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autoware入门教程-源码安装autoware1.20

autoware入门教程-源码安装autoware1.2.0

说明:

  • 介绍如何安装autoware1.2.0

步骤:

  • 安装系统依赖:
$ sudo apt-get update
$ sudo apt-get install -y python-catkin-pkg python-rosdep ros-$ROS_DISTRO-catkin gksu
$ sudo apt-get install -y python3-pip python3-colcon-common-extensions python3-setuptools python3-vcstool
$ pip3 install -U setuptools
  • 下载源码
$ mkdir -p autoware.ai/src
$ cd autoware.ai
wget -O autoware.ai.repos "https://gitlab.com/autowarefoundation/autoware.ai/autoware/raw/1.12.0/autoware.ai.repos?inline=false"
  • 下载源码
$ vcs import src < autoware.ai.repos
  • 安装autoware依赖
$ rosdep update
$ rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
  • 编译支持cuda
$ AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
  • 下载demo包
$ mkdir ~/autoware.ai/demo
$ cd ~/autoware.ai/demo
$ wget http://db3.ertl.jp/autoware/sample_data/sample_moriyama_data.tar.gz
$ wget http://db3.ertl.jp/autoware/sample_data/sample_moriyama_150324.tar.gz
  • 解压
$ cd ~
$ mkdir .autoware
$ cd .autoware
$ cp ~/~/autoware.ai/demo/sample_moriyama_* .
$ tar zxfv sample_moriyama_150324.tar.gz
$ tar zxfv sample_moriyama_data.tar.gz
  • 修改run脚本,改为正确source路径
cd ~/autoware.ai/install/runtime_manager/share/runtime_manager/scripts
vim run
  • 修改对应行为:
${OPTION_COMMAND}="bash -c 'source ~/autoware.ai/install/setup.bash;
  • 启动autoware
$ cd ~/autoware.ai
$ source install/setup.bash
$ roslaunch runtime_manager runtime_manager.launch

参考:

  • https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Source-Build

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