Ubuntu18.04安装Autoware1.15（解决Openplanner无法绕障的问题：Openplanner2.5）

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在Autoware1.14配置的环境基础上安装Autoware1.15，解决一些14和15经常出现的报错
环境配置参考Autoware1.14的安装教程：Ubuntu18.04安装autoware 1.14（GPU版） 完整教程（包含环境搭建）

一、下载Autoware1.15源码

下载地址（注意包含了完整的Autoware，并不是只有Openplanner）：https://github.com/hatem-darweesh/autoware.ai.openplanner

cd autoware
mkdir src

下载代码：

vcs import src < openplanner.1.15.repos

二、安装依赖

sudo apt-get install libnl-3-dev libnl-genl-3-dev
sudo apt-get install ros-melodic-tvm-vendor 
sudo apt-get install ros-melodic-lanelet2-io ros-melodic-lanelet2-core ros-melodic-lanelet2-maps ros-melodic-lanelet2-projection ros-melodic-lanelet2-routing ros-melodic-lanelet2-validation

三、修改CUDA版本

src/autoware/common/autoware_build_flags/cmake下的CUDA版本改为11.4（或者你电脑上的版本）

四、colcon工具安装错误

在安装Autoware时，遇到以下问题：

The following packages have unmet dependencies:
 python3-colcon-common-extensions : Depends: python3-colcon-cmake but it is not going to be installed
                                    Depends: python3-colcon-core but it is not going to be installed
                                    Depends: python3-colcon-defaults but it is not going to be installed
                                    Depends: python3-colcon-devtools but it is not going to be installed
                                    Depends: python3-colcon-library-path but it is not going to be installed
                                    Depends: python3-colcon-metadata but it is not going to be installed
                                    Depends: python3-colcon-notification but it is not going to be installed
                                    Depends: python3-colcon-output but it is not going to be installed
                                    Depends: python3-colcon-package-information but it is not going to be installed
                                    Depends: python3-colcon-package-selection but it is not going to be installed
                                    Depends: python3-colcon-parallel-executor but it is not going to be installed
                                    Depends: python3-colcon-powershell but it is not going to be installed
                                    Depends: python3-colcon-python-setup-py but it is not going to be installed
                                    Depends: python3-colcon-recursive-crawl but it is not going to be installed
                                    Depends: python3-colcon-ros but it is not going to be installed
                                    Depends: python3-colcon-test-result but it is not going to be installed
                                    Depends: python3-colcon-argcomplete but it is not going to be installed
                                    Depends: python3-colcon-bash but it is not going to be installed
                                    Depends: python3-colcon-cd but it is not going to be installed
                                    Depends: python3-colcon-zsh but it is not going to be installed
                                    Recommends: python3-colcon-override-check but it is not going to be installed

使用aptitude发现提示python版本低，而且无法解决，但是之前安装时同样的环境每遇到过，最后是通过官网源码（https://colcon.readthedocs.io/en/released/user/installation.html）安装：

pip install -U git+https://github.com/colcon/colcon-common-extensions.git

五、编译以及报错解决

编译

AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
# 编译特定的包
AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-select lidar_kf_contour_track

（1）报 undefined reference to cv::Mat::Mat() 的错就按照下面方式改相应包：

find_package(OpenCV 3.4 REQUIRED)

include_directories( ${OpenCV_INCLUDE_DIRS} )

target_link_libraries(target ${OpenCV_LIBS})

（2）遇到OpenCV的CV_RGB、IplImage报错：

error: could not convert 'cv::Scalar_<double>((double)0,(double)255,(double)255,(double)0,)' from 'cv::Scalar {aka cv::Scalar_<double>}' to 'CvScalar' error:conversion from 'cv::Mat' to non-scalar type 'IplImage {aka _IplImage}' requested

• 将CV_RGB改为cvScalar
• 使用cvIplImage()函数将类型转换一下：

（3）报错：error: conversion from ‘cv::Mat’ to non-scalar type ‘CvMat’ requested，将报错那句改为：

CvMat* cvmat;
for(size_t i=0; i< sum_mat.rows; ++i)
	for(size_t j=0; j< sum_mat.cols; ++j)
		{
			((double*)(cvmat->data.ptr + i*cvmat->step))[j] = sum_mat.at<double>(i,j);
		}

（4）报错error: no match for ‘operator=’ (operand types are ‘CvPoint’ and ‘cv::Point {aka cv::Point_<int>}’，将下面这句中的cv::Point改为cvPoint

// textOrg = cv::Point(ctx.topLeft.x, ctx.botRight.y + baseline);
textOrg = cvPoint(ctx.topLeft.x, ctx.botRight.y + baseline);

或者改为：

// textOrg = cv::Point(ctx.topLeft.x, ctx.botRight.y + baseline);
textOrg.x = ctx.topLeft.x;
textOrg.y = ctx.botRight.y + baseline;

（5）报找不到cuDNN头文件的错:

/usr/local/cuda-11.4/include/cudnn.h:61:10: fatal error: cudnn_ops_infer.h: No such file or directory CMake Error at op_tlr_generated_network_kernels.cu.o.Release.cmake:225 (message):
在Autoware1.14环境配置时，安装cuDNN把所有的头文件都复制过去：

# sudo cp include/cudnn.h /usr/local/cuda/include/ 
sudo cp include/cudnn*.h /usr/local/cuda/include/ 

（6）报错， op_tlr包未找到cuDNN的库：

/usr/bin/ld: cannot find -lcudart /usr/bin/ld: cannot find -lcublas /usr/bin/ld: cannot find -lcurand /usr/bin/ld: cannot find -lcudnn

发现是Cmakelists.txt中CUDA的库文件包含路径错误，在op_tlr包中改成自己的CUDA版本