Foreword
Yesterday tried the new version, found in full accordance with the official website of the installation will prompt some questions, so leave a record.
PS, I chose to install from source Autoware 1.12
Configuration list:
System: Ubuntu 18.04
ROS：Melodic
CUDA: 10.0 or more
Eigen: 3.3.7 or higher
1. graphics driver, CUDA installation
Please refer to here: https://www.cnblogs.com/hgl0417/p/10643760.html graphics driver installed.
I have the graphics driver and CUDA uploaded to the network disk: Link: https://pan.baidu.com/s/1xgPwZVVF18eoJesABWau7g extraction code: qsg9
2. Install Autoware 1.12
(1) mounted reliance
sudo apt update sudo apt install -y python-catkin-pkg python-rosdep ros-$ROS_DISTRO-catkin sudo apt install -y python3-pip python3-colcon-common-extensions python3-setuptools python3-vcstool pip3 install -U setuptools
(2) Installation Eigen
cd && wget http://bitbucket.org/eigen/eigen/get/3.3.7.tar.gz mkdir eigen && tar --strip-components=1 -xzvf 3.3.7.tar.gz -C eigen cd eigen && mkdir build && cd build && cmake .. && make sudo make install cd && rm -rf 3.3.7.tar.gz && rm -rf eigen
(3) Installation Autoware 1.12
Establish workspace
mkdir -p autoware.ai/src cd autoware.ai
Download Autoware 1.12
wget -O autoware.ai.repos "https://gitlab.com/autowarefoundation/autoware.ai/autoware/raw/1.12.0/autoware.ai.repos?inline=false" vcs import src < autoware.ai.repos
ROS-dependent installation
rosdep update rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
Compiler Environment
AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
If the compiler ndt_gpu error occurs: GPU support on Melodic requires Eigen version> = 3.3.7
The reason: eigen eigen and legacy of the newly installed files in the directory Eigen3Config.cmake different, and directory entry into force of an older version of the directory, so it is necessary to install a new copy of Eigen3Config.cmake to the directory where the older version.
Solution:
Search in the / usr directory Eigen3Config.cmake file, / usr / lib / cmake / eigen3 under / usr / local / share / eigen3 / cmake directory exists the file directory, except that:
/ Usr / local / share / eigen3 / 32 behavior Eigen3Config.cmake cmake files in the directory: set (EIGEN3_VERSION_STRING "3.3.7")
/ Usr / lib / cmake / Eigen3Config.cmake file 42 acts in eigen3 directory: set (EIGEN3_VERSION_STRING "3.3.4")
(Please refer to the difference above their actual file)
So after just save all files / eigen3 under the To / usr / lib / cmake elsewhere to delete, and then copy all the files in / usr / local / share / eigen3 / cmake to under / usr / lib / cmake / eigen3 directory It can be.
Re-run the above command.
Run Autoware 1.12
source ~/autoware.ai/install/setup.bash roslaunch runtime_manager runtime_manager.launch
This is Autoware you can see the interface.