Autoware humble doesn't Build without CUDA

[Omar-Mabrouk-9]

I am trying to build autoware without cuda, but still have problems.
my system (Ubuntu 22, ROS 2 Humble, Autoware.universe)
I followed the instructions on (https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/)
I dont have Nvidia on my PC so I used (./setup-dev-env.sh # --no-nvidia --no-cuda-drivers)
but when I run (colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release)
I get error similar to these:

--- stderr: autoware_external_velocity_limit_selector
CMake Error at CMakeLists.txt:7 (generate_parameter_library):
Unknown CMake command "generate_parameter_library".

Failed <<< autoware_external_velocity_limit_selector [0.80s, exited with code 1]
--- stderr: tier4_api_msgs
CMake Error at /home/omar/ros2_humble/install/rosidl_cmake/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:162 (message):
rosidl_generate_interfaces() the passed dependency 'geographic_msgs' has
not been found before using find_package()
Call Stack (most recent call first):
CMakeLists.txt:17 (rosidl_generate_interfaces)

Failed <<< tier4_api_msgs [0.91s, exited with code 1]

Summary: 96 packages finished [11.6s]
34 packages failed: autoware_adapi_v1_msgs autoware_component_interface_tools autoware_external_cmd_selector autoware_external_velocity_limit_selector autoware_image_transport_decompressor autoware_lanelet2_extension autoware_livox_tag_filter autoware_osqp_interface autoware_point_types autoware_processing_time_checker autoware_qp_interface autoware_radar_scan_to_pointcloud2 autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_tensorrt_common autoware_trajectory autoware_universe_utils bluetooth_monitor boost_io_context duplicated_node_checker eagleye_can_velocity_converter eagleye_coordinate eagleye_geo_pose_fusion lanelet2_extension nebula_decoders pointcloud_to_laserscan ros2_socketcan tamagawa_imu_driver tier4_api_msgs tier4_map_msgs topic_state_monitor tvm_utility velodyne_monitor yabloc_monitor
35 packages had stderr output: autoware_adapi_v1_msgs autoware_carla_interface autoware_component_interface_tools autoware_external_cmd_selector autoware_external_velocity_limit_selector autoware_image_transport_decompressor autoware_lanelet2_extension autoware_livox_tag_filter autoware_osqp_interface autoware_point_types autoware_processing_time_checker autoware_qp_interface autoware_radar_scan_to_pointcloud2 autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_tensorrt_common autoware_trajectory autoware_universe_utils bluetooth_monitor boost_io_context duplicated_node_checker eagleye_can_velocity_converter eagleye_coordinate eagleye_geo_pose_fusion lanelet2_extension nebula_decoders pointcloud_to_laserscan ros2_socketcan tamagawa_imu_driver tier4_api_msgs tier4_map_msgs topic_state_monitor tvm_utility velodyne_monitor yabloc_monitor
217 packages not processed

[xmfcx]

Unknown CMake command "generate_parameter_library".

generate_parameter_library is a ROS 2 package: https://index.ros.org/p/generate_parameter_library/

Can you make sure you've ran these steps from https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/#how-to-set-up-a-workspace ?

source /opt/ros/humble/setup.bash
# Make sure all previously installed ros-$ROS_DISTRO-* packages are upgraded to their latest version
sudo apt update && sudo apt upgrade
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

I also have a laptop without an NVIDIA gpu, I was able to compile and run Autoware on it 2 weeks ago.

https://github.com/autowarefoundation/autoware.universe/actions/runs/11769833183/job/32781406798 11 hours ago, it was built successfully without CUDA as well.

[Omar-Mabrouk-9]

Thank you for your answer,
Yes, I followed these exact steps but got the same error on Colcon build

I used (git clone https://github.com/autowarefoundation/autoware.git)
not (https://github.com/autowarefoundation/autoware.universe.git)
would that be the cause?

can you give me more details on the steps you followed for the laptop.
Thank you for your time.

Attached is my whole script from start till error.
Untitled Document 1.tar.gz

[xmfcx]

I follow those steps too. Your problem is not related to CUDA.

Maybe you have some older build artifacts left in there.

To make sure, let's do:

cd /home/omar/Desktop/Omar/Autoware/autoware
rm -rf src/* build log install
git pull
vcs import src < autoware.repos
colcon build --symlink-install --event-handlers=console_cohesion+ --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

To refresh the workspace and compile again.

[Omar-Mabrouk-9]

I tried to remove everything and try again but still got error on build.
I also followed the steps you suggested at the end of the file, but still same problem.

please find attached my trial:
Untitled Document 1.tar.gz

[xmfcx]

Can you run source /opt/ros/humble/setup.bash and then run colcon build --symlink-install --event-handlers=console_cohesion+ --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo ?

In your last error logs, you haven't sourced ROS 2.

[Omar-Mabrouk-9]

Still not working

Untitled Document 1.tar.gz

[xmfcx]

Do not use sudo before colcon build! That's why it runs from root and cannot find anything on this instance.

[xmfcx]

rm -rf build log install
source /opt/ros/humble/setup.bash
colcon build --symlink-install --event-handlers=console_cohesion+ --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

run these in order, without sudo

[xmfcx]

@Omar-Mabrouk-9 has your problem been solved? If yes, could you mark the answer? Thanks.

[xmfcx]

@Omar-Mabrouk-9 has your problem been solved? If yes, could you mark the answer? Thanks.

[liuXinGangChina]

take it easy Omar @Omar-Mabrouk-9

1. I believe you can get a positive feedback if you follow Mr. Fatih's suggestion above.
2. like i told every new autoware developer， you better try using AWF offcial docker to compile and run the code，cause AW evolutes everyday along with the change of build-env， try this link

happy hacking!