System Requirements

Before installation, please make sure that your machine meets the following requirements in order to run the simulation correctly:

System Requirements
OS	Ubuntu 22.04 / Windows 10 or 11 (64 bit)
CPU	6 cores and 12 thread or higher
GPU	Nvidia GPU with at least 8GB of memory (recommended RTX2080Ti or higher)

Info

System requirements may vary depending on simulation contents which may change as the simulator develops.

Linux

Follow these steps to get your Ubuntu system ready to run AWSIM with Autoware.

1. Localhost settings

The simulation is based on the appropriate network setting, which allows for trouble-free communication of the AWSIM simulation with the Autoware software.

To apply required localhost settings please add the following lines to ~/.bashrc file:

export ROS_LOCALHOST_ONLY=1
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

if [ ! -e /tmp/cycloneDDS_configured ]; then
    sudo sysctl -w net.core.rmem_max=2147483647
    sudo ip link set lo multicast on
    touch /tmp/cycloneDDS_configured
fi

Warning

If you are having trouble with network connection consider replacing export ROS_LOCALHOST_ONLY=1 with export ROS_DOMAIN_ID=XX where XX is a unique number in your network between 0 and 101 inclusive.

For more information about ROS_DOMAIN_ID head to official documentation.

Info

Adding these lines to your .bashrc file will require you to supply your password first time you open a terminal after each PC restart.

2. Install Git

To download AWSIM from a remote repository you need to install git.

Install it by executing the following commands in the terminal:

sudo apt update
sudo apt install git

3. Install Nvidia GPU driver

To run AWSIM on Ubuntu, it is required to install Nvidia 515.43.04 drivers or higher.

To check what version you currently have installed, run the nvidia-smi command in the terminal.

Example

The message displayed in the example means that the drivers are in version 525.105.17 and work properly: nvidia-smi

If you do not have drivers installed or you need to update them, select one of the options below and follow it.

Warning

After installing the graphics driver, a system restart is required.

3.1 App option

You can open Additional Drivers application and from there select one driver and install it.

To verify that the drivers have been installed correctly, run the command nvidia-smi again and check.

3.2 Command line option

Other possibility is to install drivers from command line.

Add Nvidia driver to apt repository:

sudo add-apt-repository ppa:graphics-drivers/ppa
sudo apt update

Install the recommended version of the driver:
```
sudo ubuntu-drivers autoinstall
```

To verify that the drivers have been installed correctly, run the command nvidia-smi again and check.

4. Install Vulkan Graphics Library

AWSIM uses Vulkan Graphics Library, to install it run the following commands:

Update the environment.
```
sudo apt update
```
Install Vulkan library
```
sudo apt install libvulkan1
```

5. Installing Autoware

AWSIM has been developed to work with Autoware, to install Autoware follow these steps:

Warning

The AWSIM-compatible version of Autoware is developed for the ROS2 Humble distribution

Clone Autoware and move to the directory.

git clone https://github.com/autowarefoundation/autoware.git
cd autoware

Switch branch to awsim-stable.
```
git checkout awsim-stable
```
Configure the environment. (Skip if Autoware environment has been configured before)
```
./setup-dev-env.sh
```
Create the src directory and clone external dependent repositories into it.
```
mkdir src
vcs import src < autoware.repos
```

Install dependent ROS packages.

source /opt/ros/humble/setup.bash
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

Build the workspace.

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-w"

Info

More details related to the Autoware installation process can be found here: Autoware Installation

Windows

Follow these steps to get your Windows system ready to run AWSIM with Autoware.