Autoware 1.12 is now available for general use.
To install it from source, follow the new building from source instructions.
Please note that with this release, Autoware has changed its repository structure and its install method.
Old install instructions will not work.
Docker images are available at Dockerhub:
https://hub.docker.com/r/autoware/autoware/tags
https://hub.docker.com/r/autoware/amd64/tags
Once you have Autoware installed, you can try it out using some recorded data by following this guide.
This is a list of the major changes in Autoware 1.12:
- New MPC waypoints follower for more accurate path following
- New Enhanced Kalman Filter (EKF)-based localiser
- Improved decision maker state machine, including support for better stop states and battery charging
- Convex hull prediction
- Support for ROS Melodic Morenia (but see the known issues, below)
- Shift to GitLab as the host of the code
- Split the repositories along functionality lines to improve CI times
- Shift to using
vcsto install Autoware - Numerous bug fixes and smaller changes; see the full list of changes below
There are some known issues in 1.12.
- The Autoware Runtime Manager does not function correctly in Ubuntu 18.04
- A race condition in
decision_makerfor loading waypoint information may cause stoplines to be ignored
As always, the current reported issues can be viewed on the issue tracker and the current
proposed bug fixes and new features can be viewed on the merge request tracker.
Full list of changes
- MPC waypoints follower (#2252)
- Fix setting files for rosbag demo (#2249)
- Modify stop states (#2255)
- Fix autoware launcher readme. (#2253)
- Split drive state (#2251)
- melodic support (#2032)
- add battery charging state (#2256)
- modify mssion state for fms (#2257)
- add install to the resources and plugin.xml (#2287) (Fixes #2147)
- Add tests around Openplanner utilities (#2262)
- Support full functions of g30esli_interface (#2139)
- Update Docker cross-build Image (#2270)
- add predicting convex hull (#2254)
- Fix Segmentation fault at velocity_set by asynchronous base_waypoints and closest_waypoint (#2152) (#2272)
- Fix gazebo not found in colcon_release_cross synquacer (#2268)
- fix behavior_state in imm_ukf_pda_track (#2240)
- runtime_manager: change params definition from int to float (#2266)
- Fix don’t show run time in runtimemanager #2229 (#2235)
- ekf_localizer (#2247)
- [fix]: make sure cost is set with expanding_polygon_size (#2245)
- Remove points2costmap (#2248)
- fix install directive for waypoint extractor (#2219)
- Adding install directive for node (#2195)
- Fix bug that limits the data rate of DataRateCheckerPlugin (#2205)
- Updated paths in quick_start launch files and parameters in default.rviz (#2206)
- Remove enablePlannerDynamicSwitch (#1919)
- Add .repos file for setting up an Autoware workspace using vcs (#2161)
- Fix: empty orientation when output frame is different than input
- Add missing runtime dependencies for Autoware Runtime Manager
- Add tf_local.launch for TF mapping for NDT-produced maps
- Add default rviz configuration file
- YMC package supports aarch64 again
- Updating Gazebo symlinks for worlds and models
- Add sample vehicle tuning parameters
- Fix vehicle_status.angle definition in ymc
- Fix bug: euclidean_cluster not transforming convex hull object
- change default value of save current_velocity in waypoint_saver
- remove unused include in ekf_localizer.h
- add input topic names for EKF in runtime manager
- change gui default parameter pure pursuit
- runtime_manager: change default lateral acceleration limit in twist_filter
- improve imm_ukf_pda user interface in run time manager
- vehicle_gazebo_info_publisher: change vehicle_status angle unit from deg to rad
- add input topic name in ekf_launch file
- Fix the condition to end avoidance
- Fix closest waypoint index for crossing waypoints
- wf_simulator: change /vehicle_status/angle definition from handle angle [deg] to tire angle [rad]
- Fix vehicle_status.angle definition
- mpc_follower: change /vehicle_status/angle from handle angle [deg] to tire angle [rad]
- twist_generator : change vehicle_status angle definition from handle angle [deg] to tire angle [rad]
- remove steering_gear_ratio param in runtime manager
- Modify to publish /stopline_waypoint insted of /obstacle_waypoint in Stopline state
- points_concat_filter: fix transform PointCloud time_stamp
- runtime manager add param of lane_select minimum_dt
- lane_select: parameterize minimum_dt
- Add examples package with rosbag demo instructions
- Add convenience run scripts
- VehicleStatus.msg: add comments on speed and angle
- CMake. Check for CUDA 10.0 on build flags
- Fix install path for lidar_apollo_cnn_seg_detect
- Feature/costmap generator improve runtimemanager ui
- CUDA. Update lidar_euclidean_cluster_detect for NVIDIA Volta and Turing archictecture