环境
Ubuntu20.04 硬盘内存配置至少为30g
先安装docker
sudo apt-get update
sudo apt-get install ca-certificates curl gnupg lsb-release
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
sudo apt-get install docker-ce docker-ce-cli containerd.io
sudo systemctl enable docker
可通过docker -v查看是否安装成功
安装ade
$ mkdir ~/adehome
$ cd ~/adehome
$ wget https://gitlab.com/ApexAI/ade-cli/-/jobs/1341322851/artifacts/raw/dist/ade+x86_64
$ mv ade+x86_64 ade
$ chmod +x ade
$ ./ade --version
4.3.0
$ sudo mv ade /usr/local/bin
$ which ade
/usr/local/bin/ade
安装Autoware.auto容器
$ touch .adehome
$ git clone https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto.git
$ cd AutowareAuto
$ git checkout tags/1.0.0 -b release-1.0.0
$ sudo ade start
如果出现类似下面的错误
可以通过一下命令来解决
# $USER改为自己的用户名
$ sudo usermod -aG docker $USER
$ sudo chmod 666 /var/run/docker.sock
$ ade start --update --enter
这样就进入到ade容器了,然后切换到AutowareAuto目录,下载相关文件
ade$ cd AutowareAuto
ade$ vcs import < autoware.auto.$ROS_DISTRO.repos
然后就进行编译
ade$ colcon build
运行官方lesson01的demo
下载https://drive.google.com/open?id=1vNA009j-tsVVqSeYRCKh_G_tkJQrHvP-文件,然后放到${HOME}/adehome/data目录下
克隆相关配置文件到指定目录
ade$ git clone https://gitlab.com/ApexAI/autowareclass2020.git ~/autowareclass2020
打开七个终端,依次执行以下指令即可
ade$ udpreplay ~/data/route_small_loop_rw-127.0.0.1.pcap -r -1
ade$ rviz2 -d /home/${USER}/autowareclass2020/code/src/01_DevelopmentEnvironment/aw_class2020.rviz
ade$ ros2 run velodyne_nodes velodyne_cloud_node_exe --model vlp16 --ros-args --remap __ns:=/lidar_front --params-file /home/${USER}/AutowareAuto/src/drivers/velodyne_nodes/param/vlp16_test.param.yaml
ade$ ros2 run robot_state_publisher robot_state_publisher /opt/AutowareAuto/share/lexus_rx_450h_description/urdf/lexus_rx_450h.urdf
ade$ ros2 run point_cloud_filter_transform_nodes point_cloud_filter_transform_node_exe --ros-args --remap __ns:=/lidar_front --params-file /opt/AutowareAuto/share/point_cloud_filter_transform_nodes/param/vlp16_sim_lexus_filter_transform.param.yaml --remap __node:=filter_transform_vlp16_front --remap points_filtered:=/perception/points_in
ade$ ros2 run ray_ground_classifier_nodes ray_ground_classifier_cloud_node_exe --model --ros-args --remap __ns:=/perception --params-file /opt/AutowareAuto/share/autoware_auto_avp_demo/param/ray_ground_classifier.param.yaml
ade$ ros2 run euclidean_cluster_nodes euclidean_cluster_node_exe --ros-args --remap __ns:=/perception --params-file /opt/AutowareAuto/share/autoware_auto_avp_demo/param/euclidean_cluster.param.yaml
注意:执行之前都需要source /opt/AutowareAuto/setup.bash
然后你就可以看到点云信息了
注意:如果没有显示点云信息,注意看一点左边栏订阅的两个点云话题是否跟上图一致