Upgrade Guide

How to bump Autoware and Zenoh. Versions are pinned in many places, so follow the checklists below.

Where versions are pinned

Autoware – the image tag and AUTOWARE_VERSION:

  • container/Dockerfile_autoware – base image tag.

  • container/Dockerfile_carla_bridge – base image tag.

  • container/run-autoware-docker-src.sh – image tag and AUTOWARE_VERSION.

  • container/run-autoware-docker.sh, container/run-bridge-docker.sh – image tag.

  • docs/index.rst – the Version block.

Warning

The Autoware tag format changes between releases – ...cuda-1.7.1-jazzy-amd64 became ...cuda-jazzy-1.8.0 at 1.8.0. Confirm the real tag on the container registry.

Zenoh – align every version string so they all match, then update each place below:

  • container/Dockerfile_autoware – eclipse-zenoh==<version>, installed with pip --break-system-packages into the ROS 2 system Python rather than uv.

  • external/zenoh_autoware_v2x/pyproject.toml – eclipse-zenoh==<version>, uv-managed and must match the Dockerfile version.

  • external/zenoh_carla_bridge/Cargo.toml – zenoh = "<version>".

  • external/zenoh-plugin-ros2dds – the upstream eclipse-zenoh plugin, not evshary’s; check out the matching release tag and do not edit it.

  • docs/index.rst – the Version block.

  • FMS – evshary/zenoh_autoware_fms is an external repo, not a submodule. In its pyproject.toml:

    • match eclipse-zenoh==<version>;

    • update the zenoh-ros-type git dep.

The zenoh_* submodules are evshary’s. PR the source to evshary, wait for it to merge, then bump the submodule pointer.

Not version-coupled – not tied to the Autoware/Zenoh bump:

  • zenoh-ros-type – serialised ROS message types, in two evshary repos. Only if a type is missing, PR it, then update the dependency:

    • Python zenoh-ros-type-python is a git dep in zenoh_autoware_v2x/pyproject.toml; bump it and run uv lock.

    • Rust zenoh-ros-type is a crates.io dep in zenoh_carla_bridge/Cargo.toml; ask evshary for a release, then bump the version.

  • CARLA version – follows CARLA and is independent of this bump:

    • Python carla==<version> in zenoh_autoware_v2x/pyproject.toml and zenoh_carla_bridge/carla_agent/pyproject.toml.

    • Rust carla = "<version>" in zenoh_carla_bridge/Cargo.toml uses the carla-rust bindings. Its version is not the simulator version, so check that a release supports the target CARLA.

    • Docs version strings in docs/index.rst, docs/prerequisites.rst, and docs/scenarios/fms.rst.

  • external/zenoh_autoware_v2x/pyproject.toml – confirm python >= 3.12, numpy < 2, and pygame still fit the base image.

  • src/autoware_manual_control – leave it unless a message or topic rename affects it.

Common issues

  1. Model URLs/versions – script/setup/download_models.sh, build_models.sh. Compare against Autoware’s artifact list at the target tag and update any changed model.

  2. Topic renames break key expressions – config/zenoh-bridge-ros2dds-conf.json5 and the router ingress/egress in config/RMW_ZENOH_ROUTER_V*.json5.

  3. Base-image workarounds in env.sh – check whether the new image already does it; ip link set lo multicast on was dropped at 1.8.0, for instance.

  4. New apt packages – container/Dockerfile_autoware. A new base image may lack packages such as xacro, topic-tools, or rviz2; the symptom is a node or package missing at launch.

Procedure

  1. Confirm the target tag format and the compatible Zenoh version from the rmw_zenoh and zenoh-plugin-ros2dds release notes.

  2. Bump all three Zenoh submodules and align every version string.

  3. Update every file under Where versions are pinned.

  4. Rebuild, run, then walk the checklist.

Templates: search the git log for Bump – Zenoh-only, Autoware-only, and combined bumps are all there.

Post-upgrade checklist

  • Perception – models downloaded, detections appear.

  • Topics flow both ends – key expressions match the renamed topics.

  • No stale workarounds in env.sh.