Autoware安装指导书

Autoware作为开源的自动驾驶软件，受网络限制和技术复杂性影响，安装有一定困难，本文目的在于总结并简化工作，提升效率。

• 准备工作和相关知识

ROS1版本	Ubuntu版本	ROS2版本	Ubuntu版本
Kinetic	Ubuntu 16.04	Foxy	Ubuntu 20.04
Melodic	Ubuntu 18.04	Galactic	Ubuntu 20.04
Noetic	Ubuntu 20.04	Humble	Ubuntu 22.04

Autoware基于ROS(Robot Operation System机器人操作系统)开发，早期ROS1基于Ubuntu操作系统，虽然ROS2支持苹果和Windows操作系统，但应用最广泛还是Ubuntu，它们的版本对应关系如下表所示：

安装过程并不复杂，主要参考官网链接，并在网上搜索资源，一并致谢：

https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/

多数问题在于网络不稳定和部分网站如raw.githubusercontent.com访问失败，需要修改文件和从其他渠道下载

相关准备工作：

• HTTP服务器，如电脑管家自带的HFS HTTP server，用于离线下载文件传到系统。

• 安装autoware

参考Windows安装Ubuntu双系统（Win11+最新Ubuntu22.04.1LTS）_syluxhch的博客-CSDN博客，需要通过BIOS修改，安装Windows和ubuntu的双系统。最新的版本为Ubuntu 22.04，对于ROS为Humble。

• 工作空间的建立

1. mkdir autoware
2. sudo apt-get -y update
3. sudo apt-get -y install git      #安装git配置管理工具
4. git clone https://github.com/autowarefoundation/autoware.git

这里遇到的第一个问题就是github网站访问速度非常慢，所以建议直接修改为国内的镜像网站kgithub.com，修改命令为：

1. git clone https://kgithub.com/autowarefoundation/autoware.git
2. cd autoware

• 安装ROS

wget -O /tmp/amd64.env https://raw.githubusercontent.com/autowarefoundation/autoware/main/amd64.env && source /tmp/amd64.env

这里就会遇到raw.githubusercontent.com超时无法连接的问题，问题根源在于DNS错误，所以需要修改系统的host文件，表明该域名对应的IP地址，由于地址动态可变，建议用https://tool.lu/ip/查找最新地址，增加一行：

1. 185.199.110.133 raw.githubusercontent.com

如果遇到权限问题，需要增加权限修改。

1. sudo chown 用户 -R /etc/hosts

其他命令执行应该顺利：

1. apt-cache policy | grep universe
2. sudo apt install software-properties-common
3. sudo add-apt-repository universe
4. sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
5. echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee/etc/apt/sources.list.d/ros2.list > /dev/null
6. sudo apt update
7. installation_type=desktop
8. sudo apt install ros-${rosdistro}-${installation_type}
9. echo '' >> ~/.bashrc && echo "source /opt/ros/${rosdistro}/setup.bash" >> ~/.bashrc

在执行sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg，如果遇到问题，可以通过网站访问，本地建立http服务器，重新执行如下：

1. curl -sSL http://172.16.17.20/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

• 安装ROS 2 Dev Tools

1. apt update
2. apt install -y   python3-flake8-docstrings  python3-pip   python3-pytest-cov   ros-dev-tools
3. apt install -y python3-flake8-blind-except python3-flake8-builtins python3-flake8-class-newline   python3-flake8-comprehensions  python3-flake8-deprecated  python3-flake8-import-order   python3-flake8-quotes  python3-pytest-repeat  python3-pytest-rerunfailures
4. sudo rosdep init
5. rosdep update

  这里遇到的问题主要是rosdep update：同样是访问raw.githubusercontent.com问题，参考https://blog.csdn.net/weixin_43311920/article/details/114796748?utm_source=app&app_version=4.5.4，处理方法如下：

1. cd autoware
2. git clone https://kgithub.com/ros/rosdistro.git
3. vi  /autoware/rosdistro/rosdep/sources.list.d/20-default.list   #将里面所有的 raw.githubusercontent.com替换为file:///autoware/

然后分别修改以下文件：

1. vi /usr/lib/python3/dist-packages/rosdep2/gbpdistro_support.py
2. #修改：FUERTE_GBPDISTRO_URL = 'file:///autoware/rosdistro/releases/fuerte.yaml'
3. vi /usr/lib/python3/dist-packages/rosdep2/rep3.py
4. #修改： REP3_TARGETS_URL = 'file:///autoware/rosdistro/releases/targets.yaml'
5. vi /usr/lib/python3/dist-packages/rosdep2/sources_list.py
6. #修改：DEFAULT_SOURCES_LIST_URL = 'file:///autoware/rosdistro/rosdep/sources.list.d/20-default.list'
7. vi /usr/lib/python3/dist-packages/rosdistro/__init__.py
8. 修改：DEFAULT_INDEX_URL = 'file:///autoware/rosdistro/index-v4.yaml'
9. mkdir -p /etc/ros/rosdep/sources.list.d
10. vi /etc/ros/rosdep/sources.list.d/20-default.list
11. yaml file:///autoware/rosdistro/rosdep/osx-homebrew.yaml osx
12. yaml file:///autoware/rosdistro/rosdep/base.yaml
13. yaml file:///autoware/rosdistro/rosdep/python.yaml
14. yaml file:///autoware/rosdistro/rosdep/ruby.yaml
15. gbpdistro file:///autoware/rosdistro/releases/fuerte.yaml fuerte

• RMW Implementation

安装RMW没有问题，注意rosdistro是大写，有些系统区分大小写。如果执行不正确就加上环境变量：rosdistro=humble

1. sudo apt update
2. rmw_implementation_dashed=$(eval sed -e "s/_/-/g" <<< "${rmw_implementation}")
3. sudo apt install ros-${rosdistro}-${rmw_implementation_dashed}
4. echo '' >> ~/.bashrc && echo "export RMW_IMPLEMENTATION=${rmw_implementation}" >> ~/.bashrc

• RMW Implementation

1. sudo apt update
2. rmw_implementation_dashed=$(eval sed -e "s/_/-/g" <<< "${rmw_implementation}")
3. sudo apt install ros-${rosdistro}-${rmw_implementation_dashed}
4. echo '' >> ~/.bashrc && echo "export RMW_IMPLEMENTATION=${rmw_implementation}" >> ~/.bashrc

• pacmod安装

1. apt install apt-transport-https
2. sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
3. apt update
4. apt install ros-${rosdistro}-pacmod3

• Autoware Core dependencies安装

1. pip3 install gdown

• autoware_universe安装

1. sudo apt install geographiclib-tools
2. sudo geographiclib-get-geoids egm2008-1

• pre-commit dependencies安装

1. clang_format_version=16.0.0
2. pip3 install pre-commit clang-format==${clang_format_version}
3. sudo apt install golang

• cuda安装

1. if [[ "$(uname -m)" == "x86_64" ]]; then
2.   liburcu6_url=http://archive.ubuntu.com/ubuntu
3. else
4.   liburcu6_url=http://ports.ubuntu.com/ubuntu-ports
5. fi
6. sudo echo "deb $liburcu6_url focal main restricted" > /etc/apt/sources.list.d/focal.list
7. os=ubuntu2004
8. wget https://developer.download.nvidia.com/compute/cuda/repos/$os/$(uname -m)/cuda-keyring_1.0-1_all.deb
9. sudo dpkg -i cuda-keyring_1.0-1_all.deb
10. sudo apt-get update
11. cuda_version_dashed=$(eval sed -e "s/[.]/-/g" <<< "${cuda_version}")
12. sudo apt-get -y install cuda-${cuda_version_dashed}
13. echo 'export PATH=/usr/local/cuda/bin${PATH:+:${PATH}}' >> ~/.bashrc
14. echo 'export LD_LIBRARY_PATH=/usr/local/cuda/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}' >> ~/.bashrc

• tensorrt安装

1. sudo apt-get install libcudnn8=${cudnn_version} libcudnn8-dev=${cudnn_version}
2. sudo apt-mark hold libcudnn8 libcudnn8-dev
3. sudo apt-get install libnvinfer8=${tensorrt_version} libnvonnxparsers8=${tensorrt_version} libnvparsers8=${tensorrt_version} libnvinfer-plugin8=${tensorrt_version} libnvinfer-dev=${tensorrt_version} libnvonnxparsers-dev=${tensorrt_version} libnvparsers-dev=${tensorrt_version} libnvinfer-plugin-dev=${tensorrt_version}
4. sudo apt-mark hold libnvinfer8 libnvonnxparsers8 libnvparsers8 libnvinfer-plugin8 libnvinfer-dev libnvonnxparsers-dev libnvparsers-dev libnvinfer-plugin-dev

• 运行autoware

• 下载源码

由于源码服务器位于github.com, 用vi autoware.repos 将所有github.com 修改为镜像网站kgithub.com，否则下不下来。

1. • cd autoware
   • mkdir src
   • vcs import src < autoware.repos

• 安装ROS

• 1. source /opt/ros/humble/setup.bash
  2. rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

• 构建工作空间

  1. colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

如果不出意外，Autoware就安装成功了，现在可以运行演示程序了。