autonomy

Introduction

autonomy is an autonomous robot software framework. The core library libautonomy is built with CMake + C++17 and does not require ROS/ROS2 or the former Autolink middleware at link time (it can still interoperate with ROS-style messages and tooling where supported).

Design goals: modular libraries, behavior-tree task orchestration, 2D navigation stack (costmap, planning, control), and optional bridge layers (gRPC, etc.) for integration.

Item	Link
Documentation	Read the Docs
Gitee	https://gitee.com/quanduyong/autonomy.git
GitHub	https://github.com/quandy2020/autonomy.git

System overview

• Build
  • CMake 3.20+, C++17, Ninja recommended
  • Lua configuration, Protobuf messages
  • BehaviorTree.CPP for task plugins
• Navigation & control
  • 2D costmap, global planning (e.g. NavFn), controller server
  • In-process behavior-tree navigator (BtActionServer)
• Communication (optional)
  • gRPC bridge (when BUILD_GRPC=ON)
  • ROS/ROS2 message types via commsgs (ecosystem compatibility)
• Deployment
  • Docker images (x86_64 / aarch64)
  • Dependency installer: scripts/install_dependency.py

Requirements

• Ubuntu 22.04 (recommended; matches Docker images)
• Compiler: GCC 11+ or Clang with C++17
• Dependencies: see scripts/install_dependency.py and docker/dockerfile/autonomy.x86_64.dockerfile

Main third-party libraries (often installed under /usr/local via docker/install/*.sh):

• Eigen3, Ceres, glog, gflags, OpenCV, OSQP, yaml-cpp, Lua 5.3, Protobuf
• BehaviorTree.CPP 4.x (required for the tasks module)
• Optional: gRPC, Ipopt, ADOLC, ONNX Runtime

Quick start

1. Clone

git clone https://github.com/quandy2020/autonomy.git
cd autonomy

2. Install dependencies

On Ubuntu (host or inside a dev container):

# APT packages + third-party scripts (glog, Ceres, OpenCV, BT.CPP, …)
python3 scripts/install_dependency.py

# APT only
python3 scripts/install_dependency.py --apt-only

# List APT package names
python3 scripts/install_dependency.py --list-apt

3. Configure and build

mkdir -p build && cd build
cmake -G Ninja ..
ninja

Artifacts:

• Shared library: build/lib/libautonomy.so
• Binaries (if enabled): build/bin/

4. Docker (optional)

From the repository root, use the helper in docker/ (see docker/run_autonomy.py). Mount the repo at /workspace/autonomy and build under src/autonomy/build:

export AUTONOMY_ENV=/path/to/autonomy   # repo root containing src/autonomy/
python3 src/autonomy/docker/run_autonomy.py -p x86_64

Inside the container:

cd /workspace/autonomy/src/autonomy/build
cmake -G Ninja ..
ninja

CMake options

Option	Default	Description
BUILD_GRPC	ON	gRPC bridge support
BUILD_TEST	ON	Unit tests
BUILD_DOCS	ON	Sphinx docs (if found)
BUILD_PROMETHEUS	OFF	Prometheus metrics
BUILD_ONNXRUNTIME	ON	ONNX network wrappers (if runtime found)

Project layout

autonomy/
├── autonomy/          # C++ source (map, planning, control, tasks, transform, …)
├── config/            # Lua / YAML configuration
├── cmake/             # CMake modules and helpers
├── docker/            # Dockerfiles and install scripts
├── docs/              # Sphinx documentation
├── scripts/           # install_dependency.py, utilities
└── CMakeLists.txt

Documentation

Online manual: autonomy.readthedocs.io

Local build:

cd build && cmake -DBUILD_DOCS=ON .. && ninja

Version

Current version is defined in version.json (e.g. 0.1.1). See CHANGELOG.rst for release notes.

License

Released under the Apache 2.0 license.

Acknowledgments

Autonomy builds on ideas and code from the wider robotics open-source community, including:

• Autoware Universe
• Cartographer
• Navigation2
• ROS 2
• BehaviorTree.CPP