ubuntu16.04安装Autoware

1.安装OpenCV

参考这篇博客；http://www.cnblogs.com/Shuqing-cxw/p/9195303.html；

2.安装QT5.9

参照这篇博客https://blog.csdn.net/qing666888/article/details/79121745

3.安装依赖项

$ sudo apt-get install ros-kinetic-desktop-full ros-kinetic-nmea-msgs ros-kinetic-nmea-navsat-driver ros-kinetic-sound-play ros-kinetic-jsk-visualization ros-kinetic-grid-map ros-kinetic-gps-common % sudo apt-get install ros-kinetic-controller-manager ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-gazebo-ros-control ros-kinetic-joystick-drivers 
$ sudo apt-get install libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev python-wxgtk3.0 software-properties-common libmosquitto-dev libyaml-cpp-dev python-flask python-requests 

 

4.下载Autoware离线编译包；

$ cd ~
$ git clone https://github.com/CPFL/Autoware.git --recurse-submodules

 5.初始化工作区，使用rosdep安装丢失的依赖项并编译。

$ cd ~/Autoware/ros/src
$ catkin_init_workspace
$ cd ../
$ rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
$ ./catkin_make_release

6.基于深度神经网络(DNN)的节点

一些基于DNN的节点，如RCNN，SSD，和Yolo，不是自动构建的。要构建这些节点，请参照各自节点的教程SSD YOLO2 YOLO3。

 7.启动Autoware

$ cd $HOME/Autoware/ros
$ ./run