Docker images for Autoware

We have two types of Docker image: development and prebuilt.

1. The development image enables you to develop Autoware without setting up the local development environment.
2. The prebuilt image contains executables and enables you to try out Autoware quickly.
   • Note that the prebuilt image is not designed for deployment on a real vehicle!

Note: Before proceeding, confirm and agree with the NVIDIA Deep Learning Container license. By pulling and using the Autoware Universe images, you accept the terms and conditions of the license.

Prerequisites

• Docker
• rocker
  • We use rocker to enable GUI applications such as rviz and rqt on Docker Containers.
  • Refer to here for more details.

The setup script will install these dependencies through the following roles.

• Docker
• rocker

Usage

Development image

docker run --rm -it \
  -v {path_to_your_workspace}:/autoware \
  ghcr.io/autowarefoundation/autoware-universe:latest

To run with rocker:

If you use rocker<=0.2.9, add an option of --env NVIDIA_DRIVER_CAPABILITIES="" or --env NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics to avoid the CUDA environment error. For more details, see this issue.

rocker --nvidia --x11 --user \
 --volume {path_to_your_workspace} \
 -- ghcr.io/autowarefoundation/autoware-universe:latest

If you locate your workspace under your home directory, you can use the --home option instead:

rocker --nvidia --x11 --user --home \
  -- ghcr.io/autowarefoundation/autoware-universe:latest

To use a customized .bashrc for the container:

rocker --nvidia --x11 --user --home \
  --volume $HOME/.bashrc.container:$HOME/.bashrc \
  -- ghcr.io/autowarefoundation/autoware-universe:latest

Prebuilt image

docker run --rm -it \
  ghcr.io/autowarefoundation/autoware-universe:latest-prebuilt

To run with rocker:

rocker --nvidia --x11 --user \
  --volume {path_to_your_workspace} \
  -- ghcr.io/autowarefoundation/autoware-universe:latest-prebuilt

If you intend to use pre-existing data such as maps or Rosbags, modify the --volume options shown below.

rocker --nvidia --x11 --user \
  --volume {path_to_your_workspace} \
  --volume {path_to_your_map_data} \
  --volume {path_to_your_log_data} \
  -- ghcr.io/autowarefoundation/autoware-universe:latest-prebuilt

Building Docker images on your local machine

If you want to build these images locally for development purposes, run the following command:

cd autoware/
./docker/build.sh

To build without CUDA, use the --no-cuda option:

./docker/build.sh --no-cuda

To specify the platform, use the --platform option:

./docker/build.sh --platform linux/amd64
./docker/build.sh --platform linux/arm64

Tips

Precautions for not using rocker

If either image is run without rocker, then root privileges will be used. This can affect your local environment as below:

$ docker run --rm -it -v {path_to_your_workspace}:/autoware ghcr.io/autowarefoundation/autoware-universe:latest
# colcon build
# exit
$ rm build/COLCON_IGNORE
rm: remove write-protected regular empty file 'build/COLCON_IGNORE'? y
rm: cannot remove 'build/COLCON_IGNORE': Permission denied

To prevent this error occurring when rocker is not used, there are two suggested methods:

1. Prepare a dedicated workspace for the docker image.

2. Use Visual Studio Code's Remote - Containers extension.

   To use the extension, the following settings can be used to create a user account in a similar way to `rocker.
   Refer to this document for more details.

   // .devcontainer/devcontainer.json
   {
     "name": "Autoware",
     "build": {
       "dockerfile": "Dockerfile"
     },
     "remoteUser": "autoware",
     "settings": {
       "terminal.integrated.defaultProfile.linux": "bash"
     }
   }

   # .devcontainer/Dockerfile
   FROM ghcr.io/autowarefoundation/autoware-universe:latest
   
   ARG USERNAME=autoware
   ARG USER_UID=1000
   ARG USER_GID=$USER_UID
   
   RUN groupadd --gid $USER_GID $USERNAME \
     && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
     && apt-get update \
     && apt-get install -y sudo \
     && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
     && chmod 0440 /etc/sudoers.d/$USERNAME
   

Using Docker images other than latest

There are also images versioned based on the date or release tag.
Use them when you need a fixed version of the image.

The list of versions can be found here.