autoware安装

1.Autoware的地址为https://github.com/CPFL/Autoware
2.Install dependencies for Ubuntu 16.04 kinetic
安装教程install可能会出现无法安装的提示，按照这个（https://blog.csdn.net/weicao1990/article/details/52575314）将ros源加入进来。

2.1 设置安装源
ROS Kinetic只支持Wily(15.10)和Xenial(16.04)对应内核分别为4.2和4.4，使用下面命令：
~$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

 

2.2 设置keys
~$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116

2.3 安装

~$ sudo apt-get update

% sudo apt-get install ros-kinetic-desktop-full ros-kinetic-nmea-msgs ros-kinetic-nmea-navsat-driver ros-kinetic-sound-play ros-kinetic-jsk-visualization ros-kinetic-grid-map ros-kinetic-gps-common

%

sudo apt-get install ros-kinetic-controller-manager ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-gazebo-ros-control ros-kinetic-joystick-drivers

%

sudo apt-get install libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev python-wxgtk3.0 software-properties-common libmosquitto-dev libyaml-cpp-dev python-flask python-requests

 

2.4 初始化

~$ sudo rosdep init

~$ rosdep update

 

3.安装git
sudo apt-get install git

 

4.git源

git clone https://github.com/CPFL/Autoware.git
开发版：
git clone -b develop

https://github.com/CPFL/Autoware.git

 

5.编译

安装开发版需要修改文件的yolo2的配置：

径：/home/maxiao/Autoware/ros/src/computing/perception/detection/packages/cv_tracker

打开CMakeLists.txt文件
修改set(YOLO2_PATH "$ENV{HOME}/darknet")，将引号里的路径随意换成一个不存在的名

 

$ cd $HOME
$ git clone https://github.com/CPFL/Autoware.git

$ cd ~/Autoware/ros/src

$ catkin_init_workspace
$ cd ../

$ ./catkin_make_release

 

6.运行

$ cd $HOME/Autoware/ros

$ ./run