ubuntu18.04安装autoware
时间: 2023-02-25 13:46:26 浏览: 193
安装 Autoware 的方法如下:
1. 安装 ROS:Autoware 是基于 ROS 的,因此首先需要安装 ROS(这里以安装 ROS Melodic 为例)。
```
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update
sudo apt-get install ros-melodic-desktop-full
```
2. 安装 Autoware 的依赖包:
```
sudo apt-get install -y \
libyaml-cpp-dev \
libopencv-dev \
libpcl-dev \
libqt5core5a \
libqt5widgets5 \
libqt5gui5 \
libqwt-qt5-dev \
libqwt-headers \
libyaml-dev \
protobuf-compiler \
libboost-all-dev \
ros-melodic-yocs-msgs \
ros-melodic-roscpp \
ros-melodic-nodelet \
ros-melodic-grid-map-ros \
ros-melodic-pcl-conversions \
ros-melodic-geometry2 \
ros-melodic-nav-msgs \
ros-melodic-nmea-navsat-driver \
ros-melodic-pcl-ros \
ros-melodic-roscpp-serialization \
ros-melodic-laser-geometry \
ros-melodic-tf2 \
ros-melodic-tf2-eigen \
ros-melodic-interactive-markers
```
3. 创建工作空间:
```
mkdir -p ~/autoware_ws/src
cd ~/autoware_ws/
catkin init
```
4. 下载 Autoware 源码并编译:
```
cd ~/autoware_ws/src
git clone https://github.com/CPFL/Autoware.git
cd ~/autoware_ws/
rosdep install --from-paths src --ignore-src -r -y
catkin build
```
安装完成后,你可以通过运行以下命令来启动 Autoware:
```
source ~/autoware_ws/install/setup.bash
roslaunch autoware
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