ubuntu20.04搭建autoware开发环境

ubuntu20.04搭建autoware开发环境

1. 安装Ubuntu20.04系统

   在网上下载Ubuntu20.04镜像，创建虚拟机进行安装即可。
   Ubuntu 20.04官方下载网址：https://cn.ubuntu.com/download
   Ubuntu 20.04官方下载网址：https://ubuntu.com/download/desktop

2. 在ubuntu20.04下apt安装ros2的foxy版本

   1） 设置编码
   sudo locale-gen en_US en_US.UTF-8
   sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
   export LANG=en_US.UTF-8

   2） 添加key
   sudo apt update && sudo apt install curl gnupg2 lsb-release
   curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

   3） 添加ros源
   sudo sh -c ‘echo “deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main” > /etc/apt/sources.list.d/ros2-latest.list’

   4） 安装ros2
   sudo apt update
   sudo apt install ros-foxy-desktop

   5） 加载ros2
   source /opt/ros/foxy/setup.bash

   6） 自动补全
   sudo apt install python3-argcomplete

   7） 安装开发工具和ros工具
   sudo apt update && sudo apt install -y
   build-essential \
   cmake \
   git \
   libbullet-dev \
   python3-colcon-common-extensions \
   python3-flake8 \
   python3-pip \
   python3-pytest-cov \
   python3-rosdep \
   python3-setuptools \
   python3-vcstool \
   wget

   #install some pip packages needed for testing
   python3 -m pip install -U \
   argcomplete \
   flake8-blind-except \
   flake8-builtins \
   flake8-class-newline \
   flake8-comprehensions \
   flake8-deprecated \
   flake8-docstrings \
   flake8-import-order \
   flake8-quotes \
   pytest-repeat \
   pytest-rerunfailures \
   pytest

   #install Fast-RTPS dependencies
   sudo apt install --no-install-recommends -y \
   libasio-dev \
   libtinyxml2-dev

   #install Cyclone DDS dependencies
   sudo apt install --no-install-recommends -y \
   libcunit1-dev

   8） 测试验证

   新开终端，发布话题
   source /opt/ros/foxy/setup.bash
   ros2 run demo_nodes_cpp talker

   新开终端，订阅话题
   source /opt/ros/foxy/setup.bash
   ros2 run demo_nodes_py listener
   

3. 配置ros2环境
   source /opt/ros/foxy/setup.bash
   加入到bashrc: echo “source /opt/ros/foxy/setup.bash” >> ~/.bashrc
   source /opt/ros/$ROS_DISTRO/setup.bash $ROS_DISTRO：为ros版本foxy

参考网址：https://www.ncnynl.com/archives/201802/2278.html

5. 安装ros2依赖
   $ sudo apt update
   $ sudo apt install -y python3-rosdep
   $ sudo rosdep init
   $ rosdep update

6. 安装autoware
   $ git clone https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto.git
   $ cd AutowareAuto
   $ vcs import < autoware.auto.$ROS_DISTRO.repos
   $ rosdep install -y -i --from-paths src

7. 编译
   $ cd AutowareAuto
   $ vcs import < autoware.auto.$ROS_DISTRO.repos
   $ git lfs pull --exclude=“” --include=“*”
   $export COLCON_DEFAULTS_FILE=/path/to/AutowareAuto/tools/ade_image/colcon-defaults.yaml
   $colcon build
   $ colcon test
   $ colcon test-result –verbose

8. 安装ADE

   1） 安装docker
   $sudo apt-get update
   $sudo apt-get install \
   apt-transport-https \
   ca-certificates \
   curl \
   gnupg \
   lsb-release
   $curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg
   $ echo
   “deb [arch=amd64 signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/ubuntu \
   $(lsb_release -cs) stable” | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
   $sudo apt-get update
   $sudo apt-get install docker-ce docker-ce-cli containerd.io
   $apt-cache madison docker-ce
   $sudo apt-get install docker-ce= docker-ce-cli= containerd.io (##替换一下)
   #sudo docker run hello-world (###验证docker)

   2） 安装ADE
   $ cd /path/from/step/above （###我自己随便建立的文件夹）
   $ wget https://gitlab.com/ApexAI/ade-cli/uploads/f6c47dc34cffbe90ca197e00098bdd3f/ade+x86_64
   $ mv ade+x86_64 ade
   $ chmod +x ade
   $ ./ade --version
   4.0.0
   $ ./ade update-cli
   $ ./ade –version
   $ which ade
   /path/to/ade
   $ ade --version
   
   

   3） 安装ade-cli
   $ git clone https://gitlab.com/ApexAI/ade-cli
   $ cd ade-cli
   $ ./osx-install
   $ which ade
   ~/.local/bin/ade
   $ ade --version
   

   4)启动ADE
   $ cd AutowareAuto
   $ ade start --update –enter

   5)退出
   ade$ exit
   $ ade stop
   $ ade start --update –enter

9. 验证

10. 后续问题记录

    1）环境变量
    
    2）Got permission denied while trying to connect to Docker Daemon
    解决：sudo usermod -aG docker $USER newgrp docker

官网学习： https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/index.html

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