ubuntu18.04安装autoware

海阳梦港

于 2023-12-20 21:51:30 发布

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文章标签： ubuntu linux 运维

本文链接：https://blog.csdn.net/macaostem/article/details/134967018

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一、安装显卡驱动

参考：ubuntu18.04安装nvidia驱动，3种方式图文详解+卸载教程_ubuntu18.04安装nvidia显卡驱动-CSDN博客

解决问题：ubuntu18.04安装nvidia显卡驱动-CSDN博客

二、安装cmake

参考：ubuntu18.04安装Autoware1.14---GPU版最全环境配置说明_autoware1.14安装教程-CSDN博客

其中cmake安装部分为：

1| wget https://cmake.org/files/v3.12/cmake-3.12.2-Linux-x86_64.tar.gz
2| tar zxvf cmake-3.12.2-Linux-x86_64.tar.gz #解压
3| sudo ln -sf /home/hb-wgl/cmake-3.12.2-Linux-x86_64/bin/* /usr/bin/  #注意自己的cmake安装路径

但是软链接一直有问题。

参考：linux安装指定版本的cmake_linux安装cmake指定版本-CSDN博客

使用：

sudo vim ~/.bashrc
export PATH=$PATH:/home/q/cmake/cmake-3.12.2-Linux-x86_64/bin

成功输出路径并输出cmake版本

$PATH
bash: /usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/q/cmake/cmake-3.12.2-Linux-x86_64/bin: No such file or directory

cmake --version
cmake version 3.12.2

三、eigen3.3.7

参考：

ubuntu18.04安装Autoware1.14---GPU版最全环境配置说明_autoware1.14安装教程-CSDN博客

ln一直报错

参考：【环境搭建】ubuntu18.04安装Eigen3_ubuntu18.04 eigen3-CSDN博客

Eigen下载地址:Releases · libeigen / eigen · GitLab下载eigen3.37的压缩包

解压并进如安装包目录

mkdir build
cd build
cmake ..
sudo make install

但cmake编译文件时报错

Tell CMake where to find the compiler by setting either the environment
variable “CXX” or the CMake cache entry CMAKE_CXX_COMPILER to the full path
to the compiler, or to the compiler name if it is in the PATH.

参考：cmake：Tell CMake where to find the compiler by setting either the environment...-CSDN博客

apt-get update
apt-get install -y build-essential

重新编译安装，软件默认安装在/usr/local/include,需要将文件链接到/usr/include下。

sudo ln -s  /usr/local/include/eigen3 /usr/include
sudo ln -s  /usr/local/include/eigen3/Eigen /usr/include/Eigen

不加sudo会报错，执行完之后可以在/usr/include下看到链接文件。

查看版本：

gedit /usr/include/eigen3/Eigen/src/Core/util/Macros.h

版本号：3.3.7，竖着排列的3 3 7

四、CUDA-10.0安装

参考：ubuntu18.04安装Autoware1.14---GPU版最全环境配置说明_autoware1.14安装教程-CSDN博客

下载时Installer Type选runfile，上面链接截图给错了，这里补丁没下载，应该没事。

安装时一定要参考：Ubuntu18.04安装cuda10.0_ubuntu安装cuda10.0-CSDN博客

配置环境变量：

echo "export PATH=$PATH:/usr/local/cuda-10.0/bin/" >> ~/.bashrc
echo "export CUDA_HOME=$CUDA_HOME:/usr/local/cuda-10.0" >> ~/.bashrc
source ~/.bashrc

查版本：

cat /usr/local/cuda/version.txt

CUDA Version 10.0.130

五、cudnn7.5.0
参考：ubuntu18.04安装Autoware1.14---GPU版最全环境配置说明_autoware1.14安装教程-CSDN博客

下载cudnn:cuDNN Archive | NVIDIA Developer

对于ubuntu18.04来说有不同版本的cudnn，需要注意cudnn的版本。下载选项中

cuDNN Library for Linux是cudnn-10.0-linux-x64-v7.5.0.56.tgz，这一个安装包即可完成安装。
cuDNN Runtime Library for Ubuntu18.04 (Deb)
cuDNN Developer Library for Ubuntu18.04 (Deb)
cuDNN Code Samples and User Guide for Ubuntu18.04 (Deb)
这三个安装包对应的第二种安装方法，第二种方法在参考链接中有，这里由于第一种安装方法直接成功就没尝试第二种。
第一种方法参考：
安装cudnn_如何安装cudnn-CSDN博客

tar vxf cudnn-10.0-linux-x64-v7.5.0.56.tgz
sudo cp include/cudnn.h  /usr/local/cuda/include/
sudo cp -r -d ./lib64/*  /usr/local/cuda/lib64/   #-d如果源文件为软链接（对硬链接无效),则复制出的目标文件也为软链接；
sudo chmod a+r /usr/local/cuda/include/cudnn.h
sudo chmod a+r /usr/local/cuda/lib64/libcudnn*
echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda/lib64" >> ~/.bashrc
source ~/.bashrc

查版本：

cat /usr/local/cuda/include/cudnn.h | grep CUDNN_MAJOR -A 2

#define CUDNN_MAJOR 7
#define CUDNN_MINOR 5
#define CUDNN_PATCHLEVEL 0
--
#define CUDNN_VERSION (CUDNN_MAJOR * 1000 + CUDNN_MINOR * 100 + CUDNN_PATCHLEVEL)

#include "driver_types.h"

六、opencv3.4.5安装

下载：网页输入URL自动下载

https://github.com/opencv/opencv/archive/3.4.5.zip

unzip opencv-3.4.5.zip
cd opencv-3.4.5
sudo apt-get install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg.dev libtiff4.dev libswscale-dev libjasper-dev

报错：

Reading package lists... Done
Building dependency tree       
Reading state information... Done
Note, selecting 'libjpeg-dev' for regex 'libjpeg.dev'
Note, selecting 'libtiff4-dev' for regex 'libtiff4.dev'
E: Unable to locate package libjasper-dev

解决：

sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt install libjasper1 libjasper-dev

编译安装：

mkdir build && cd build
cmake ..
make -j8 // nproc是读取CPU的核心数量 
sudo make install

环境配置添加库路径:

sudo /bin/bash -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf'
##更新库
sudo ldconfig

配置bash，执行如下命令:

sudo gedit /etc/bash.bashrc 
//在末尾添加
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig  
export PKG_CONFIG_PATH

保存退出，然后执行如下命令使得配置生效:

source /etc/bash.bashrc  #加sudo会报错，sudo: source: command not found，猜是root下面没有source
sudo updatedb

查版本：

pkg-config --modversion opencv
3.4.5

安装pkg-config

sudo apt install pkg-config

七、安装Qt 5.14.2

参考：ubuntu18.04安装Autoware1.14---GPU版最全环境配置说明_autoware1.14安装教程-CSDN博客

下载：qt-opensource-linux-x64-5.14.2.run

安装：

chmod a+x ./qt-opensource-linux-x64-5.14.2.run
./qt-opensource-linux-x64-5.14.2.run

进入程序安装界面，参考：Ubuntu18.04 qt5.14安装_ubuntu18.04安装qt-CSDN博客

邮箱验证完之后，需要手动点安装界面的next进行下一步，qt组件这里全选。

安装完成之后，有的文章还需要配置环境，但原文没配置，所以这里没配置。

八.Autoware1.14源码安装

参考：ubuntu18.04安装Autoware1.14---GPU版最全环境配置说明_autoware1.14安装教程-CSDN博客

原文，执行下面代码会报错找不到包：

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

报错：

sudo apt install -y python-catkin-pkg python-rosdep ros-$ROS_DISTRO-catkin
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Note, selecting 'python-rosdep2' instead of 'python-rosdep'
E: Unable to locate package ros--catkin
#########################################
sudo apt install ros-melodic-catkin
Reading package lists... Done
Building dependency tree       
Reading state information... Done
E: Unable to locate package ros-melodic-catkin

第一次成功安装采用的方法是，rosdep用鱼香ros安装(终端执行wget http://fishros.com/install -O fishros && bash fishros),在安装过程中更新源，难道是这个缘故？也尝试用鱼香安装ros,不知道为啥报错，但也更新了源。

之后直接执行下面代码就可以，或许是网络波动？（环境中没有$ROS_DISTRO）

sudo apt update
sudo apt install -y python-catkin-pkg python-rosdep ros-melodic-catkin
sudo apt install -y python3-pip python3-colcon-common-extensions python3-setuptools python3-vcstool
pip3 install -U setuptools

安装ROS

鱼香安装报错：source 什么文件不存在

apt安装报错：Some packages could not be installed. This may mean that you have requested

源错误，修改

sudo gedit /etc/apt/sources.list
#添加阿里源
deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse

#中科大源
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

#163源
deb http://mirrors.163.com/ubuntu/ bionic main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ bionic-security main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ bionic-updates main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ bionic-backports main restricted universe multiverse

#清华源
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

之后可以选择鱼香ROS安装，也可以自己安装。

安装ros依赖，虽然rosdep可以通过鱼香安装好，但rosdep update一直报错，放这里不管了。

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

编译环境

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

报错：

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by
  "jsk_recognition_msgs" with any of the following names:

    jsk_recognition_msgsConfig.cmake
    jsk_recognition_msgs-config.cmake

  Add the installation prefix of "jsk_recognition_msgs" to CMAKE_PREFIX_PATH
  or set "jsk_recognition_msgs_DIR" to a directory containing one of the
  above files.  If "jsk_recognition_msgs" provides a separate development
  package or SDK, be sure it has been installed.
Call Stack (most recent call first):
  CMakeLists.txt:4 (find_package)


---
Failed   <<< autoware_msgs [1.33s, exited with code 1]

修改：

sudo apt-get install  ros-melodic-jsk-recognition-msgs

报错：

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "jsk_rviz_plugins"
  with any of the following names:

    jsk_rviz_pluginsConfig.cmake
    jsk_rviz_plugins-config.cmake

  Add the installation prefix of "jsk_rviz_plugins" to CMAKE_PREFIX_PATH or
  set "jsk_rviz_plugins_DIR" to a directory containing one of the above
  files.  If "jsk_rviz_plugins" provides a separate development package or
  SDK, be sure it has been installed.
Call Stack (most recent call first):
  CMakeLists.txt:6 (find_package)

修改：

sudo apt-get install  ros-melodic-jsk-rviz-plugins

报错：

/usr/include/eigen3/Eigen/Core:42:14: fatal error: math_functions.hpp: No such file or directory

修改：

将 /usr/include/eigen3/Eigen/Core的42行中的 math_functions.hpp改为cuda_runtime.h

报错：ntd_gpu

/usr/local/include/eigen3/Eigen/src/Core/arch/CUDA/PacketMathHalf.h(102): error: more than one conversion function from "const __half" to a built-in type applies:

修改：检查eigen版本参考：Autoware 安装（源码）过程与踩坑记录（Ubuntu18.04）_autoware源码-CSDN博客

报错：

CMake Error at /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:137 (message):
  Could NOT find GLEW (missing: GLEW_INCLUDE_DIR GLEW_LIBRARY)

修改：参考：Autoware学习笔记_at /usr/share/cmake-3.10/modules/findpackagehandle-CSDN博客

sudo apt install libglew-dev

报错:

  Could NOT find GeographicLib (missing: GeographicLib_LIBRARIES
  GeographicLib_INCLUDE_DIRS)

修理：

sudo apt-get install libgeographic-dev

报错：

  Could not find a package configuration file provided by "nmea_msgs" with
  any of the following names:

    nmea_msgsConfig.cmake
    nmea_msgs-config.cmake

修改：

suds apt-get install  ros-melodic-nmea-msgs

报错：

  Could not find a package configuration file provided by
  "nmea_navsat_driver" with any of the following names:

    nmea_navsat_driverConfig.cmake
    nmea_navsat_driver-config.cmake

修理：

sudo apt-get install ros-melodic-nmea-navsat-driver

报错：

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by
  "automotive_navigation_msgs" with any of the following names:

    automotive_navigation_msgsConfig.cmake
    automotive_navigation_msgs-config.cmake

修理：

sudo apt-get install ros-melodic-automotive-navigation-msgs

报错：

  Could not find a package configuration file provided by "grid_map_msgs"
  with any of the following names:

    grid_map_msgsConfig.cmake
    grid_map_msgs-config.cmake

修理：

sudo apt-get install  ros-melodic-grid-map-msgs

报错：

  Could not find a package configuration file provided by
  "automotive_platform_msgs" with any of the following names:

    automotive_platform_msgsConfig.cmake
    automotive_platform_msgs-config.cmake

修理：

sudo apt-get install  ros-melodic-automotive-platform-msgs

报错：

  Could not find a package configuration file provided by "grid_map_ros" with
  any of the following names:

    grid_map_rosConfig.cmake
    grid_map_ros-config.cmake

修理：

sudo apt-get install  ros-melodic-grid-map-ros

报错:

--- stderr: calibration_publisher                                                                                                                          
CMakeFiles/calibration_publisher.dir/src/calibration_publisher.cpp.o: In function `main':
calibration_publisher.cpp:(.text.startup+0xb8e): undefined reference to `cv::read(cv::FileNode const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'

修理;autoware解决报错：calibration_publisher.cpp:(.text+0x26): undefined reference to `cv::Mat::Mat()‘-CSDN博客

报错：

  Could not find a package configuration file provided by
  "velodyne_pointcloud" with any of the following names:

    velodyne_pointcloudConfig.cmake
    velodyne_pointcloud-config.cmake

修理：

sudo apt-get install  ros-melodic-velodyne-pointcloud

报错：

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "gps_common" with
  any of the following names:

    gps_commonConfig.cmake
    gps_common-config.cmake

修理：

sudo apt-get install  ros-melodic-gps-common

报错：

  Could not find a package configuration file provided by "qpoases_vendor"
  with any of the following names:

    qpoases_vendorConfig.cmake
    qpoases_vendor-config.cmake

修理：

sudo apt-get install  ros-melodic-qpoases-vendor

报错：

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "geodesy" with any
  of the following names:

    geodesyConfig.cmake
    geodesy-config.cmake

修理：

sudo apt-get install  ros-melodic-geodesy

报错：

--- stderr: waypoint_maker                                                                                                                                                           
/home/q/Autoware/autoware.ai/install/lanelet2_routing/lib/liblanelet2_routing.so: undefined reference to `lanelet::LaneletMap::LaneletMap()'
/home/q/Autoware/autoware.ai/install/lanelet2_validation/lib/liblanelet2_validation.so: undefined reference to `lanelet::LaneletMap::~LaneletMap()'
collect2: error: ld returned 1 exit status

修理：

sudo vim /.bashrc
export LIBRARY_PATH=/usr/local/lib:$LIBRARY_PATH

报错：

--- stderr: waypoint_maker                     
/home/q/Autoware/autoware.ai/install/lanelet2_routing/lib/liblanelet2_routing.so: undefined reference to `lanelet::LaneletMap::LaneletMap()'
/home/q/Autoware/autoware.ai/install/lanelet2_validation/lib/liblanelet2_validation.so: undefined reference to `lanelet::LaneletMap::~LaneletMap()'
collect2: error: ld returned 1 exit status
make[2]: *** [devel/lib/waypoint_maker/waypoint_clicker] Error 1
make[1]: *** [CMakeFiles/waypoint_clicker.dir/all] Error 2

修理：修改waypoint_maker功能包对应的Cmakelists.txt

find_package(lanelet2 REQUIRED)
include_directories(${lanelet2_INCLUDE_DIRS})
target_link_libraries(your_target_name ${lanelet2_LIBRARIES})

报错：

  Could not find a package configuration file provided by "lanelet2" with any
  of the following names:

    lanelet2Config.cmake
    lanelet2-config.cmake

修理：

sudo apt-get install  ros-melodic-lanelet2

当时并没有直接成功，尝试了很多方法都失败了，但将文件还原后重新编译居然成功了。

下面是尝试的方法：

编译时遇到 Add the installation prefix of “xxx“ to CMAKE_PREFIX_PATH or set“xxx_DIR“ to a directory-CSDN博客

ubuntu20.04 ad_with_lanelet2 编译问题解决-CSDN博客

至此编译完成，下图为编译成功。

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ubuntu18.04安装autoware

但是软链接一直有问题。成功输出路径并输出cmake版本ln一直报错下载eigen3.37的压缩包解压并进如安装包目录但cmake编译文件时报错重新编译安装，软件默认安装在/usr/local/include,需要将文件链接到/usr/include下。不加sudo会报错，执行完之后可以在/usr/include下看到链接文件。版本号：3.3.7，竖着排列的3 3 7下载时Installer Type选runfile，上面链接截图给错了，这里补丁没下载，应该没事。安装时。
复制链接

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