1. 配置
- ubuntu 18.04
- ROS Melodic
- Autoware 1.12.0 （以上）
- CUDA 10.0（可选）
2. 安装步骤
安装一些依赖
sudo apt install libglew-dev
sudo apt install ros-melodic-nmea-navsat-driver libgps-dev
sudo apt install ros-melodic-lanelet2
sudo apt install ros-melodic-visualization-msgs
sudo apt install ros-melodic-jsk-recognition-msgs
sudo apt install ros-melodic-automotive-platform-msgs
sudo apt install ros-melodic-automotive-navigation-msgs
sudo apt install ros-melodic-pacmod-msgs
sudo apt install ros-melodic-velodyne-pointcloud
sudo apt install ros-melodic-gps-common
mkdir -p autoware.ai/src
cd autoware.ai
wget -O autoware.ai.repos "https://raw.githubusercontent.com/Autoware-AI/autoware.ai/1.12.0/autoware.ai.repos"
autoware.ai/autoware.ai.repos 修改
repositories:
autoware/common:
type: git
url: https://gitlab.com/autowarefoundation/autoware.ai/common.git
version: 1.12.0
autoware/core_perception:
type: git
url: https://gitlab.com/autowarefoundation/autoware.ai/core_perception.git
version: 1.12.0
autoware/core_planning:
type: git
url: https://gitlab.com/autowarefoundation/autoware.ai/core_planning.git
version: 1.12.0
autoware/documentation:
type: git
url: https://gitlab.com/autowarefoundation/autoware.ai/documentation.git
version: 1.12.0
autoware/messages:
type: git
url: https://gitlab.com/autowarefoundation/autoware.ai/messages.git
version: 1.12.0
autoware/simulation:
type: git
url: https://gitlab.com/autowarefoundation/autoware.ai/simulation.git
version: 1.12.0
autoware/utilities:
type: git
url: https://gitlab.com/autowarefoundation/autoware.ai/utilities.git
version: 1.12.0
autoware/visualization:
type: git
url: https://gitlab.com/autowarefoundation/autoware.ai/visualization.git
version: 1.12.0
drivers/awf_drivers:
type: git
url: https://gitlab.com/autowarefoundation/autoware.ai/drivers.git
version: 1.12.0
citysim:
type: git
url: https://github.com/CPFL/osrf_citysim.git
version: 27bd05bc6c762b3ad8c9bb85f678d4b7ce7a27c5
car_demo:
type: git
url: https://github.com/CPFL/car_demo.git
version: e364448fad421cb6244c9f828f978d8d877dcbf9
drivers/ds4:
type: git
url: https://github.com/tier4/ds4.git
version: 5aa2f7f53a67992fffa7c801ed9c663a380b5d4a
编译，不使用CUDA
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
使用CUDA的话
AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
