https://github.com/tier4/autoware_nova_carter
Integration of NVIDIA Nova Carter with Autoware
https://github.com/tier4/autoware_nova_carter
amr autonomous-driving autoware cuda nvidia nvidia-jetson ros2
Last synced: 4 months ago
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Integration of NVIDIA Nova Carter with Autoware
- Host: GitHub
- URL: https://github.com/tier4/autoware_nova_carter
- Owner: tier4
- License: apache-2.0
- Created: 2025-01-20T06:23:52.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2025-11-26T08:27:53.000Z (7 months ago)
- Last Synced: 2025-11-29T08:12:09.515Z (7 months ago)
- Topics: amr, autonomous-driving, autoware, cuda, nvidia, nvidia-jetson, ros2
- Language: C++
- Homepage:
- Size: 46.9 KB
- Stars: 27
- Watchers: 37
- Forks: 3
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# autoware_nova_carter
Integration of NVIDIA Nova Carter with Autoware
## Installation
* Clone the repository
```bash
git clone https://github.com/tier4/autoware_nova_carter.git
vcs import src < autoware_nova_carter/build_depends.repos
```
* Build Docker Image
```bash
docker build -t autoware_nova_carter -f ./docker/Dockerfile .
```
## Build Autoware Launch
```bash
git clone https://github.com/tier4/autoware_launch -b nova-carter-integration src/autoware_launch
./docker_run_autoware.sh
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --continue-on-error --packages-select autoware_launch autoware_nova_carter_description
```
## Run Docker Container
TERMINAL 1
```bash
./docker_sensing_vehicle.sh
source /autoware_nova_carter/install/setup.bash
ros2 launch autoware_nova_carter_sensing sensing.launch.xml
```
TERMINAL 2
```bash
docker exec -it vehicle_sensing /bin/bash
ros2 launch autoware_nova_carter_vehicle vehicle.launch.xml
```
TERMINAL 3
```
./docker_run_autoware.sh
source /autoware_nova_carter/install/setup.bash
ros2 launch autoware_launch autoware.launch.xml map_path:=/autoware_map/shinagawa_2F vehicle_model:=autoware_nova_carter sensor_model:=sample_sensor_kit data_path:=/autoware_data
```
HOST Machine
(You need to build autoware first)
```bash
source $HOME/autoware/install/setup.bash
rviz2 -d src/launcher/autoware_launch/autoware_launch/rviz/autoware.rviz
```