Integrated open-source software for urban autonomous driving. The following functions are supported:

• 3D Localization
• 3D Mapping
• Path Planning
• Path Following
• Accel/Brake/Steering Control
• Data Logging
• Car/Pedestrian/Object Detection
• Traffic Signal Detection
• Traffic Light Recognition
• Lane Detection
• Object Tracking
• Sensor Calibration
• Sensor Fusion
• Cloud-oriented Maps
• Connected Automation
• Smartphone Navigation
• Software Simulation
• Virtual Reality

Autoware is protected by BSD License. Please use it on your own responsibility. For safe use, we provide a ROSBAG-based simulation method for those who do not own real autonomous vehicles. In case that you use Autoware with real autonomous vehicles, please formulate safety measures and assessment of risk before field testing.

• New BSD License
  • See LICENSE

• of CPU cores: 8

• RAM size: 32GB
• Storage size: 30GB

• ROS indigo(Ubuntu 14.04) or ROS jade(Ubuntu 15.04)
• OpenCV 2.4.10 or higher NOTE: As of Octber 2016, Autoware does not support OpenCV 3 or higher. Please use OpenCV 2
• Qt 5.2.1 or higher
• CUDA(Optional)
• FlyCapture2(optional)
• Armadillo

Please use checkout revision before 2015/OCT/21 if you use Autoware on ROS hydro or Ubuntu 13.04, 13.10.

% sudo apt-get install ros-indigo-desktop-full ros-indigo-nmea-msgs ros-indigo-nmea-navsat-driver ros-indigo-sound-play ros-indigo-jsk-visualization
% sudo apt-get install libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev

NOTE: Please do not install ros-indigo-velodyne-pointcloud package. Please uninstall it if you already installed.

% sudo apt-get install ros-jade-desktop-full ros-jade-nmea-msgs ros-jade-nmea-navsat-driver ros-jade-sound-play
% sudo apt-get install libnlopt-dev freeglut3-dev qt5-default libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev

NOTE: jsk_visualization is not provided in Ubuntu15.04 Jade. Please download it from the following repository and build it by yourself.
https://github.com/jsk-ros-pkg/jsk_visualization

$ cd $HOME
$ git clone https://github.com/CPFL/Autoware.git
$ cd ~/Autoware/ros/src
$ catkin_init_workspace
$ cd ../
$ ./catkin_make_release

###Caffe based object detectors CV based detectors RCNN and SSD nodes are not automatically built.

To build these nodes please follow the respective node's README RCNN SSD

$ cd $HOME/Autoware/ros
$ ./run

Be careful for changing files under ros/src/sensing/drivers/lidar/packages/velodyne. There is subtree. Original repository is here. If you change those files from this repository, you must use git subtree push. (Please never change and push code if you don't understand git subtree well).

See Autoware/docs. As of Aug 2015, we provide only Japanese documents. English documents will be added shortly.

• ndt_localizer
• icp_localizer

• lidar_tracker
• cv_tracker
• road_wizard

• lane_planner
• way_planner
• freespace_planner

• astar_planner
• lattice_planner
• dp_planner

• waypoint_follower
• waypoint_maker

1. S. Kato, E. Takeuchi, Y. Ishiguro, Y. Ninomiya, K. Takeda, and T. Hamada. "An Open Approach to Autonomous Vehicles", IEEE Micro, Vol. 35, No. 6, pp. 60-69, 2015.

3D map of Moriyama in Nagoya

ROSBAG data of Moriyama driving

ROSBAG data of Nagoya driving

Autoware Developers ([email protected])

To subscribe the Autoware Developers ML,

• If you have a Google account, go to https://groups.google.com/d/forum/autoware, and click the Apply to Join Group button.
• If you don't have a Google account, send an email to [email protected].