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# Autoware Safety Island Demo
A repository providing the elements to build the different components of the Autoware on Safety Island demo.
## Dependencies
Use `git submodule init` and `git submodule update` to check out the external git subdirectories.
A suitable environment is needed to build the Autoware packages, for example: https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/installation-ade.html#installation-and-development-install-ade.
`.aderc-amd64` and `.aderc-arm64` are provided for convenience when using ade, with the Autoware docker image set to the same commit as the submodule.
Install Zephyr's dependencies:
```bash
wget https://apt.kitware.com/kitware-archive.sh
sudo bash kitware-archive.sh
sudo apt install --no-install-recommends git cmake ninja-build gperf \
ccache dfu-util device-tree-compiler wget \
python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
make gcc libsdl2-dev
pip3 install --user -U west
echo 'export PATH=~/.local/bin:"$PATH"' >> ~/.bashrc
source ~/.bashrc
west init .
west update
west zephyr-export
pip3 install --user -r zephyr/scripts/requirements.txt
```
(from https://docs.zephyrproject.org/latest/getting_started/index.html#install-dependencies)
The Zephyr SDK is required to build the Zephyr app for non-native_posix targets: https://docs.zephyrproject.org/latest/getting_started/index.html#install-a-toolchain (tested with 0.13.1).
## Building
Use `build.sh` to build all components.
Follow the instructions at https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/lgsvl.html to launch and use the simulator.
### Actuation demo
Run `source install/setup.bash` and `ros2 launch actuation_demos recordreplay_planner_demo.launch.py` to launch the Autoware pipeline of the actuation demo.
In a separate terminal, run `ros2 action send_goal /planning/replaytrajectory autoware_auto_planning_msgs/action/ReplayTrajectory "{replay_path: "waypoints.csv"}"` to start playing the recorded waypoints.