@JWhitleyWork and others are working hard on Autoware.Auto autonomous driving with ros2 foxy to support F1TENTH and Indy Autonomous Challenge. Note that Autoware.Auto on Foxy is currently experimental.
At the moment to you’ll need to make a small modification to the installation instructions found at https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/installation.html to use the Foxy environment. Just change:
$ ade start --update --enter
$ ade --rc .aderc-amd64-foxy start --update --enter
This change uses a custom ADE configuration file (.aderc-amd64-foxy) which launches the Foxy-based environment. All other build steps should work just fine. A good example of how to run ROS2 nodes in the environment along with visualization is the 3D Perception Stack demo at https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/perception-stack.html using the PCAP file. Using the LGSVL simulator isn’t an option yet (awaiting Foxy-compatible plugin) but it will be within the next few weeks.
#autoware-auto-foxy channel on Autoware slack is where people are collaborating on this.