Autoware(一) 环境配置与安装教程

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本文为博主原创,原创不易,转载请注明出处 https://blog.csdn.net/weixin_40884570/article/details/85053856
本文autoware配置部分主要翻译自github中autoware install instruction
链接:https://github.com/CPFL/Autoware/wiki/Source-Build

1.依赖环境:

• indigo(Ubuntu 14.04) 或者 ROS jade(Ubuntu 15.04) 或者 ROS kinetic(Ubuntu 16.04),博主安装的是ROS kinetic(Ubuntu16.04),不过各个版本差别不大,需要注意的是ROS的版本需要和安装的Ubuntu版本对应上.
• OpenCV 2.4.10 或者更高版本
• Qt 5.2.1 或者更高版本
• CUDA (可选)
• FlyCapture2 (可选)
• Armadillo (可选)

2.安装依赖项

2.1 OpenCV安装
安装教程: http://www.cnblogs.com/mypsq/p/6114824.html
OpenCV官网: https://opencv.org

2.2 Qt安装
安装教程: https://www.cnblogs.com/chenmingjun/p/8392713.html
官网下载地址: http://download.qt.io/archive/qt/

3.Ubuntu系统所需安装的依赖项

3.1 Ubuntu 14.04(indigo)所需安装的依赖项:

% sudo apt-get install -y  python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin

% sudo add-apt-repository ppa:mosquitto-dev/mosquitto-ppa
% sudo apt-get update
% sudo apt-get install libmosquitto-dev

注意:不要安装ros-indigo-velodyne-pointcloud功能包,如果已经安装了,需要卸载该包.

3.2 Ubuntu 16.04(kinetic)

% sudo apt-get update
% sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin libmosquitto-dev gksu

4.安装autoware

4.1 Clone the repository

$ cd $HOME
$ git clone https://github.com/CPFL/Autoware.git --recurse-submodules

4.2 Initialize the workspace, let rosdep to install the missing dependencies and compile.

$ cd ~/Autoware/ros/src
$ catkin_init_workspace
$ cd ../
$ rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
$ ./catkin_make_release

5.运行autoware

$ cd $HOME/Autoware/ros
$ ./run