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If you are not interested in GMSL camera, you can use generic docker image or source build.

If you are interested in GMSL camera, I'm not familiar with autoware_driveworks_gmsl_interface package. https://github.com/autowarefoundation/autoware/tree/623c51c8dc29f2d9d66ed6cbd39bcfb1d45183b7/ros/src/driveworks/packages/autoware_driveworks_gmsl_interface