ubuntu22.04 autoware安装教程

Prerequisite

• OS
  • Ubuntu22.04
• ROS
  • ROS2 Humble
• Git
  sudo apt-get -y update & sudo apt-get -y install git

How to set up a development environment

1、参考博文https://www.cnblogs.com/tianyonglin/p/17285111.html安装nvidia驱动，注意不要安装最新版的推荐驱动版本，否则有可能出现花屏状况的发生
2、参考博文https://www.cnblogs.com/tianyonglin/p/17544681.html配置ROS开发环境
3、为了防止出现rosdep初始化失败情况的发生，可参考https://zhuanlan.zhihu.com/p/398754989p进行相关操作
4、为了避免出现下载cuda，cudnn及tensorrt时出现DNS解析失败，进行如下修改
sudo vim /etc/resolv.conf

注释掉nameserver 127.0.0.53,添加nameserver 8.8.8.8,保存退出
5、参照https://mirrors.tuna.tsinghua.edu.cn/help/ros2/进行ROS2软件仓库镜像配置

Main

1、Clone autowarefoundation/autoware and move to the directory.

git clone https://hub.njuu.cf/autowarefoundation/autoware.git
cd autoware

./setup-dev-env.sh

选择N，进行下一步，等待其自行安装，安装的相关版本配置存放在文件amd64.env文件中，最后出现

恭喜起，autoware的基础环境配置已经成功完成

How to set up a workspace

1、Create the src directory and clone repositories into it.Autoware uses vcstool to construct workspaces.

cd autoware
mkdir src
vcs import src < autoware.repos

PS：在运行命令之前，我们需要对autoware.repos文件进行相关修改
sudo gedit autoware.repos

运行成功界面如下

2、Install dependent ROS packages.
Autoware requires some ROS 2 packages in addition to the core components. The tool rosdepc allows an automatic search and installation of such dependencies. You might need to run rosdepc update before rosdepc install.

source /opt/ros/humble/setup.bash
rosdepc install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

3、Build the workspace.
Insufficient memory
Building Autoware requires a lot of memory, and your machine can freeze or crash if memory runs out during a build. To avoid this problem, 16-32GB of swap should be configured.
以上是官方建议，但是根据个人实际操作，设置为128G编译成功，避免中途出现其他问题

# Optional: Check the current swapfile
free -h

# Remove the current swapfile
sudo swapoff /swapfile
sudo rm /swapfile

# Create a new swapfile
sudo fallocate -l 128G /swapfile
sudo chmod 600 /swapfile
sudo mkswap /swapfile
sudo swapon /swapfile

# Optional: Check if the change is reflected
free -h

If there are too many CPU cores (more than 64) in your machine, it might requires larger memory. A workaround here is to limit the job number while building.

我的电脑为拯救者Y9000P 2023款，24核心，所以我执行以下指令进行编译安装
MAKEFLAGS="-j24" colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

若出现上述提示，恭喜你已经编译安装成功了

PS：该方法是经过本人不断实践整理所得，可能存在一些不足，若在参考期间出现任何问题，欢迎联系指正