autoware.universe encountered many difficulties and went through many pitfalls during installation; I share it here for your mutual encouragement;
The initial idea was: a set of autoware.universe+carla+Logitech 29 combo; however, after verification, it was found that autoware.universe and Carla take up a lot of computer resources, and it is difficult to drive them together;
My computer configuration:
---------os:20.04---------------
---------ros:galactic-----------
---------graphcard：3050----
autoware.universe: If the version is wrong, you will encounter various problems. Some packages cannot be compiled during colcon build, so in order to avoid detours, it is best to have the same configuration as mine. It is also best to use git clone with My branch is the same;
git clone -b galactic https://github.com/autowarefoundation/autoware.universe.git
1. Configure the environment
//Configure environment script method, you can also use manual installation method to install
./setup-dev-env.sh
If you get an error, you can just try it a few times. If there is no problem, keep at it! ! !
If you directly git clone the latest version of autoware, the universe configuration environment will report an error system requirement 22.04; at this time, do not hesitate to delete the galactic branch directly;
2. Create a src package and then download src
The official website provides:
mkdir src
vcs import src < autoware.repos method to download, but usually it cannot be downloaded due to network conditions (all red) (optional)
I placed the src on Baidu Cloud Disk:
Please enter the extraction code for Baidu Netdisk : yff1
Make sure that after downloading everything, put it in the autoware folder and change the name to src
3.rosdep download ros related packages
cd /home/your_autoware_dir/autoware
source /opt/ros/galactic/setup.bash
rosdep heat
rosdep update
rosdep install -y --from-paths src --ignore-src -rosdistro $ROS_DISTRO
You will definitely encounter the lack of various packages in this place; you can use sudo apt-get install ros-galactic-missing packages to install them; it is recommended to enter the first few letters and Tab them out;
Solved one by one:
Until #All request installed successfully
4. Compile and execute:
colcon build --symlink-install --cmake-args-DCMAKE_BUILD_TYPE=Release
When using ros2 to compile, an error will often be reported due to insufficient memory in the computer:
c++:fatal error: Killed signal terminated program cc1plus
compilation terminated
The solution:
You can limit the number of cores of the computer during colcon build
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 1
This way you can avoid the problem of memory exploding! ! !
Try many times until the final compilation is passed;