autoware安裝配置
目錄
autoware是一款開源的無人車框架代碼,具有以下功能:
git鏈接:(https://github.com/CPFL/Autoware)
- 3D localization
- 3D mapping
- Path planning
- Path Following
- Accel/Brake/Steering Control
- Data Logging
- Car/Pedestrian/Object Detection
- Traffic Signal Detection
- Traffic Light Recognition
- Lane Detection
- Object Tracking
- Sensor Fusion
- Sensor Calibration
- Cloud-oriented Maps
- Connected Automation
- Smartphone Navigation
- Software Simulation
- Virtual Reality
autoware的使用手冊:https://github.com/CPFL/Autoware-Manuals
依賴的環境
- ROS indigo (Ubuntu 14.04) or ROS jade (Ubuntu 15.04) or ROS kinetic (Ubuntu 16.04)
我的環境是ubuntu14.04+ROS indigo - OpenCV 2.4.10 or higher
- Qt 5.2.1 or higher
- CUDA(Optional)可選
- FlyCapture2 (Optional)可選
- Armadillo (Optional)可選
安裝依賴項
open CV
安裝步驟:http://www.jianshu.com/p/56d06e18367b
官網下載:https://opencv.org/releases.html
QT5
官方文檔: https://wiki.qt.io/Install_Qt_5_on_Ubuntu
系統依賴項
% sudo apt-get install ros-indigo-desktop-full ros-indigo-nmea-msgs ros-indigo-nmea-navsat-driver ros-indigo-sound-play ros-indigo-jsk-visualization ros-indigo-grid-map ros-indigo-gps-common
% sudo apt-get install ros-indigo-controller-manager ros-indigo-ros-control ros-indigo-ros-controllers ros-indigo-gazebo-ros-control ros-indigo-sicktoolbox ros-indigo-sicktoolbox-wrapper ros-indigo-joystick-drivers ros-indigo-novatel-span-driver
% sudo apt-get install libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev
autoware
從GitHub上將項目代碼clone下來,然後創建工作空間並且進行編譯
$ cd $HOME
$ git clone https://github.com/CPFL/Autoware.git
$ cd ~/Autoware/ros/src
$ catkin_init_workspace
$ cd ../
$ ./catkin_make_release
開始運行autoware:
$ cd $HOME/Autoware/ros
$ ./run
autoware入門:快速使用
建立目錄“.autoware”來保存demo數據
~$ mkdir .autoware
下載demo數據:
A script for generating a demo launch file:
http://db3.ertl.jp/autoware/sample_data/my_launch.sh
Map/calibration/path data (Moriyama area):
http://db3.ertl.jp/autoware/sample_data/sample_moriyama_data.tar.gz
rosbag data:
http://db3.ertl.jp/autoware/sample_data/sample_moriyama_150324.tar.gz
解壓
~$ cd .autoware
~/.autoware$ tar xfz sample_moriyama_data.tar.gz
~/.autoware$ tar xfz sample_moriyama_150324.tar.gz
生成launch文件
~/.autoware$ sh my_launch.sh
運行命令後會生成以下的launch文件:
my_launch/
my_map.launch # Load PointClouds and vector maps
my_sensing.launch # Load device drivers
my_localization.launch # Localozation
my_detection.launch # Object detection
my_mission_planning.launch # Path planning
my_motion_planning.launch # Path following
運行runtime manager
$ cd autoware/ros
$ ./run
會出現兩個分離的終端窗口。一個是[roscore],另一個是[runtime_manager]
Runtime Manager啓動前要輸入管理員密碼,輸入密碼後就可以啓動了。
運行rosbag
在Runtime Manager的simulation界面中,導入”sample_moriyama_150324.bag”,然後點擊pause按鈕。
啓動RViz
點擊RViz按鈕啓動Rviz可視化工具。啓動後選擇[file]-[open config],在[choose a file to open]對話框中,選擇以下文件,然後點擊[open]。
“~/Autoware/ros/src/.config/rviz/default.rviz”
加載點雲圖和向量圖
在[quick start]界面,加載my_map.launch,並且點擊[map]按鈕。
“~/.autoware/data/my_launch/my_map.launch”
定位
在[quick start]界面,加載my_localization.launch,並且點擊[localization]按鈕。
“~/.autoware/my_launch/my_localization.launch”
在[simulation]界面,點擊[pause]按鈕來重新運行rosbag。
在Rviz中的 [Display]窗口, [Global Options]-[Fixed Frame] , 設置爲 “world”.
在 [Current View]-[Target Frame]的 [View] 窗口, 選擇“base_link” 並且設置[Type]爲“TopDownOrtho”。點擊 [Zero] 按鈕. (可以初始化追蹤汽車的位置)。
當simulation界面的進度條到達23%左右(110/479sec),演示應該趨向於穩定了。
任務規劃
在[quick start]界面,加載my_mission_planning.launch,並且點擊[mission planning]按鈕。
“~/.autoware/my_launch/my_mission_planning.launch”
運動規劃
在[quick start]界面,加載my_motion_planning.launch,並且點擊[motion planning]按鈕。
“~/.autoware/my_launch/my_motion_planning.launch”