1 版本环境说明
系统:ubuntu18.04
carla版本:0.9.14
ros:melodic
2 环境配置
2.1 库的安装
osqp:
git clone --recursive https://github.com/oxfordcontrol/osqp
cd osqp
mkdir build
cd build
cmake .. -DBUILD_SHARED_LIBS=ON
make -j6
sudo make install
eigen3
git clone https://github.com/eigenteam/eigen-git-mirror
官网地址:https://gitlab.com/libeigen/eigen/-/releases/3.4.0
#安装
cd eigen-git-mirror
mkdir build
cd build
cmake ..
sudo make install
#安装后,头文件安装在/usr/local/include/eigen3/
#移动头文件
sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include
osqp-eigen
git clone https://github.com/robotology/osqp-eigen.git
cd osqp-eigen
mkdir build && cd build
cmake ../ #默认安装在/usr/local/include中,非apt安装的包,不在/usr/include/下,而是/usr/local/include下
make
sudo make install
jsk_rviz_plugin
sudo apt-get update
sudo apt install ros-melodic-jsk-rviz-plugins
2.2 scenario_runner配置
#下载(版本与carla对应):
https://github.com/carla-simulator/scenario_runner/releases
#设置环境变量:
#根据自己的环境环境做更改。
export CARLA_ROOT=/home/lj/carla/CARLA_0.9.14
export PYTHONPATH=$PYTHONPATH:/home/lj/carla/CARLA_0.9.14/PythonAPI/carla/dist/carla-0.9.14-py3.7-linux-x86_64.egg
export SCENARIO_RUNNER_PATH=/home/lj/scenario_runner
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla
export PYTHONPATH=$PYTHONPATH:${SCENARIO_RUNNER_PATH}
#进入scenario_runner,打开终端(最好是conda环境,防止污染)
pip install -r requirements.txt
3、遇到问题处理
3.1 GLIBC_2.28 not found
在source.list添加源
deb http://security.debian.org/debian-security buster/updates main
apt-get update
之后若出现下面提示:由于没有公钥,无法验证下列签名: NO_PUBKEY 112695A0E562B32A NO_PUBKEY 54404762BBB6E853
-
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 112695A0E562B32A 54404762BBB6E853
安装libc6
-
sudo apt install libc6-dev && sudo apt install libc6
查看GLIBC版本应该有2.28了。
-
strings /lib/x86_64-linux-gnu/libc.so.6 | grep GLIBC_