autoware（ubuntu16.04版本）安装记录

本文以Ubuntu16.04的autowareV1.12.0为例，说明autoware的安装步骤，已测试有效，用于记录以及经验分享。
官方的版本及环境要求如下：


安装步骤：
1.首先安装Ros（Kinetic）
参照ros官网即可http://wiki.ros.org/kinetic/Installation/Ubuntu
具体命令如下：
sudo sh -c ‘echo “deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main” > /etc/apt/sources.list.d/ros-latest.list’
sudo apt-key adv --keyserver ‘hkp://keyserver.ubuntu.com:80’ --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
echo “source /opt/ros/kinetic/setup.bash” >> ~/.bashrc
source ~/.bashrc
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install python-rosdep
sudo rosdep init（用梯子）
rosdep update（用梯子）

2.安装qt
去官网下载https://download.qt.io/official_releases/qt/
我下载的是 qt-opensource-linux-x64-5.9.5.run
然后运行如下命令：
chmod +x qt-opensource-linux-x64-5.9.5.run
./qt-opensource-linux-x64-5.9.5.run
需要注册个账号，下一步，下一步，……就OK了

3.安装autoware
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

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”（用梯子）
vcs import src < autoware.ai.repos（用梯子）
rosdep update（用梯子）
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

4.运行demo
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
cd ~
mkdir .autoware
cd .autoware
cp ~/Downloads/sample_moriyama_* .
tar zxfv sample_moriyama_150324.tar.gz
tar zxfv sample_moriyama_data.tar.gz

cd autoware.ai
source install/setup.bash
roslaunch runtime_manager runtime_manager.launch
配置：
Go to the Simulation tab of Autoware Runtime Manager (ARM), and load the sample ROSBAG data, which is located in ~/.autoware. Show Hidden Files needs to be checked for the .autoware folder to be displayed
Set the start time to 140, then click Play and Pause just after it has started playing
Launch RViz through the RViz button in the bottom-right corner of the ARM and load the default.rviz config provided with Autoware. To do this got to File -> Open Config and navigate to autoware.ai/src/autoware/documentation/autoware_quickstart_examples/launch/rosbag_demo/default.rviz
Go to the Quick Start tab of ARM, and load the preinstalled roslaunch scripts one by one. The scripts are located in autoware.ai/src/autoware/documentation/autoware_quickstart_examples/launch/rosbag_demo/. The scripts need to be enabled by clicking on the left button as shown in the image for the Map.
Un-pausing the simulation after starting the Map will show the pointcloud map in Rviz.