Automated Driving Open Research (ADORe)

About ADORe

Eclipse ADORe is a modular software library and toolkit for decision making, planning, control and simulation of automated vehicles. It is developed by The German Aerospace Center (DLR), Institute for Transportation Systems 🔗.

• ADORe is ROS 2 🔗 based
• ADORe is fully containerized using Docker 🔗
• ADORe is currently deployed on DLR TS institute research vehicles FASCar 🔗 and VIEWCar II🔗
• ADORe is developed with algorithms and data models applied in real automated driving system for motion planning and control
• ADORe features mechanisms for safe interaction with other CAVs, infrastructure, traffic management, interactions with human-driven vehicles, bicyclists, pedestrians

ADORe is designed around both single agent automated driving (SAAD) and multi agent automated driving (MAAD), to allow both individual and cooperative driving behaviors.

Documentation

Please see full docs at Github Pages

Getting Started

In order to get started, it is advised to first check system requirements, follow the installation instruction and then try out the demo scenarios.

This guide will help you get your system set up and configured to run ADORe.

1. First review the System Requirements 🔗.

2. Next review the Prerequisites 🔗

Cloning the ADORe repository

ℹ️INFO: By default this guide assumes you have ssh keys configured for GitHub your GitHub account. For help on configuring your ssh keys visit: https://docs.github.com/en/authentication/connecting-to-github-with-ssh/adding-a-new-ssh-key-to-your-github-account

git clone git@github.com:eclipse-adore/adore.git
cd adore
git submodule update --init --recursive

⚠️ WARNING: Failing to update and recursively clone the submodules will result in build failures!

ℹ️INFO: If you would rather clone ADORe anonymously over https please review the Anonymous Cloning 🔗 guide.

Building ADORe Developer Environment

⚠️ WARNING: To use the ADORe developer environment you must have Docker installed.

To have the easiest entry you can install just

and run:

just dev

Alternatively, simple call

.docker/scripts/run_dev.sh

This will create and the developer environment where you can build all relevant packages with

just build

The full command list is available with

just help

⚠️ WARNING: Building ADORe will fail until all submodules have been properly initialized. If cloning or repository initialization fails refer to the troubleshooting guide before proceeding. Do not proceed with building ADORe until git submodule update --init --receive finishes without error.

Next proceed to Running Your First Scenario 🔗

Using in an existing ROS2 project

The ADORe packages adore_(libraries/ros2_conversions/ros2_msgs/ros2_nodes/scenarios) can all be used directly in your existing ros2 project by pasting or symlining them into you ros2/colcon workspace.

ADORe In Action

ADORe Road Driving

ADORe Remote Operations

Simulated Multi-Agent Driving / planning

ADORe at intelligent intersection