update documents

Signed-off-by: Kenji Miyake <[email protected]>

docs/installation/autoware/.pages

@@ -1,4 +1,4 @@
 nav:
   - index.md
-  - local-installation.md
   - docker-installation.md
+  - source-installation.md

docs/installation/autoware/docker-installation.md

@@ -1,5 +1,135 @@
 # Docker installation
 
-!!! warning
+!!! info
 
-    Under Construction
+    Since this page explains Docker-specific information, it is recommended to see [Source installation](./source-installation.md) as well if you need detailed information.
+
+## Prerequisites
+
+- [Git](https://git-scm.com/)
+
+## How to set up a development environment
+
+1. Clone `autowarefoundation/autoware` and move to the directory.
+
+   ```bash
+   git clone https://github.com/autowarefoundation/autoware.git
+   ```
+
+2. Install the dependencies.
+
+   ```bash
+   ./setup-dev-env.sh docker
+   ```
+
+## How to set up a workspace
+
+1. Launch a Docker container
+
+   ```bash
+   rocker --nvidia --x11 --user \
+     --volume $HOME/autoware \
+     -- ghcr.io/autowarefoundation/autoware-universe:latest
+   ```
+
+   See [here](https://github.com/autowarefoundation/autoware/tree/main/docker/README.md) for more advanced usage.
+
+   After that, move to the workspace in the container:
+
+   ```bash
+   cd autoware
+   ```
+
+2. Create the `src` directory and clone repositories into it.
+
+   ```bash
+   mkdir src
+   vcs import src < autoware.repos
+   ```
+
+3. Build the workspace.
+
+   ```bash
+   colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+   ```
+
+## How to update a workspace
+
+1. Update the Docker image.
+
+   ```bash
+   docker pull ghcr.io/autowarefoundation/autoware-universe:latest
+   rocker --nvidia --x11 --user \
+     --volume $HOME/autoware \
+     -- ghcr.io/autowarefoundation/autoware-universe:latest
+   ```
+
+2. Update the `.repos` file.
+
+   ```bash
+   cd autoware
+   git pull
+   ```
+
+3. Update the repositories.
+
+   ```bash
+   vcs import src < autoware.repos
+   vcs pull
+   ```
+
+4. Build the workspace.
+
+   ```bash
+   colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+   ```
+
+## Troubleshooting
+
+Here are solutions for a few specific errors:
+
+### cuda error: forward compatibility was attempted on non supported hw
+
+When starting Docker with GPU support enabled for NVIDIA graphics, you may sometimes receive the following error:
+
+```bash
+docker: Error response from daemon: OCI runtime create failed: container_linux.go:349: starting container process caused "process_linux.go:449: container init caused \"process_linux.go:432: running prestart hook 0 caused \\\"error running hook: exit status 1, stdout: , stderr: nvidia-container-cli: initialization error: cuda error: forward compatibility was attempted on non supported hw\\\\n\\\"\"": unknown.
+ERROR: Command return non-zero exit code (see above): 125
+```
+
+This usually indicates that a new NVIDIA graphics driver has been installed (usually via `apt`) but the system has not yet been restarted. A similar message may appear if the graphics driver is not available, for example because of resuming after suspend.
+
+To fix this, restart your system after installing the new NVIDIA driver.
+
+## Tips
+
+### Non-native arm64 System
+
+This section describes a process to run `arm64` systems on `amd64` systems using [`qemu-user-static`](https://github.com/multiarch/qemu-user-static).
+
+Initially, your system is usually incompatible with `arm64` systems.
+To check that:
+
+```sh-session
+$ docker run --rm -t arm64v8/ubuntu uname -m
+WARNING: The requested image's platform (linux/arm64/v8) does not match the detected host platform (linux/amd64) and no specific platform was requested
+standard_init_linux.go:228: exec user process caused: exec format error
+```
+
+Installing `qemu-user-static` enables us to run `arm64` images on `amd64` systems.
+
+```sh-session
+$ sudo apt-get install qemu-user-static
+$ docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
+$ docker run --rm -t arm64v8/ubuntu uname -m
+WARNING: The requested image's platform (linux/arm64/v8) does not match the detected host platform (linux/amd64) and no specific platform was requested
+aarch64
+```
+
+To run specify `arm64` architecture for Autoware's Docker images, add the suffix `-arm64`.
+
+```sh-session
+$ docker run --rm -it ghcr.io/autowarefoundation/autoware-universe:latest-arm64
+WARNING: The requested image's platform (linux/arm64) does not match the detected host platform (linux/amd64) and no specific platform was requested
+root@5b71391ad50f:/autoware#
+```

docs/installation/autoware/index.md

@@ -1,5 +1,18 @@
 # Installation of Autoware
 
-!!! warning
+There are two ways to set up Autoware. Choose one according to your preference.
 
-    Under Construction
+## 1. Docker installation
+
+Docker can ensure that all developers in a project have a common, consistent development environment.
+It is recommended for beginners, light users, people who do not use Ubuntu.
+
+See [here](autoware/docker-installation.md) for the detailed steps.
+
+## 2. Source installation
+
+Source installation is for the cases where more granular control of the installation environment is needed.
+It is recommended for skilled users or people who want to customize the environment.  
+Note that some problems may occur depending on your local environment.
+
+See [here](autoware/source-installation.md) for the detailed steps.

docs/installation/autoware/source-installation.md

@@ -0,0 +1,105 @@
+# Source installation
+
+## Prerequisites
+
+- [Ubuntu 20.04](https://releases.ubuntu.com/20.04/)
+- [Git](https://git-scm.com/)
+  - [Registering SSH keys to GitHub](https://github.com/settings/keys) is preferable.
+
+```bash
+sudo apt-get -y update
+sudo apt-get -y install git
+```
+
+## How to set up a development environment
+
+1. Clone `autowarefoundation/autoware` and move to the directory.
+
+   ```bash
+   git clone https://github.com/autowarefoundation/autoware.git
+   cd autoware
+   ```
+
+2. Install the dependencies.
+
+   We use [Ansible](https://www.ansible.com/) to simplify the steps.
+   Please see the Ansible playbooks and roles if you want to know exactly what packages are installed.
+
+   > Note: Before installing NVIDIA libraries, confirm and agree with the licenses.
+
+   - [CUDA](https://docs.nvidia.com/cuda/eula/index.html)
+   - [cuDNN](https://docs.nvidia.com/deeplearning/cudnn/sla/index.html)
+   - [TensorRT](https://docs.nvidia.com/deeplearning/tensorrt/sla/index.html)
+
+   ```bash
+   ./setup-dev-env.sh
+   ```
+
+## How to set up a workspace
+
+1. Create the `src` directory and clone repositories into it.
+
+   Autoware uses [vcstool](https://github.com/dirk-thomas/vcstool) to construct workspaces.
+
+   ```bash
+   cd autoware
+   mkdir src
+   vcs import src < autoware.repos
+   ```
+
+2. Install dependent ROS packages.
+
+   Autoware requires some ROS 2 packages in addition to the core components.
+   The tool `rosdep` allows an automatic search and installation of such dependencies.
+
+   ```bash
+   source /opt/ros/galactic/setup.bash
+   rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+   ```
+
+3. Build the workspace.
+
+   Autoware uses [colcon](https://colcon.readthedocs.io/en/released/index.html) to build workspaces.
+   Refer to the documentation for more advanced options.
+
+   ```bash
+   colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+   ```
+
+## How to update a workspace
+
+1. Update the `.repos` file.
+
+   ```bash
+   cd autoware
+   git pull
+   ```
+
+2. Update the repositories.
+
+   ```bash
+   vcs import src < autoware.repos
+   vcs pull
+   ```
+
+   For Git users:
+
+   - `vcs import` is similar to `git checkout`.
+     - Note that it doesn't pull from the remote.
+   - `vcs pull` is similar to `git pull`.
+     - Note that it doesn't switch branches.
+
+   Refer to the [official documentation](https://github.com/dirk-thomas/vcstool) for more information.
+
+3. Install dependent ROS packages.
+
+   ```bash
+   source /opt/ros/galactic/setup.bash
+   rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+   ```
+
+4. Build the workspace.
+
+   ```bash
+   colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+   ```

docs/installation/index.md

@@ -1,20 +1,36 @@
 # Installation
 
-The supported environments are specified in [target-environments](target-environments.md).
+## Target platforms
 
-The recommended method for installation is through the use of [ADE](https://ade-cli.readthedocs.io/en/latest/),
-a Docker-based tool to ensure that all developers in a project have a common, consistent development
-environment. It comes with a pre-built version of Autoware.Auto, so that you will not need to compile it yourself
-if you do not want to.
+Autoware targets the platforms listed below. It may change in future versions of Autoware.
 
-- [installation-ade](installation-ade.md)
-- [installation-ade-arm64](installation-ade-arm64.md)
+The Autoware Foundation provides no support on other platforms than those listed below.
 
-Autoware.Core can also be built without the use of [ADE](https://ade-cli.readthedocs.io/en/latest/)
-for cases where a more granular control of the installation environment is needed.
+### Architecture
 
-- [installation-no-ade](installation-no-ade.md)
+- amd64
+- arm64
 
-A prerequisite for running the full software stack with simulation is the LGSVL simulator:
+### ROS version
 
-- [lgsvl](lgsvl.md)
+- ROS 2 Galactic (**active development**)
+- ROS 2 Humble (**will be supported in 2022**)
+
+Refer to [REP-2000](https://www.ros.org/reps/rep-2000.html) for the system dependencies.
+
+## Installation steps of Autoware
+
+See [here](autoware) for how to install Autoware.
+
+## Installation steps of tools for users
+
+Some other tools are required depending on the evaluation you want to do.
+For example, if you run E2E simulation, you need to install a simulator for that.
+
+See [here](tools-for-users) for how to install the tools.
+
+## Installation steps of tools for developers
+
+There are also tools and settings for developers, such as Shells or IDEs.
+
+See [here](tools-for-developers) for how to install the tools.