1.1安装依赖
$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
1.2安装EIgen
git clone https://github.com/eigenteam/eigen-git-mirror
cd eigen-git-mirror
mkdir build
cd build
cmake ..
sudo make install
sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include(因为eigen编译经常直接存在于include下)
1.3安装QT(有很多教程,这里省去)
1.4AUTOWARE源码下载
mkdir -p autoware.ai/src
cd autoware.ai
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(或执行出现错误)
1.5安装Autoware依赖
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
1.6CPU版本源码编译
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
备注:
1.7如果前面执行错误不妨手动编译
sudo rm -r build
sudo rm -r install
sudo rm -r log
catkin build -j4
接下来就进入到编译环节了,在编译环节大多数都会出现各种各样的错误,阅读出现错误的原因可能是出现缺少依赖的情况,这时候一般 “ ” 里面的是缺少的依赖,然后使用sudo apt install ros-melodic-xxxxxx(这里说明一下xxxxxx为缺少的依赖,例如缺少nmea-msgs,错误提示肯定是这样子的“nmea_msgs,”,然后把编译退出,sudo apt install ros-melodic-nmea-msgs,这_变-),接着编译直到全部编译100%无错误。
1.8启动
cd autoware.ai
source install/setup.bash(最好中vi ~/.bashrc,要不然每次得source)
roslaunch runtime_manager runtime_manager.launch