ubuntu18.04安装autoware

autoware install from source

autoware version v1.11.1
ubuntu version v18.04
ROS version vMelodic
Qt version v5.9.5
CUDA version v10.0

[Supported Configurations]

|---------------------------------------------------------------|
| Autoware_Version | ubuntu16.04 | ubuntu18.04 |
|---------------------------------------------------------------|
| v1.13.0 | Ok | No |
|---------------------------------------------------------------|
| v1.12.0 | No | No |
|---------------------------------------------------------------|
| v1.11.1 | No | Ok |
|---------------------------------------------------------------|
| v1.11.0 | No | Ok |
|---------------------------------------------------------------|
| v1.10.0 | No | Ok |
|---------------------------------------------------------------|
| v1.9.1 | No | Ok |
|---------------------------------------------------------------|
| v1.9.0 | No | Ok |
|---------------------------------------------------------------|

[Requirements]

|---------------------------------------------------------------|
| Product | Ubuntu16.04 | Ubuntu18.04 |
|---------------------------------------------------------------|
|ROS | Kinetic | Melodic |
|---------------------------------------------------------------|
|Qt | 5.2.1 | 5.9.5 |
|---------------------------------------------------------------|
|CUDA | 9.0 | 10.0 |
|---------------------------------------------------------------|

System dependencies for Ubuntu 18.04 / Melodic

sudo apt update
sudo apt install -y python-catkin-pkg python-rosdep ros-$ROS_DISTRO-catkin
sudo apt install -y python3-pip python3-colcon-common-extensions python3-setuptools python3-vcstool
pip3 install -U setuptools

clon source

cd ~
git clone https://gitlab.com/autowarefoundation/autoware.ai/autoware.git
cd autoware
git checkout 1.11.1
cd ros

##################################

intall 依赖rosdep

rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

编译

./colocon_release

##########################################

run autoware

##########################################

1 启动autoware

cd autoware/ros
sourec ./intall/setup.bash
./run

2 运行rosbag
选择 Simulation Tab 加载rosbag
点击play,2s后 点击Pause

3 启动RVIZ
打开rviz配置文件

~/Autoware/ros/src/.config/rviz/default.rviz

4 加载map,开启定位

map:		~/Autoware/docs/quick_start
Localization:	~/Autoware/docs/quick_start

5 继续play
在 Simulation Tab，再次点击 Pause，恢复播放 rosbag。
此时在 RViz 中应该可以看到地图和车的模型

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