JETSON AGX ORIN 安装ros2、部署autoware.auto

wget fishros 装ros2

在安装ros以及ros2时，容易出现很多系统错误，所以此处使用小鱼的一键安装，能够一键安装各个版本的ros以及ros2.

wget http://fishros.com/install -O fishros && bash fishros

安装autoware.auto

一、Installation Requirements
 

sudo apt install -y git cmake python3-pip
pip3 install -U colcon-common-extensions vcstool

二、下载Autoware.Auto project.
 

git clone https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto.git

cd AutowareAuto

sudo apt install python3-colcon-common-extensions python3-vcstool

vcs import < autoware.auto.$ROS_DISTRO.repos
###1.使用waiwang pig shell
###2.将repos文件中 github.com全代理替代成 kgithub.com

export ROS_VERSION=2

rosdep install -y -i --from-paths src

######一定不要整什么稳定分支

三、Compile Troubleshooting

1.In case where ros-foxy-autoware-auto-msgs is installed on the system, colcon uses it instead of the one in the AutowareAuto/src/external/ folder. This may cause errors. To prevent this, please remove the package by:

 sudo apt purge -y ros-foxy-autoware-auto-msgs

2.In case an error occurs related to acado package, please run:

sudo apt purge -y ros-foxy-acado-vendor

sudo apt install -y ros-foxy-acado-vendor

四、编译

colcon build

必要时，删除：
  21 packages ： apollo_lidar_segmentation apollo_lidar_segmentation_nodes filter_node_base gnss_conversion_nodes grid_map_cv grid_map_demos grid_map_pcl mpc_controller ndt ndt_mapping_nodes ndt_nodes neural_networks outlier_filter outlier_filter_nodes point_cloud_mapping recordreplay_planner_nodes spinnaker_camera_driver spinnaker_camera_nodes trajectory_follower trajectory_follower_nodes tvm_utility