target and used.
System requirements
HOST
Ubuntu 20.04
QNX SDP7.1
For instructions to install QNX SDP 7.1 please follow the link: http://www.qnx.com/developers/docs/7.1/index.html#com.qnx.doc.qnxsdp.quickstart/topic/about.html
A combined 30GB of RAM installed on system and swap space are required for the build (if multicore processing is enabled). Please see steps here to create or increase your swap file size: https://linuxize.com/post/how-to-add-swap-space-on-ubuntu-20-04/
TARGET
A QNX supported architecture running QNX SDP 7.1
System setup
Install ROS2 for QNX
You will need to add the ROS 2 installation for QNX to your system in order to build Autoware.Auto for QNX.
See instructions at https://ros2-qnx-documentation.readthedocs.io/en/latest/build_from_source.html and make sure to follow steps for the correct ROS 2 distribution (foxy, rolling, etc.).
Follow the provided steps to setup locale and install development & ROS tools in the instructions.
Install development tools
# The following three packages need to be built for host first in order to then cross compile Autoware.Auto for QNX
# Install CASADi for host
sudo apt update && sudo apt install -y gcc g++ gfortran git cmake liblapack-dev pkg-config coinor-libipopt-dev
cd ~/
git clone -b 3.5.5 https://github.com/casadi/casadi.git
cd casadi
mkdir build
cd build
cmake -DWITH_IPOPT=true ..
sudo make install -j$(nproc)
# Install HPMPC for host
cd ~/
git clone -b submodule https://github.com/cho3/hpmpc.git
cd hpmpc
mkdir build
cd build
cmake ..
sudo make install -j$(nproc)
# Install ACADO for host
sudo apt install -y gnuplot doxygen graphviz
cd ~/
git clone -b submodule https://github.com/cho3/acado.git
cd acado
mkdir build
cd build
cmake ..
sudo make install -j$(nproc)
Get Autoware.Auto code
Create a workspace and clone the Autoware.Auto source code repository.
Note: this step is currently empty and will be updated once QNX code is merged with the Autoware Foundation’s Gitlab repository.
Building steps
1- Clone AutowareAuto release 1.0.0 using the given commit SHA.
cd ~/
git clone https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto.git
cd AutowareAuto
git checkout 42d2d6976d402ed4c18d514d3690a44d76e0d274
2- From within the directory ~/AutowareAuto, clone the AutowareAuto source repository and then merge them with your Autoware QNX directory.
cd ~/AutowareAuto
git clone https://gitlab.com/qnx/frameworks/autowareauto/autowareauto_qnx.git /tmp/autoware
rsync -haz /tmp/autoware/* .
rm -rf /tmp/autoware/
3- Patch AutowareAuto’s source code using the given patches
git apply --ignore-whitespace AutowareAuto-release1.0.0.patch
cp acado.patch src/tools/ament_acado
4- From within the directory ~/AutowareAuto, import extra dependencies.
mkdir -p src/qnx_deps
vcs import src/qnx_deps < qnx_deps.repos
mkdir -p src/external
vcs import src/external < external.repos
5- Apply a patch required to lanelet2 code which was imported in the previous step
cd src/external/lanelet2
git apply ../../../lanelet2.patch
cd -
6- Disable some optional packages from getting built by adding COLCON_IGNORE.
touch src/drivers/ssc_interface/COLCON_IGNORE
touch src/tools/visualization/COLCON_IGNORE
touch src/drivers/socketcan/COLCON_IGNORE
touch src/external/lanelet2/lanelet2_python/COLCON_IGNORE
touch src/external/lanelet2/lanelet2_examples/COLCON_IGNORE
7- Run a script to automatically embed <build_depend> in the packages that depend on the packages in qnx_deps.
./patch-pkgxml.py --path=src
8- Set the CPU environment variable according to your target architecture.
export CPU=x86_64
# or
export CPU=aarch64
# or
unset CPU # Build for all supported architectures
9- Source qnxsdp-env.sh to set environment variables necessary for building.
. ~/qnx710/qnxsdp-env.sh
Optional: Add this command to the end of ~/.bashrc if you would like the environment to be set every time.
10- Build AutowareAuto for QNX.
Note: If AutowareAuto needs to be rebuilt, run ./clean.sh
./build-autoware.sh