Autoware(一) 環境配置與安裝教程

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本文爲博主原創,原創不易,轉載請註明出處 https://blog.csdn.net/weixin_40884570/article/details/85053856
本文autoware配置部分主要翻譯自github中autoware install instruction
鏈接:https://github.com/CPFL/Autoware/wiki/Source-Build

1.依賴環境:

• indigo(Ubuntu 14.04) 或者 ROS jade(Ubuntu 15.04) 或者 ROS kinetic(Ubuntu 16.04),博主安裝的是ROS kinetic(Ubuntu16.04),不過各個版本差別不大,需要注意的是ROS的版本需要和安裝的Ubuntu版本對應上.
• OpenCV 2.4.10 或者更高版本
• Qt 5.2.1 或者更高版本
• CUDA (可選)
• FlyCapture2 (可選)
• Armadillo (可選)

2.安裝依賴項

2.1 OpenCV安裝
安裝教程: http://www.cnblogs.com/mypsq/p/6114824.html
OpenCV官網: https://opencv.org

2.2 Qt安裝
安裝教程: https://www.cnblogs.com/chenmingjun/p/8392713.html
官網下載地址: http://download.qt.io/archive/qt/

3.Ubuntu系統所需安裝的依賴項

3.1 Ubuntu 14.04(indigo)所需安裝的依賴項:

% sudo apt-get install -y  python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin

% sudo add-apt-repository ppa:mosquitto-dev/mosquitto-ppa
% sudo apt-get update
% sudo apt-get install libmosquitto-dev

注意:不要安裝ros-indigo-velodyne-pointcloud功能包,如果已經安裝了,需要卸載該包.

3.2 Ubuntu 16.04(kinetic)

% sudo apt-get update
% sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin libmosquitto-dev gksu

4.安裝autoware

4.1 Clone the repository

$ cd $HOME
$ git clone https://github.com/CPFL/Autoware.git --recurse-submodules

4.2 Initialize the workspace, let rosdep to install the missing dependencies and compile.

$ cd ~/Autoware/ros/src
$ catkin_init_workspace
$ cd ../
$ rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
$ ./catkin_make_release

5.運行autoware

$ cd $HOME/Autoware/ros
$ ./run