Autoware.AI 1.14.0版本源码安装(亲测有效)
1.前期准备:
Ubuntu18.04系统 安装
ROS Melodic 安装
显卡驱动 安装
cuda10.0 安装
cuDNN7.5 安装
2.安装系统依赖:
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
3.安装Eigen3:
cd && wget http://bitbucket.org/eigen/eigen/get/3.3.7.tar.gz #Download Eigen
mkdir eigen && tar --strip-components=1 -xzvf 3.3.7.tar.gz -C eigen #Decompress
cd eigen && mkdir build && cd build && cmake .. && make && make install #Build and install
cd && rm -rf 3.3.7.tar.gz && rm -rf eigen #Remove downloaded and temporary files
如果遇到下载失败:可以从该网址手动下载
https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.tar.gz
4.安装Qt5
先从官网下载安装包:
http://download.qt.io/archive/qt/5.11/5.11.1/
安装:
sudo chmod a+x qt-opensource-linux-x64-5.11.1.run
./qt-opensource-linux-x64-5.11.1.run
4.下载源码:
mkdir -p autoware.ai/src
cd autoware.ai
wget -O autoware.ai.repos "https://gitlab.com/autowarefoundation/autoware.ai/autoware/raw/1.14.0/autoware.ai.repos?inline=false"
5.下载源码:
vcs import src < autoware.ai.repos
6.安装Autoware依赖
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
7.cuda编译
AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release