autoware1.14安装教程
时间: 2023-10-19 15:08:13 浏览: 39
以下是 Autoware 1.14 的安装教程:
1. 安装依赖项
```bash
sudo apt-get update
sudo apt-get install -y python-catkin-tools python-rosdep ros-$ROS_DISTRO-desktop-full ros-$ROS_DISTRO-mavros* ros-$ROS_DISTRO-joy ros-$ROS_DISTRO-geodesy ros-$ROS_DISTRO-control-toolbox ros-$ROS_DISTRO-octomap* ros-$ROS_DISTRO-ros-control ros-$ROS_DISTRO-ros-controllers ros-$ROS_DISTRO-rosbridge-server ros-$ROS_DISTRO-web-video-server ros-$ROS_DISTRO-joy-teleop ros-$ROS_DISTRO-teleop-twist-joy ros-$ROS_DISTRO-teleop-twist-keyboard ros-$ROS_DISTRO-laser-proc ros-$ROS_DISTRO-depthimage-to-laserscan ros-$ROS_DISTRO-tf2-web-republisher ros-$ROS_DISTRO-robot-localization ros-$ROS_DISTRO-ros-numpy python-pip python3-pip python-setuptools python3-setuptools python3-yaml python3-numpy python3-dev python3-future python3-pyqt5 python3-pyqt5.qsci python3-lxml python3-yaml python3-pydot python3-psutil python3-tk python3-opencv python3-matplotlib python3-scipy python3-pil python3-sklearn libyaml-cpp-dev libtinyxml2-dev
```
2. 安装 CUDA、cuDNN 和 TensorRT(可选)
如果您想要使用 NVIDIA GPU 运行 Autoware,需要安装 CUDA、cuDNN 和 TensorRT。您可以从 NVIDIA 官网下载适用于您的系统的版本。
3. 配置 ROS
```bash
sudo rosdep init
rosdep update
```
4. 构建 Autoware
```bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/Autoware-AI/autoware.ai.git
cd autoware.ai
git checkout 1.14.0
cd ~/catkin_ws/
rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
catkin config --extend /opt/ros/$ROS_DISTRO --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build
```
5. 运行 Autoware
```bash
source ~/catkin_ws/devel/setup.bash
roslaunch runtime_manager runtime_manager.launch
```
以上是 Autoware 1.14 的安装教程,希望对您有所帮助。