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Autoware是一个城市无人车的开源软件。
https://github.com/CPFL/Autoware
可有一下功能:
- 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 Calibration
- Sensor Fusion
- Cloud-oriented Maps
- Connected Automation
- Smartphone Navigation
- Software Simulation
- Virtual Reality
依赖的环境配置:
ROS indigo 或 ROS jade
OpenCV 2.4.10或更高(不超OpenCV3)
Qt5.2.1
CUDA(选配)
FlyCapture2(选配)
Armadillo
我配置的环境为Ubuntu14.04+ROS indigo。
安装ROS时,除去ros-indigo-desktop-full,还要安装好多其他依赖项:
% 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
% 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
OpenCV2.4.11(安装略)
Qt5:
sudo apt-get install qt5-default qtcreator (我通过下载Qt安装包安装Qt后,在后面的编译过程
./catkin_make_release中,总是提示Qt5找不到
)
Armadillo:
http://packages.ubuntu.com/trusty/libarmadillo-dev 根据链接里的内容,先安装依赖:libarmadillo4、libarpack2-dev、libitpp-dev,然后下载libarmadillo-dev安装
然后创建工作环境
$ cd $HOME
$ git clone https://github.com/CPFL/Autoware.git
$ cd ~/Autoware/ros/src
$ catkin_init_workspace
$ cd ../
$ ./catkin_make_release
没什么意外的话就可以在一终端下运行roscore,在另一终端 $HOME/Autoware/ros目录下 ./run运行。
按照autoware-quickstart里的内容,可快速进行一个仿真示例。