autoware安装过程记录

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

   下载和解压提取OpenCV
 

sudo wget http://sourceforge.net/projects/opencvlibrary/files/opencv-unix/2.4.9/opencv-2.4.9.zip   

unzip opencv-2.4.9.zip

cd opencv-2.4.9

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

      可能会出现的错误

     

Could not find the required component 'module_comm_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "module_comm_msgs"
  with any of the following names:

    module_comm_msgsConfig.cmake
    module_comm_msgs-config.cmake

  Add the installation prefix of "module_comm_msgs" to CMAKE_PREFIX_PATH or
  set "module_comm_msgs_DIR" to a directory containing one of the above
  files.  If "module_comm_msgs" provides a separate development package or
  SDK, be sure it has been installed.
Call Stack (most recent call first):
  actuation/vehicles/packages/as/CMakeLists.txt:4 (find_package

   解决办法

  

$ cd ~/Autoware
$ git submodule update --init

5.运行autoware

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