Autoware.AI 源码安装CPU版本

安装ROS

参考我的这篇文章（(7条消息) ubuntu 安装ros系统_丶看我会发光的博客-CSDN博客https://blog.csdn.net/littleleafboy/article/details/123874595）

系统自带了OpenCV3.2，Qt5.9.5（忘记是安装ROS的时候带的还是Ubuntu自带的）

更新系统Eigen版本库到3.3.7

git下载eigen3.3.7

mkdir build
cd build
cmake ..
make
sudo make install

拷贝头文件

sudo cp -r /usr/local/include/eigen3 /usr/include
sudo cp -r /usr/local/include/Eigen /usr/include
sudo updatedb

安装Autoware.AI依赖

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

建立工作空间

mkdir -p autoware.ai/src
cd autoware.ai

下载源码编译

遇到编译报错的问题，不要慌，重启电脑，反复执行colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release它，一直到提示154个包都编译通过

wget -O autoware.ai.repos "https://gitlab.com/autowarefoundation/autoware.ai/autoware/raw/1.14.0/autoware.ai.repos?inline=false"
vcs import src < autoware.ai.repos
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

#不要cuda就把AUTOWARE_COMPILE_WITH_CUDA=1去掉
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

#只编译一个包
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-select wx_planner

下载demo

#参考(https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/ROSBAG-Demo)
cd ~/Downloads
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

#数据
cd ~
mkdir .autoware
cd .autoware
cp ~/Downloads/sample_moriyama_* .
tar zxfv sample_moriyama_150324.tar.gz
tar zxfv sample_moriyama_data.tar.gz

#运行
cd autoware.ai
source install/setup.bash
roslaunch runtime_manager runtime_manager.launch