ubuntu18安装autoware

需要opencv_contrib和opencv，编译c++版opencv的时候注意加上这句

-D OPENCV_EXTRA_MODULES_PATH=/home/zhw/3rdparty/opencv-3.4.0/opencv_contrib-3.4.0/modules/

安装依赖

sudo apt update
sudo apt install -y python-catkin-pkg python-rosdep ros-$ROS_DISTRO-catkin
sudo apt install -y python3-pip python3-colcon-common-extensions python3-setuptools python3-vcstool
pip3 install -U setuptools

下载安装

mkdir -p autoware.ai/src
cd autoware.ai
wget -O autoware.ai.repos "https://gitlab.com/autowarefoundation/autoware.ai/autoware/raw/1.12.0/autoware.ai.repos?inline=false"
vcs import src < autoware.ai.repos
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

然后解决花屏问题

sudo apt install libsdl1.2-dev
wget https://extras.wxpython.org/wxPython4/extras/linux/gtk2/ubuntu-18.04/wxPython-4.0.5-cp27-cp27mu-linux_x86_64.whl
sudo pip install wxPython-4.0.7.post2-cp27-cp27mu-linux_x86_64.whl

查看wxPython版本

python -c "import wx;print wx.__version__"

修改文件

gedit ~/autoware.ai/src/autoware/utilities/runtime_manager/scripts/runtime_manager_dialog.py

增加import wx.adv，把里面所有的wx.HyperlinkCtrl 替换成 wx.adv.HyperlinkCtrl（有五处），把所有的wx.EVT_HYPERLINK 替换成 wx.adv.EVT_HYPERLINK（有三处），保存