Autoware source installation
create workspace
mkdir-p autoware.ai/src
cd autoware.ai
This is to download a file named autoware.ai.repos, which is a Python script developed for the convenience of managing multiple git libraries
wget -O autoware.ai.repos "https://gitlab.com/autowarefoundation/autoware.ai/autoware/raw/1.14.0/autoware.ai.repos?inline=false"
Download the git library file in autoware.ai.repos to the src folder
vcs import src < autoware.ai.repos
Initialize (here uses the small fish source in Chapter 2 of this series of articles)
sudo rosdepc init
rosdepc update
compile
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
It will take a little longer, wait a moment
AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
But there may be problems during the operation
The solution is to install the corresponding ROS package, use the command
sudo apt-get install ros-melodic-（缺少的包的名字）
However, some error-reporting packages are generally not used. You can add the parameter [–continue-on-error] after the command to ignore the error report, and add it later if necessary.
Don't waste too much time where you don't need it.
AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --continue-on-error
The waiting time is also relatively long.
During this process, the machine crashed once and stuck twice. The computing power of the nano host is weak, so be patient. It is recommended to
add the parameter [-j 2] after the compilation command to only use the two cores of the CPU for compilation. It's slow, but it's not dead.
After completion, you can run autoware to see if the installation is successful
cd autaware.ai/
source install/setup.bash
roslaunch runtime_manager runtime_manager.launch
At this point, another Autoware terminal will be started
Autoware interface
At this point, the autoware installation is complete.