在安装Autoware过程中，遇到了CUDNN的配置问题以及ROS Melodic中imu-filter-madgwick包的安装错误。通过官网下载CUDNN并按照指定教程进行设置。在执行ROS依赖安装时，由于旧的ROS密钥被撤销，导致apt安装失败。解决方法是更新ROS密钥，并参照解决方案进行操作。
1. cudnn setup 官网下载
[cudnn安装 18.september版 ](https://blog.csdn.net/weixin_44003563/article/details/90312965)
2. vcs import src < autoware.ai.repos
[Reference](https://blog.csdn.net/CAIYUNFREEDOM/article/details/99985961)
Command 'vcs' not found, but there are 17 similar ones.
```
$sudo apt-get install python3-vcstool
```
3 执行$ sudo apt install -y python-catkin-pkg python-rosdep ros-$ROS_DISTRO-catkin时报错
**error**
```
Err:1 http://packages.ros.org/ros/ubuntu bionic/main amd64 ros-melodic-imu-filter-madgwick amd64 1.2.3-1bionic.20210414.225903
404 Not Found [IP: 2600:3402:200:227::2 80]
E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-melodic-imu-filter-madgwick/ros-melodic-imu-filter-madgwick_1.2.3-1bionic.20210414.225903_amd64.deb 404 Not Found [IP: 2600:3402:2
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