安装 ros 、Autoware（Ubuntu16.04）

一、安装ros

1. Setup your sources.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

2. Set up your keys

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

3. Installation

sudo apt-get update

sudo apt-get install ros-kinetic-desktop-full

4. Initialize rosdep

sudo rosdep init

rosdep update

5. Environment setup

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc

source ~/.bashrc

二、安装 Autoware

1. install dependencies

sudo apt-get update

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

sudo apt-get install -y python3-pip python3-colcon-common-extensions python3-setuptools python3-vcstool

pip3 install -U setuptools

2. Create a workspace

mkdir -p autoware.ai/src

cd autoware.ai

3. Download the workspace configuration for Autoware.AI. For the 1.12.0 release

wget -O autoware.ai.repos "https://gitlab.com/autowarefoundation/autoware.ai/autoware/raw/1.12.0/autoware.ai.repos?inline=false"

4. Download Autoware.AI into the workspace.

vcs import src < autoware.ai.repos

5. Install dependencies using rosdep

rosdep update

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

6. Compile the workspace

方法一，使用CUDA的编译：With CUDA support

AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

方法二，不使用CUDA的编译：Without CUDA Support

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release