Ubuntu18.04编译autoware1.14

准备工作

将ubuntu的编码方式设为en_US.UTF-8

sudo gedit /etc/default/locale

内容替换

LC_ALL="en_US.UTF-8"

source /etc/default/locale

将当前用户设置为不需要密码的方式，否则会遇到如下错误,sudo:没有终端存在，且未指定askpass程序

sudo visudo

在%sudo ALL=(ALL:ALL) ALL下面添加一行

username  ALL=(ALL) NOPASSWD: ALL

安装依赖环境

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

创建工作空间

mkdir -p autoware.ai/src
cd autoware.ai

下载工作空间的配置

wget -O autoware.ai.repos "https://raw.githubusercontent.com/Autoware-AI/autoware.ai/1.14.0/autoware.ai.repos"

报错
–2022-01-01 15:17:34-- https://raw.githubusercontent.com/Autoware-AI/autoware.ai/1.14.0/autoware.ai.repos
正在解析主机 raw.githubusercontent.com (raw.githubusercontent.com)… 0.0.0.0, ::
正在连接 raw.githubusercontent.com (raw.githubusercontent.com)|0.0.0.0|:443… 失败：拒绝连接。
正在连接 raw.githubusercontent.com (raw.githubusercontent.com)|:😐:443… 失败：拒绝连接。

解决方案

sudo gedit /etc/hosts

# GitHub Start
52.74.223.119 github.com
192.30.253.119 gist.github.com
54.169.195.247 api.github.com
185.199.111.153 assets-cdn.github.com
151.101.76.133 raw.githubusercontent.com
151.101.108.133 user-images.githubusercontent.com
151.101.76.133 gist.githubusercontent.com
151.101.76.133 cloud.githubusercontent.com
151.101.76.133 camo.githubusercontent.com
151.101.76.133 avatars0.githubusercontent.com
151.101.76.133 avatars1.githubusercontent.com
151.101.76.133 avatars2.githubusercontent.com
151.101.76.133 avatars3.githubusercontent.com
151.101.76.133 avatars4.githubusercontent.com
151.101.76.133 avatars5.githubusercontent.com
151.101.76.133 avatars6.githubusercontent.com
151.101.76.133 avatars7.githubusercontent.com
151.101.76.133 avatars8.githubusercontent.com
# GitHub End

下载autoware到工作区

vcs import src < autoware.ai.repos

使用rosdep安装依赖项

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

编译autoware

cd autoware.ai
# cuda版本
AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
# 非cuda版本
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

往上翻可以看到

解决方案
升级Eigen version>= 3.3.7

查看已安装版本：

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

表示为Eigen版本为3.3.4，需要先卸载
得到eigen库的位置

sudo updatedb
locate eigen3

卸载

sudo rm -rf /usr/include/eigen3 /usr/lib/cmake/eigen3 /usr/share/doc/libeigen3-dev /usr/share/pkgconfig/eigen3.pc /var/lib/dpkg/info/libeigen3-dev.list /var/lib/dpkg/info/libeigen3-dev.md5sums

重新安装

cd && wget https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.tar.gz 
mkdir eigen && tar --strip-components=1 -xzvf eigen-3.3.7.tar.gz -C eigen 
cd eigen && mkdir build && cd build && cmake .. && make && sudo make install 
cd && rm -rf 3.3.7.tar.gz && rm -rf eigen

将/usr/local/share/eigen3/cmake下的全部文件拷贝到/usr/lib/cmake/eigen3目录下替换

sudo cp -r /usr/local/include/eigen3 /usr/include/

重新编译autoware

cd autoware.ai
AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

编译完成

安装完之后要修改一下run脚本，否则在运行autoware的时候会提示找不到路径，修改步骤如下（下面是2个命令）：

cd ~/autoware.ai/install/runtime_manager/share/runtime_manager/scripts
gedit run

将对应的行修改为：

${OPTION_COMMAND}="bash -c 'source ~/autoware.ai/install/setup.bash;

运行autoware demo

# 下载示例 3D 点云/矢量地图数据
wget https://autoware-ai.s3.us-east-2.amazonaws.com/sample_moriyama_data.tar.gz
# 下载ROSBAG格式示例数据
wget https://autoware-ai.s3.us-east-2.amazonaws.com/sample_moriyama_150324.tar.gz
# 拷贝到autoware工作空间
cd .autoware
cp ~/Downloads/sample_moriyama_* .
tar zxfv sample_moriyama_150324.tar.gz
tar zxfv sample_moriyama_data.tar.gz

启动autoware

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