Autoware

autoware

---

• Documentation

  • Github Page
  • Doc Source

• Autoware Universe

  • Autoware Universe Documentation
  • Autoware Universe

• MkDocs Build

  ## 2022.09.26
  
  sudo pip3 install mkdocs==1.3.1
  
  pip3 install --user fontawesome-markdown==0.2.6
  pip3 install --user python-markdown-math==0.8
  pip3 install --user mdx_truly_sane_lists==1.3
  pip3 install --user plantuml-markdown==3.6.3
  pip3 install --user mkdocs-awesome-pages-plugin==2.8.0
  pip3 install --user mkdocs-exclude==1.0.2
  pip3 install --user mkdocs-macros-plugin==0.7.0
  pip3 install --user mkdocs-material===8.5.3
  pip3 install --user mkdocs-same-dir==0.1.1
  
  
  mkdocs serve -a 0.0.0.0:8000
  

• IDL

  • http://design.ros2.org/articles/idl_interface_definition.html

安装

# # 更换阿里源, 网速快; 缺点, 当碰巧,阿里源正在和官方源同步的时段，会无法安装
# sed -i 's/cn.archive.ubuntu.com/mirrors.aliyun.com/' /etc/apt/sources.list # X86 中文
# sed -i 's/archive.ubuntu.com/mirrors.aliyun.com/' /etc/apt/sources.list    # X86 英文
# sed -i 's/ports.ubuntu.com/mirrors.aliyun.com/' /etc/apt/sources.list      # arm

sudo apt-get -y update
sudo apt-get -y install git

######################################################
### geographiclib-tools
######################################################
sudo apt install geographiclib-tools
## sudo geographiclib-get-geoids egm2008-1

## http://192.168.2.100:8089/s/kQN2Gme9b5gkeSk?path=%2Fgeographiclib
tar xofjC egm2008-1.tar.bz2 /usr/share/GeographicLib
## tar xofjC egm2008-2_5.tar.bz2 /usr/local/share/GeographicLib

######################################################
### libtorch  ???/
######################################################
# Download http://192.168.2.100:8089/s/kQN2Gme9b5gkeSk?path=%2F
sudo unzip libtorch-1.6.0+cu11.1.zip -d /usr/local/

#
git clone https://github.com/autowarefoundation/autoware.git
cd autoware

./setup-dev-env.sh


cd autoware
mkdir src
vcs import src < autoware.repos

sudo apt-get install ros-galactic-pacmod3-msgs

source /opt/ros/galactic/setup.bash
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

---

• 链接地址

  https://github.com/tier4/AutowareArchitectureProposal.proj https://hub.fastgit.org/tier4/AutowareArchitectureProposal.proj https://github.com.cnpmjs.org/tier4/AutowareArchitectureProposal.proj

• 参考

  • AutowareArchitectureProposal设计和代码结构梳理
  • tier4 技术博客

地图

• MGRS MAPPER
• Autoware Toos

定位

编译

###################################
# Autoware (install egm2008-1)
###################################

# file: egm2008-1.tar.bz
# size: 155M
# link: https://nchc.dl.sourceforge.net/project/geographiclib/geoids-distrib/egm2008-1.tar.bz
# 迅雷下载
sudo tar xofjC  egm2008-1.tar.bz2 /usr/share/GeographicLib

# https://geographiclib.sourceforge.io/html/geoid.html


###################################
# LibTorch (download)
###################################

# gdown https://drive.google.com/u/0/uc?id=1eNh3F3xCQ4AMJEHtwb1dhshSyzWMjoc8 -O /tmp/libtorch.zip
# Lantern 下载

yolo

• v4l2-camera

sudo apt-get install ros-galactic-v4l2-camera

ros2 launch tensorrt_yolo tensorrt_yolo.launch.xml \
    engine_file:=${HOME}/autoware.galactic/install/tensorrt_yolo/share/tensorrt_yolo/data/yolov3.engine