CUAUV Software

This is the repo used by the software team of Cornell University Autonomous Vehicle (CUAUV). Our website is http://cuauv.org/.

Installing and Running

Docker (environment and dependencies)

This software stack can be run via docker. The necessary dependencies are:

1. docker (install with apt-get - see this tutorial
2. docker-compose (install with sudo pip3)

To build the docker container run this command in the top level of this repo:

docker build . -t cuauv

You may be able to speed up first build times by using cache layers from our CI build server. To do this, you will have to first have Zander give your hub.docker.com username access to the private image, pull the image and tell Docker to use the pulled image as a cache source when building.

docker pull lezed1/cuauv && docker build . -t cuauv --cache-from lezed1/cuauv

Run the command below to then run that docker container using docker-compose in the top level of this repo. This will mount the repo into the docker container (so changes to files in the repo inside of the container and outside will be immediately reflected in the other environment) and attach a zsh shell from the container.

docker-compose up

Software Stack (configuring and running)

The built docker container will not have compiled AUV software in it. To build the software stack first configure it by running:

cs && ./configure.py

Then run ninja to build the stack by running build from any directory (build is aliased to a shell command which will run ninja with the appropriate settings).

Docker troubleshooting

Cannot connect to docker daemon?

This is because you can only connect to Docker with sudo privileges. To get around this, you can add yourself to the docker group with the instructions here