autoware安裝中碰到的坑

這次autoware安裝讓我感覺真是日了狗了。別人遇到的問題我都遇到了，別人沒遇到的問題我也遇到了。就像現在的字都是繁體字，我正常安裝的sogou。

下面不會介紹具體怎麼安裝，只是會列出安裝過程中的坑，幷列出自己是怎麼解決的。

1.首先自己安裝的是1.12版本，根據github上的操作指令，同時參考https://blog.csdn.net/r1141207831/article/details/100666532這篇博客，結果剛開始執行下面指令時就報錯。

sudo apt-get install -y python-catkin-pkg python-rosdep ros-$ROS_DISTRO-catkin gksu這個是換網絡解決的。

2.然後是ros，在rosdep update的時候總是失敗，試過如下方法：

a.換源，將國內的源挨個試了個便，同時還有連不同的網，還是不行。以前對源這一塊不是太懂，現在也弄懂了。

b.換IP，https://blog.csdn.net/qq_36498362/article/details/107187006 如上面這篇博客。還是沒用。

前前後後用了兩天。換了個電腦，把筆記本弄成了雙系統，依然不行。後面用科學上網法，一個小時搞定。

3.後面安裝的時候，都是在使用科學上網發的基礎上操作的，更新都沒問題。在執行下面語句的二時候出現如下問題

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

走了很多彎路後發現是ros的包沒安裝完全。然後是安裝ros的包，使用sudo apt-get install ros-kinetic-（包）的方案安裝，如sudo apt-get install ros-kinetic-nmea-msgs，一定要注意用“-”，而不是“_". 好吧，ros包也會安裝了。

4.環境安裝好之後，開始編譯。

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

輸入上面指令後，出現讓人絕望的錯誤。貼出來感受一下，只貼了十分之一吧。哪裏都找不到對應的解決方案。沒辦法，去安裝1.11版。

SyntaxError: invalid syntax

Finished <<< tablet_socket_msgs [38.7s]
Starting >>> adi_driver
[63.131s] ERROR:colcon.colcon_core.entry_point:Exception loading extension 'colcon_core.environment.pythonpath': invalid syntax (dist.py, line 585)
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/colcon_core/entry_point.py", line 120, in load_entry_points
    extension_type = load_entry_point(entry_point)
  File "/usr/lib/python3/dist-packages/colcon_core/entry_point.py", line 168, in load_entry_point
    return entry_point.load()
  File "/home/aaron/.local/lib/python3.5/site-packages/pkg_resources/__init__.py", line 2450, in load
    return self.resolve()
  File "/home/aaron/.local/lib/python3.5/site-packages/pkg_resources/__init__.py", line 2456, in resolve
    module = __import__(self.module_name, fromlist=['__name__'], level=0)
  File "/usr/lib/python3/dist-packages/colcon_core/environment/pythonpath.py", line 8, in
    import setuptools  # noqa: F401
  File "/home/aaron/.local/lib/python3.5/site-packages/setuptools/__init__.py", line 18, in
    from setuptools.dist import Distribution
  File "/home/aaron/.local/lib/python3.5/site-packages/setuptools/dist.py", line 585
    license_files: Optional[List[str]] = self.metadata.license_files
                 ^

SyntaxError: invalid syntax

Finished <<< autoware_config_msgs [58.3s]                             
Starting >>> as
--- stderr: as                                                          
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by
  "autoware_build_flags" with any of the following names:

    autoware_build_flagsConfig.cmake
    autoware_build_flags-config.cmake

  Add the installation prefix of "autoware_build_flags" to CMAKE_PREFIX_PATH
  or set "autoware_build_flags_DIR" to a directory containing one of the
  above files.  If "autoware_build_flags" provides a separate development
  package or SDK, be sure it has been installed.
Call Stack (most recent call first):
  CMakeLists.txt:4 (find_package)

CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by
  "autoware_build_flags" with any of the following names:

    autoware_build_flagsConfig.cmake
    autoware_build_flags-config.cmake

  Add the installation prefix of "autoware_build_flags" to CMAKE_PREFIX_PATH
  or set "autoware_build_flags_DIR" to a directory containing one of the
  above files.  If "autoware_build_flags" provides a separate development
  package or SDK, be sure it has been installed.
Call Stack (most recent call first):
  CMakeLists.txt:4 (find_package)

---
Failed   <<< as [10.2s, exited with code 1]
Aborted  <<< autoware_msgs [1min 19s]                   
Aborted  <<< adi_driver [29.8s]                         
Aborted  <<< vector_map_msgs [1min 27s]     
                                        
Summary: 3 packages finished [1min 30s]
  1 package failed: as
  3 packages aborted: adi_driver autoware_msgs vector_map_msgs
  1 package had stderr output: as
  136 packages not processed

5.根據github和https://blog.csdn.net/yourgreatfather/article/details/86504547這篇博文安裝1.11版。

前面都沒問題，在執行

./catkin_make_release

這條命令的時候顯示 bash:./catkin_make_release: No such file or directory  .在哪裏都收不到這個的解決方案。然後試了一下 catkin_make ，出現

Base path: /xxx/autoware.ai11/ros
Source space: /xxx/ros/src
Build space: /xxx/ros/build
Devel space: /xxx/ros/devel
Install space: /xxx/ros/install

然後出現下面界面，真他媽不容易啊。

然後。。。。竟然沒出現問題，直接編譯通過。

後面會怎樣，能不能運行不知道，如果有問題再更新吧。

一个感觉：困难使我更强大！