Autoware.Auto
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This article demonstrates how to launch AutowareAuto using ADE for arm64
systems and those wishing to develop using arm64
. This document will cover both native and non-native systems using ADE.
The following section describes the process required to launch the ade environment on an arm64
based system.
Ensure that ADE has been installed and the .adehome
file has been created. To complete this, follow the instructions in Install ADE then subsequently Setup ADE home and project checkout.
Enter the development directory and launch the ADE docker:
The following section describes the process to run multi-architecture systems using Docker, binfmt
, and qemu
.
Before alternative architectures can be run on a system, ensure that one can run ADE and AutowareAuto on the native architecture. Those with amd64
systems should follow the instructions in Installation with ADE and ensure all dependencies are properly installed. The following will assume that all ADE and AutowareAuto dependencies have been installed.
x86_64
. Check your system architecture using the following command: To check the systems which Docker is compatible with run the following command:
The output the following should look like this:
To check that your system is currently incompatible with arm64
systems is by running:
The output of this should error and indicate that libraries were not found.
First, install emulation and binary support libraries that will allow Docker to run multiple architectures. The libraries qemu
and qemu-user-static
provide emulation support allowing Docker to interpret alternative architectures on an x86_64
environment. The kernel module binfmt-support
allows for the registry and invocation of binary interpreters at the system administrator level.
Finally, invoke the qemu-user-static
docker image to install and link the interpreters and architectures for various architectures.
To check that the installation and registry was successful, run the following command and ensure that it exits cleanly:
Additional checks include running the buildx
option with Docker. This should output a larger variety of build types available to Docker.
Now that the set-up is complete, the arm64
ADE image can be launched with no issues