AUTONOMY

A modular intelligence framework for autonomous mobile robots

Modern C++ · Autolink RT · Behavior trees · No ROS runtime required

Documentation  ·  Install  ·  Quick Start  ·  Architecture

PERCEPTION  LOCALIZATION  MAPPING  PLANNING  CONTROL  ORCHESTRATION

Runtime Independent Node · Channel · Service · Action · Parameter without a ROS runtime dependency

Modular by Design Stable plugins across algorithms, drivers, simulation, and visualization

Production Oriented Docker · Ansible · observability x86_64 and ARM64 ready

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Gallery

Localization · Argus LIVO ▶ Mid-360 demo  ·  Guide Cartographer · Atlas · Argus (ESIKF)

Simulation · Isaac + AutoViz AutoSim  ·  AutoViz Habitat · Fake · Isaac Sim + PhysX

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Architecture

Navigation — goal · plan · recover · cancel

Person-following — RGB · track · path · control

Runtime  ·  Navigation  ·  Following  ·  System guide

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Stack

Runtime autolink/ SHM · RTPS · Action	Messages automsgs/ Protobuf · codegen	Localization autonomy/localization/ Cartographer · Atlas · Argus	Perception autonomy/perception/ Base · Follow · costmap layers
Map / Plan / Ctrl map · planning · control Costmap · NavFn · RPP / MPPI	Tasks autonomy/task/ BT navigator · TaskServer	Bridge autonomy/bridge/ gRPC · BUILD_GRPC	HW / Sim / Viz autodriver · autosim · autoviz Sensors · Isaac · Qt

Multi-process by default: Goal → task (BT) → planning (Path) → control (cmd_vel), with TF map → odom → base_link. Domains can be trimmed via AUTONOMY_BUILD_* / BUILD_*.

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Quick Start

Work from the source root (directory with top-level CMakeLists.txt, scripts/, docker/). In a monorepo that is often …/src/autonomy.

① Clone & enter Docker git clone --recurse-submodules \ https://github.com/quandy2020/autonomy.git cd autonomy # or cd …/src/autonomy export AUTONOMY_ENV="$PWD" # optional offline datasets → container /data # export AUTONOMY_DATASETS=/path/to/datasets python3 docker/run_autonomy.py -p x86_64 # GPU image: # python3 docker/run_autonomy.py -p x86_64 -n yes

② Build & launch stack cd /workspace/autonomy # inside container # host path if building outside Docker python3 scripts/install_dependencies.py --skip-installed cmake -S . -B build -G Ninja \ -DCMAKE_BUILD_TYPE=Release \ -DCMAKE_PREFIX_PATH=/usr/local cmake --build build -j"$(nproc)" source scripts/setup_environment.bash autolink_launch autonomy.launch Nav-only smoke (planning + control + task): autolink launch start task.launch # do not run together with autonomy.launch

Argus localization (autosim / Oxford Spires → /imu · /points)

# Host: mount datasets, then recreate the container if needed
export AUTONOMY_DATASETS=/path/to/datasets
AUTONOMY_FORCE_RECREATE=1 python3 docker/run_autonomy.py -p x86_64 -n yes

# Container: localization
export AUTOLINK_LAUNCH_PATH="$PWD/autonomy/localization/launch"
autolink launch start localization_argus.launch

# Another terminal: publish sequence (under /data)
export LD_LIBRARY_PATH="/workspace/autonomy/install/autonomy/lib:/workspace/autonomy/build/autonomy/lib:${LD_LIBRARY_PATH:-}"
export PYTHONPATH="/workspace/autonomy/src/autonomy:/workspace/autonomy/install/autonomy/python:/workspace/autonomy/install/autonomy/lib/python:${PYTHONPATH:-}"
/usr/bin/python3 -m autonomy.tools.datasets publish \
  --dataset spires \
  --path /data/Oxford/sequences/2024-03-12-keble-college-02 \
  --rate 1.0

See datasets and localization.

Getting started  ·  Quick Run  ·  Docker  ·  CMake  ·  Localization

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Guides

Autolink  ·  AutoMsgs  ·  Localization  ·  Bridge  ·  AutoDriver  ·  AutoSim  ·  AutoViz  ·  Ansible

_{Install · Autolink · Run · Localization · Planning · Control · Bridge · Navigator · Datasets · FAQs · readthedocs}

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Apache 2.0 · Inspired by Autoware · Cartographer · Navigation2 · ROS 2 · BehaviorTree.CPP

Autonomy — modular, observable, deployable robot intelligence