Autoware入门

Install

https://gitlab.com/autowarefoundation/autoware.ai/autoware/-/wikis/home
https://gitlab.com/autowarefoundation/autoware.ai/autoware/-/wikis/Source-Build

工具安装

for ubuntu16.04

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

for ubuntu 18.04

$ 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

安装与编译

#for 1.12 above
$ mkdir -p autoware.ai/src
$ cd autoware.ai
$ wget -O autoware.ai.repos "https://gitlab.com/autowarefoundation/autoware.ai/autoware/raw/1.12.0/autoware.ai.repos?inline=false"
$ vcs import src < autoware.ai.repos
$ rosdep update
$ rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

#With CUDA support
$ AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
#Without CUDA Support
$ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

Demo data

#3D point cloud and vector map
$ wget https://autoware-ai.s3.us-east-2.amazonaws.com/sample_moriyama_data.tar.gz
#Download the sample data (LiDAR: VELODYNE HDL-32E, GNSS: JAVAD GPS RTK Delta 3)
$ wget https://autoware-ai.s3.us-east-2.amazonaws.com/sample_moriyama_150324.tar.gz

$ cd ~
$ mkdir .autoware
$ cd .autoware
$ cp ~/Downloads/sample_moriyama_* .
$ tar zxfv sample_moriyama_150324.tar.gz
$ tar zxfv sample_moriyama_data.tar.gz

运行

Run Autoware
For Autoware version 1.12.0 and Newer

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

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

仿真

https://gitlab.com/autowarefoundation/autoware.ai/autoware/-/wikis/Gazebo-Simulation-Start

LGSVL 闪现问题

sudo apt install libvulkan1

Autoware 教程

https://www.ncnynl.com/category/autoware/

未完待续