Xavier入门教程软件篇-源码安装autoware1.13.0
Xavier入门教程软件篇-源码安装autoware1.13.0
说明:
- 介绍如何源码安装autoware1.13.0
- 环境:xavier4.2.3
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
$ 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/1.13.0/autoware.ai.repos?inline=false"
- 避免issue问题,查看问题,修改autoware.ai.repos
- 更改mrt_cmake_modules使用master版本,修改后如下
url: https://github.com/KIT-MRT/mrt_cmake_modules.git
version: master
- 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
问题集:
- 问题:
fails to build: calibration_publisher. undefined reference to cv::read
- 修改方案:
- 修改calibration_publisher/CMakeLists.txt 增加
${OpenCV_LIBS}
target_link_libraries(calibration_publisher
${catkin_LIBRARIES}
${OpenCV_LIBS}
)
- 修改calibration_publisher/package.xml 增加
<depend>libopencv-dev</depend>
<depend>cv_bridge</depend>
<depend>image_transport</depend>
<depend>tf</depend>
<depend>libopencv-dev</depend>
参考:
- https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Source-Build
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