Use colcon as the build tool

.gitlab-ci.yml

@@ -7,7 +7,6 @@ variables:
   CI_SOURCE_PATH: $CI_PROJECT_DIR
   ROSINSTALL_FILE: $CI_SOURCE_PATH/dependencies.rosinstall
   CATKIN_OPTIONS: $CI_SOURCE_PATH/catkin.options
-  PYTHONPATH: ${PYTHONPATH}:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages
   GIT_SUBMODULE_STRATEGY: recursive
   #CI_DEBUG_TRACE: "true"
 
@@ -21,6 +20,9 @@ variables:
     - apt-get update
     - apt-get install -y dpkg
     - apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-${ROS_DISTRO}-catkin
+    - apt-get install -y python3-pip python3-setuptools
+    # Update setuptools from PyPI because the version Ubuntu ships with is too old
+    - pip3 install -U setuptools
     - source /opt/ros/${ROS_DISTRO}/setup.bash
     - rosdep init
     - rosdep update
@@ -39,18 +41,24 @@ build_kinetic:
     ROS_DISTRO: kinetic
   <<: *build_common
   script:
+  # colcon as a Debian package is only available in Kinetic and up
+    - apt-get install -y python3-colcon-common-extensions
   # Install lcov from source as binary installation errors when appending files
     - git clone https://github.com/linux-test-project/lcov.git
     - cd lcov
     - git checkout v1.13
     - make install 
     - cd ..
     - rm -r lcov
-    - catkin_make clean
-    - catkin_make -j2 --cmake-args -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_C_FLAGS="${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_BUILD_TYPE=Debug
+  # We first build the entire workspace normally
+    - colcon build --cmake-args -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_C_FLAGS="${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_BUILD_TYPE=Debug
+  # And then build the tests target. catkin (ROS1) packages add their tests to the tests target
+  # which is not the standard target for CMake projects. We need to trigger the tests target so that
+  # tests are built and any fixtures are set up.
+    - colcon build --cmake-target tests --cmake-args -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_C_FLAGS="${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_BUILD_TYPE=Debug
     - lcov --initial --directory build --capture --output-file lcov.base
-    - catkin_make run_tests
-    - catkin_test_results
+    - colcon test
+    - colcon test-result
     - lcov --directory build --capture --output-file lcov.test
     - lcov -a lcov.base -a lcov.test -o lcov.total
     - lcov -r lcov.total '*/tests/*' '*/test/*' '*/build/*' '*/devel/*' '/usr/*' '/opt/*' '*/CMakeCCompilerId.c' '*/CMakeCXXCompilerId.cpp' -o lcov.total.filtered
@@ -76,36 +84,35 @@ build_cross:
     - docker:dind
   variables:
     ROS_DISTRO: kinetic
-    AUTOWARE_DOCKER_DATE: 20181123
+    AUTOWARE_DOCKER_DATE: 20190102
     AUTOWARE_HOME: $CI_PROJECT_DIR
     AUTOWARE_TARGET_ARCH: aarch64
     AUTOWARE_TARGET_PLATFORM: generic-aarch64
     AUTOWARE_BUILD_PATH: $CI_PROJECT_DIR/ros/build-${AUTOWARE_TARGET_PLATFORM}
-    AUTOWARE_DEVEL_PATH: $CI_PROJECT_DIR/ros/devel-${AUTOWARE_TARGET_PLATFORM}
+    AUTOWARE_INSTALL_PATH: $CI_PROJECT_DIR/ros/install-${AUTOWARE_TARGET_PLATFORM}
     AUTOWARE_TOOLCHAIN_FILE_PATH: $CI_PROJECT_DIR/ros/cross_toolchain.cmake
     AUTOWARE_SYSROOT: /sysroot/${AUTOWARE_TARGET_PLATFORM}
   script:
+    # - ${AUTOWARE_HOME}/docker/crossbuild/build_cross_image.sh
     - 'docker run
           -e AUTOWARE_SYSROOT=${AUTOWARE_SYSROOT}
           --rm
           -v ${AUTOWARE_HOME}:${AUTOWARE_HOME}
           -w ${AUTOWARE_HOME}/ros
           autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-${AUTOWARE_DOCKER_DATE}
           bash
-            -c "source /opt/ros/kinetic/setup.bash &&
-                catkin_make
-                  -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH}
-                  -DCATKIN_DEVEL_PREFIX=${AUTOWARE_DEVEL_PATH}
-                  -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH}
-                  --build ${AUTOWARE_BUILD_PATH}
-                  clean &&
-                source devel-${AUTOWARE_TARGET_PLATFORM}/setup.bash &&
-                catkin_make
-                  -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH}
-                  -DCATKIN_DEVEL_PREFIX=${AUTOWARE_DEVEL_PATH}
-                  -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH}
-                  --build ${AUTOWARE_BUILD_PATH}
-                  -j2"
+            -c "
+                source ${AUTOWARE_SYSROOT}/opt/ros/kinetic/setup.bash &&
+                colcon build
+                    --merge-install
+                    --build-base ${AUTOWARE_BUILD_PATH}
+                    --install-base ${AUTOWARE_INSTALL_PATH}
+                    --cmake-args
+                    -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH}
+                    -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH}
+                    -DCMAKE_PREFIX_PATH=\"${AUTOWARE_SYSROOT}/opt/ros/kinetic;${AUTOWARE_INSTALL_PATH}\"
+                    -DCMAKE_FIND_ROOT_PATH=${AUTOWARE_INSTALL_PATH}
+                  "
                   '
   retry: 1
 

.travis.yml

@@ -78,7 +78,7 @@ script:
         --rm
         -v ${AUTOWARE_HOME}:${AUTOWARE_HOME}
         -w ${AUTOWARE_HOME}/ros
-        autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20181220
+        autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20190102
         bash
           -c "source /opt/ros/kinetic/setup.bash &&
               catkin_make

docker/96boards/Dockerfile.kinetic

@@ -52,6 +52,11 @@ RUN echo "source /opt/ros/kinetic/setup.bash" >> /home/$USERNAME/.bashrc && \
         # cd to home on login
         echo "cd" >> /home/$USERNAME/.bashrc
 
+# Install colcon
+RUN apt-get install -y python3-pip python3-setuptools
+RUN pip3 install -U setuptools
+RUN apt-get install -y python3-colcon-common-extensions
+
 # Change user
 USER autoware
 
@@ -63,7 +68,7 @@ RUN sudo rosdep init \
 
 # Install Autoware
 RUN cd && git clone https://github.com/CPFL/Autoware.git /home/$USERNAME/Autoware
-RUN /bin/bash -c 'source /opt/ros/kinetic/setup.bash; cd /home/$USERNAME/Autoware/ros/src; git submodule update --init --recursive; catkin_init_workspace; cd ../; ./catkin_make_release -j2'
+RUN /bin/bash -c 'source /opt/ros/kinetic/setup.bash; cd /home/$USERNAME/Autoware/ros/src; git submodule update --init --recursive; cd ../; ./colcon_release -j2'
 RUN echo "source /home/$USERNAME/Autoware/ros/devel/setup.bash" >> /home/$USERNAME/.bashrc
 
 # Setting

docker/crossbuild/Dockerfile.kinetic-crossbuild

@@ -140,6 +140,11 @@ RUN sed -i -e "s#set(imported_location \"\${_qt5Core_install_prefix}/lib/${AUTOW
     ${AUTOWARE_SYSROOT}/usr/lib/${AUTOWARE_TARGET_ARCH}-linux-gnu/cmake/Qt5Core/Qt5CoreConfigExtras.cmake
 RUN sed -i -e "s#define ARMA_SUPERLU_INCLUDE_DIR /usr/include/superlu/#define ARMA_SUPERLU_INCLUDE_DIR ${AUTOWARE_SYSROOT}/usr/include/superlu/#g" \
     ${AUTOWARE_SYSROOT}/usr/include/armadillo_bits/config.hpp
+
+RUN apt-get install -y python3-pip python3-setuptools
+RUN pip3 install -U setuptools
+RUN apt-get install -y python3-colcon-common-extensions
+
 ENV ROS_DISTRO kinetic
 ENV CC /usr/bin/${AUTOWARE_TARGET_ARCH}-linux-gnu-gcc
 ENV CXX /usr/bin/${AUTOWARE_TARGET_ARCH}-linux-gnu-g++

docker/crossbuild/Dockerfile.kinetic-crossbuild-driveworks

@@ -1,7 +1,7 @@
 ARG AUTOWARE_DOCKER_ARCH
 ARG AUTOWARE_TARGET_ARCH
 ARG AUTOWARE_TARGET_PLATFORM
-FROM autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20181123
+FROM autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20190102
 RUN apt-get update && apt-get install -y --no-install-recommends \
     build-essential
 COPY files/FindCUDA.cmake /usr/share/cmake-3.5/Modules/FindCUDA.cmake

docker/crossbuild/README.md

@@ -20,8 +20,8 @@ $ ./build_cross_image.sh synquacer
 $ cd Autoware/ros/
 
 # generic-aarch64
-$ ./catkin_make_release_cross generic-aarch64
+$ ./colcon_release_cross generic-aarch64
 
 # synquacer
-$ ./catkin_make_release_cross synquacer
+$ ./colcon_release_cross synquacer
 ```

docker/crossbuild/build_cross_image.sh

@@ -5,7 +5,7 @@ if [ "$1" = "synquacer" ] || [ "$1" = "driveworks" ] || [ "$1" = "generic-aarch6
 then
     # Once we support for targets, change this to the appropriate Docker image
     AUTOWARE_DOCKER_ARCH=arm64v8
-    AUTOWARE_DOCKER_DATE=20181220
+    AUTOWARE_DOCKER_DATE=20190102
     AUTOWARE_TARGET_ARCH=aarch64
     AUTOWARE_TARGET_PLATFORM=$1
 

docker/generic/Dockerfile.kinetic

@@ -100,6 +100,11 @@ RUN echo "source /opt/ros/kinetic/setup.bash" >> /home/$USERNAME/.bashrc && \
         # cd to home on login
         echo "cd" >> /home/$USERNAME/.bashrc
 
+# Install colcon
+RUN apt-get install -y python3-pip python3-setuptools
+RUN pip3 install -U setuptools
+RUN apt-get install -y python3-colcon-common-extensions
+
 # Change user
 USER autoware
 
@@ -115,7 +120,7 @@ RUN cd ~/darknet/data && wget https://pjreddie.com/media/files/yolo.weights
 # Install Autoware
 RUN cd && mkdir /home/$USERNAME/Autoware
 COPY --chown=autoware ./ /home/$USERNAME/Autoware/
-RUN /bin/bash -c 'source /opt/ros/kinetic/setup.bash; cd /home/$USERNAME/Autoware/ros/src; git submodule update --init --recursive; catkin_init_workspace; cd ../; ./catkin_make_release'
+RUN /bin/bash -c 'source /opt/ros/kinetic/setup.bash; cd /home/$USERNAME/Autoware/ros/src; git submodule update --init --recursive; cd ../; ./colcon_release'
 RUN echo "source /home/$USERNAME/Autoware/ros/devel/setup.bash" >> /home/$USERNAME/.bashrc
 
 # Setting

docs/en/installation_with_db820c.md

@@ -58,7 +58,8 @@ $ sudo fastboot flash rootfs stretch.raw
 Install the below packages on Dragonboard820c:
 
 ```shell
-$ sudo apt-get install libxmu-dev libxi-dev libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev python-wxgtk3.0 software-properties-common libmosquitto-dev libyaml-cpp-dev python-flask python-requests dirmngr libtf2-eigen-dev libpcl-dev
+$ sudo apt-get install -y libxmu-dev libxi-dev libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev python-wxgtk3.0 software-properties-common libmosquitto-dev libyaml-cpp-dev python-flask python-requests dirmngr libtf2-eigen-dev libpcl-dev python3-pip python3-setuptools
+$ sudo pip3 install -U setuptools
 ```
 
 ### 2.3) Enable ZRAM Swap Space
@@ -72,7 +73,8 @@ Build and install ROS Kinetic by following the instructions [here](http://wiki.r
 Only change required is to replace the `rosdep install` command with below:
 
 ```shell
-rosdep install --from-paths src --ignore-src --rosdistro kinetic -y --os=debian:stretch
+$ sudo apt-get install -y python3-colcon-common-extensions
+$ rosdep install --from-paths src --ignore-src --rosdistro kinetic -y --os=debian:stretch
 ```
 
 After installing, export the `ROS_DISTRO` variable
@@ -127,8 +129,6 @@ in the package directories:
 $ source /opt/ros/kinetic/setup.bash
 $ cd $HOME
 $ git clone https://github.com/CPFL/Autoware.git
-$ cd ~/Autoware/ros/src
-$ catkin_init_workspace
-$ cd ../
-$ ./catkin_make_release
+$ cd ~/Autoware/ros
+$ ./colcon_release
 ```

docs/en/installation_with_drivepx2.md

@@ -36,6 +36,9 @@
     sudo apt-get update
 
     sudo apt-get install -y build-essential cmake python-pip
+    sudo apt-get install -y python3-pip python3-setuptools
+    sudo pip3 install -U setuptools
+    sudo apt-get install -y python3-colcon-common-extensions
     sudo apt-get install -y checkinstall
     sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential
     sudo apt-get install -y libavutil-ffmpeg54=7:2.8.11-0ubuntu0.16.04.1
@@ -66,7 +69,7 @@ If you need to use a SSD detector, please refer SSD readme.
     cd Autoware
 
     cd ros
-    ./catkin_make_release -j1
+    ./colcon_release -j1
     (if you need more speed up compilation, you can choose -j2~6, however it may often cause internal erros by GCC.
 
 

ros/catkin_make_release

@@ -1,6 +1,9 @@
 #!/usr/bin/env bash
 set -e
 
+echo "This script is deprecated and will be removed soon, please use colcon_release instead"
+sleep 2
+
 if [[ -d build ]]; then
     rm -rf build
 fi

ros/catkin_make_release_cross

@@ -1,6 +1,9 @@
 #!/usr/bin/env bash
 set -e
 
+echo "This script is deprecated and will be removed soon, please use colcon_release_cross instead"
+sleep 2
+
 if [ "$1" = "synquacer" ] || [ "$1" = "driveworks" ] || [ "$1" = "generic-aarch64" ]
 then
     AUTOWARE_TARGET_ARCH=aarch64
@@ -71,6 +74,8 @@ END
             -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH} \
             -DCATKIN_DEVEL_PREFIX=${AUTOWARE_DEVEL_PATH} \
             -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH} \
+            -DCMAKE_PREFIX_PATH='${AUTOWARE_SYSROOT}/opt/ros/kinetic;${AUTOWARE_DEVEL_PATH}' \
+            -DCMAKE_FIND_ROOT_PATH=${AUTOWARE_DEVEL_PATH} \
             --build ${AUTOWARE_BUILD_PATH} \
             clean && \
         source devel-${AUTOWARE_TARGET_PLATFORM}/setup.bash && \
@@ -79,6 +84,8 @@ END
             -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH} \
             -DCATKIN_DEVEL_PREFIX=${AUTOWARE_DEVEL_PATH} \
             -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH} \
+            -DCMAKE_PREFIX_PATH='${AUTOWARE_SYSROOT}/opt/ros/kinetic;${AUTOWARE_DEVEL_PATH}' \
+            -DCMAKE_FIND_ROOT_PATH=${AUTOWARE_DEVEL_PATH} \
             --build ${AUTOWARE_BUILD_PATH} \
             -DCMAKE_BUILD_TYPE=Release $*
         "

ros/colcon_release

@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -e
+
+if [[ -d build ]]; then
+    rm -rf build
+fi
+
+if [[ -d install ]]; then
+    rm -rf install
+fi
+
+COLCON_OPTS="--cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs"
+
+export LIBRARY_PATH=/usr/lib/OpenNI2/Drivers:$LIBRARY_PATH
+colcon build $COLCON_OPTS $@

ros/colcon_release_cross

@@ -0,0 +1,86 @@
+#!/usr/bin/env bash
+set -e
+
+if [ "$1" = "synquacer" ] || [ "$1" = "driveworks" ] || [ "$1" = "generic-aarch64" ]
+then
+    AUTOWARE_TARGET_ARCH=aarch64
+    AUTOWARE_TARGET_PLATFORM=$1
+    shift
+
+   if [[ -d build-${AUTOWARE_TARGET_PLATFORM} ]]; then
+       rm -rf build-${AUTOWARE_TARGET_PLATFORM}
+   fi
+
+   if [[ -d install-${AUTOWARE_TARGET_PLATFORM} ]]; then
+       rm -rf install-${AUTOWARE_TARGET_PLATFORM}
+   fi
+
+    AUTOWARE_HOME=/home/autoware/Autoware
+    if [ "$AUTOWARE_TARGET_PLATFORM" = "driveworks" ]
+    then
+        if [[ -z "${DRIVEWORKS_TOOLKIT_ROOT_DIR}" ]] || [[ -z "${CUDA_TOOLKIT_ROOT_DIR}" ]] || [[ -z "${NVIDIA_TENSORRT_ROOT_DIR}" ]] || [[ -z "${DRIVE_T186REF_LINUX_ROOT_DIR}" ]]
+        then
+            echo "Please ensure that the following environment variables are set and point to their respective correct locations: DRIVEWORKS_TOOLKIT_ROOT_DIR CUDA_TOOLKIT_ROOT_DIR NVIDIA_TENSORRT_ROOT_DIR DRIVE_T186REF_LINUX_ROOT_DIR"
+            exit 1
+        fi
+        AUTOWARE_HOME=/home/nvidia/Autoware
+        AUTOWARE_TOOLCHAIN_FILE=cross_toolchain_driveworks.cmake
+        AUTOWARE_DOCKER_EXTRA_ARGS=$(cat <<-END
+-v ${DRIVEWORKS_TOOLKIT_ROOT_DIR}:/usr/local/driveworks:ro
+-v ${CUDA_TOOLKIT_ROOT_DIR}:/usr/local/cuda:ro
+-v ${NVIDIA_TENSORRT_ROOT_DIR}:/usr/local/tensorrt:ro
+-v ${DRIVE_T186REF_LINUX_ROOT_DIR}:/usr/local/drive-t186ref-linux:ro
+-e DRIVEWORKS_TOOLKIT_ROOT_DIR=/usr/local/driveworks
+-e CUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda
+-e NVIDIA_TENSORRT_ROOT_DIR=/usr/local/tensorrt
+-e DRIVE_T186REF_LINUX_ROOT_DIR=/usr/local/drive-t186ref-linux
+END
+)
+        AUTOWARE_CUDA_ARCH=sm_61
+    else
+        AUTOWARE_TOOLCHAIN_FILE=cross_toolchain.cmake
+    fi
+    if [ ! -f "${PWD}/${AUTOWARE_TOOLCHAIN_FILE}" ]; then
+        echo "Toolchain file: '${PWD}/${AUTOWARE_TOOLCHAIN_FILE}' not found"
+        exit 1
+    fi
+
+    AUTOWARE_BUILD_PATH=${AUTOWARE_HOME}/ros/build-${AUTOWARE_TARGET_PLATFORM}
+    AUTOWARE_INSTALL_PATH=${AUTOWARE_HOME}/ros/install-${AUTOWARE_TARGET_PLATFORM}
+
+    AUTOWARE_TOOLCHAIN_FILE_PATH="${AUTOWARE_HOME}/ros/${AUTOWARE_TOOLCHAIN_FILE}"
+    echo "Using toolchain file: '${AUTOWARE_TOOLCHAIN_FILE_PATH}''"
+    AUTOWARE_SYSROOT=/sysroot/${AUTOWARE_TARGET_PLATFORM}
+
+    AUTOWARE_DOCKER_DATE=20190102
+
+    docker container run \
+        -it \
+        --rm \
+        ${AUTOWARE_DOCKER_EXTRA_ARGS} \
+        -e AUTOWARE_SYSROOT=${AUTOWARE_SYSROOT} \
+        -v ${PWD}/../:${AUTOWARE_HOME} \
+        -w ${AUTOWARE_HOME}/ros \
+        -u ${UID}:${UID} \
+        autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-${AUTOWARE_DOCKER_DATE} \
+        bash \
+        -c "\
+        source ${AUTOWARE_SYSROOT}/opt/ros/kinetic/setup.bash && \
+        colcon build \
+            --merge-install \
+            --build-base ${AUTOWARE_BUILD_PATH} \
+            --install-base ${AUTOWARE_INSTALL_PATH} \
+            --cmake-args \
+            -DCUDA_ARCH=${AUTOWARE_CUDA_ARCH} \
+            -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH} \
+            -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH} \
+            -DCMAKE_PREFIX_PATH='${AUTOWARE_SYSROOT}/opt/ros/kinetic;${AUTOWARE_INSTALL_PATH}' \
+            -DCMAKE_FIND_ROOT_PATH=${AUTOWARE_INSTALL_PATH} \
+            -DCMAKE_BUILD_TYPE=Release $*
+        "
+
+    find install-${AUTOWARE_TARGET_PLATFORM}/ -type f -exec grep -Iq . {} \; -and -exec sed -i -e "s#${AUTOWARE_SYSROOT}##g" {} \;
+else
+    echo "Select target platform: synquacer, driveworks, generic-aarch64"
+fi
+

ros/cross_toolchain.cmake

@@ -3,7 +3,7 @@ set(CMAKE_SYSTEM_VERSION 1)
 set(CMAKE_SYSTEM_PROCESSOR aarch64)
 set(CMAKE_CROSSCOMPILING ON)
 set(CMAKE_SYSROOT $ENV{AUTOWARE_SYSROOT})
-set(CMAKE_PREFIX_PATH "${CMAKE_SYSROOT}/opt/ros/kinetic")
+#set(CMAKE_PREFIX_PATH "${CMAKE_SYSROOT}/opt/ros/kinetic")
 
 # specify the cross compiler
 set(CMAKE_C_COMPILER "/usr/bin/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu-gcc")

ros/src/actuation/vehicles/packages/as/CMakeLists.txt

@@ -3,7 +3,6 @@ project(as)
 
 find_package(
         catkin REQUIRED COMPONENTS
-        autoware_build_flags
         roscpp
         std_msgs
         geometry_msgs