Autoware.ai - Build package - colcon

edit

Hi I know it's been quite a while, any update on this?

I'm following this tutorial on LGSVL documentation https://www.svlsimulator.com/docs/tut... However after running colcon build --symlink-install and sourcing the file I'm still unable to find my package installed.

Basically, I followed the steps of creating the directory structure, setup.py and package.xml, and then ran colcon build to build the package. After that I sourced both local_setup.bash and local_setup.bash in install directory. Still not able to find it when using rospack list-names | grep lane_following or using rosrun lane_following drive.

autoware@meng:/home/autoware/shared_dir/autoware-data/ros2_ws$ colcon build --symlink-install
Starting >>> lane_following
Finished <<< lane_following [0.48s]          

Summary: 1 package finished [0.56s]
autoware@meng:/home/autoware/shared_dir/autoware-data/ros2_ws$ source install/local_setup.bash;source install/setup.bash 
autoware@meng:/home/autoware/shared_dir/autoware-data/ros2_ws$ rospack list-names | grep lane_following
autoware@meng:/home/autoware/shared_dir/autoware-data/ros2_ws$ rosrun lane_following drive
[rospack] Error: package 'lane_following' not found

Anyone knows how to do it correctly? Please help! Thanks in advance!

Hey, @Doug! Thanks for your question. If you are using the pre-built version of the Docker container (autoware/autoware:latest-melodic or autoware/autoware:latest-melodic-cuda), then I recommend doing the following:

1. Create a new workspace in the shared_dir folder on your machine (cd $HOME/shared_dir && mkdir my_workspace).
2. Create a src folder in the workspace.
3. Run the Docker container using the run.sh script in the docker repository.

In the Docker container, you should now see the ~/shared_dir/my_workspace/src folder. Inside this folder, run colcon create pkg <package_name> to create your new package. Once you've modified the package to your liking and added your code, go up to the root of the workspace (cd ~/shared_dir/my_workspace) and run colcon build. This should build your new package. To access the package, you'll need to "source" the workspace by running source /home/autoware/shared_dir/my_workspace/install/setup.bash --extend and you should then have access to your package through the normal ROS tools (roscd, rosrun, etc.).

Just a note: anything you do in the Docker container will be wiped out except data you store in the shared_dir folder, which will be available on your local machine in /home/<your_username>/shared_dir after you shut down the container.