Autoware 安装运行

一. 配置

• ubuntu 18.04
• ROS Melodic
• Autoware 1.12.0 （以上）
• CUDA 10.0（可选）

二. 安装步骤

安装一些依赖

sudo apt install libglew-dev
sudo apt install ros-melodic-nmea-navsat-driver libgps-dev
sudo apt install ros-melodic-lanelet2
sudo apt install ros-melodic-visualization-msgs 
sudo apt install ros-melodic-jsk-recognition-msgs 
sudo apt install ros-melodic-automotive-platform-msgs
sudo apt install ros-melodic-automotive-navigation-msgs
sudo apt install ros-melodic-pacmod-msgs
sudo apt install ros-melodic-velodyne-pointcloud
sudo apt install ros-melodic-gps-common

mkdir -p autoware.ai/src
cd autoware.ai
wget -O autoware.ai.repos "https://raw.githubusercontent.com/Autoware-AI/autoware.ai/1.12.0/autoware.ai.repos"

autoware.ai/autoware.ai.repos 修改

repositories:
  autoware/common:
    type: git
    url: https://gitlab.com/autowarefoundation/autoware.ai/common.git
    version: 1.12.0
  autoware/core_perception:
    type: git
    url: https://gitlab.com/autowarefoundation/autoware.ai/core_perception.git
    version: 1.12.0
  autoware/core_planning:
    type: git
    url: https://gitlab.com/autowarefoundation/autoware.ai/core_planning.git
    version: 1.12.0
  autoware/documentation:
    type: git
    url: https://gitlab.com/autowarefoundation/autoware.ai/documentation.git
    version: 1.12.0
  autoware/messages:
    type: git
    url: https://gitlab.com/autowarefoundation/autoware.ai/messages.git
    version: 1.12.0
  autoware/simulation:
    type: git
    url: https://gitlab.com/autowarefoundation/autoware.ai/simulation.git
    version: 1.12.0
  autoware/utilities:
    type: git
    url: https://gitlab.com/autowarefoundation/autoware.ai/utilities.git
    version: 1.12.0
  autoware/visualization:
    type: git
    url: https://gitlab.com/autowarefoundation/autoware.ai/visualization.git
    version: 1.12.0
  drivers/awf_drivers:
    type: git
    url: https://gitlab.com/autowarefoundation/autoware.ai/drivers.git
    version: 1.12.0
  citysim:
    type: git
    url: https://github.com/CPFL/osrf_citysim.git
    version: 27bd05bc6c762b3ad8c9bb85f678d4b7ce7a27c5
  car_demo:
    type: git
    url: https://github.com/CPFL/car_demo.git
    version: e364448fad421cb6244c9f828f978d8d877dcbf9
  drivers/ds4:
    type: git
    url: https://github.com/tier4/ds4.git
    version: 5aa2f7f53a67992fffa7c801ed9c663a380b5d4a

编译，不使用CUDA

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

使用CUDA的话

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

• 编译过程中缺少依赖的话，自己安装一下：

sudo apt install libglew-dev
sudo apt-get install ros-melodic-nmea-navsat-driver libgps-dev
sudo apt install ros-melodic-lanelet2
sudo apt install ros-melodic-visualization-msgs 
sudo apt install ros-melodic-jsk-recognition-msgs 
sudo apt install ros-melodic-automotive-platform-msgs
sudo apt install ros-melodic-automotive-navigation-msgs
sudo apt install ros-melodic-pacmod-msgs
sudo apt install ros-melodic-velodyne-pointcloud
sudo apt install ros-melodic-gps-common

• 编译成功的话：
  

三. 运行程序

1. 下载数据

wget https://autoware-ai.s3.us-east-2.amazonaws.com/sample_moriyama_data.tar.gz
wget https://autoware-ai.s3.us-east-2.amazonaws.com/sample_moriyama_150324.tar.gz

或者这里下载：

https://pan.baidu.com/s/1WELbGVUu-APX7O9jnqgNjg#list/path=%2F&parentPath=%2F

6hw9

2. 运行

cd autoware.ai 
source install/setup.bash 
roslaunch runtime_manager runtime_manager.launch

显示不了图形界面的话，安装一下：

sudo apt install rosbash

3. 启动仿真

• 切换Tab,选择 Simulation
• ref 选择 sample_moriyama_150324.bag
• 点击play 按钮， 右侧的Playing…%0 出现进度条之后，点击Pause按钮
• 点击右下角的 RViz 按钮，启动RViz视图，File -> Open Config，打开配置文件

  autoware.ai/src/autoware/documentation/autoware_quickstart_examples/launch/rosbag_demo/default.rviz 
  

• 转到 Quick Start 选项卡，逐一加载预先安装的roslaunch脚本，脚本位于

  autoware.ai/src/autoware/documentation/autoware_quickstart_examples/launch/rosbag_demo/
  

• 启动后某个节点后，取消暂停仿真将在Rviz中显示结果