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Source-Build.md

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Requirements

  • ROS kinetic (Ubuntu 16.04)
  • Qt 5.2.1 or higher
  • CUDA (optional)
  • FlyCapture2 (optional)
  • Armadillo (optional)

Please use Autoware v1.9.1, or lower if you wish to run on ROS Indigo.

System dependencies for Ubuntu 14.04 Indigo

% sudo apt-get install -y  python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin
% sudo add-apt-repository ppa:mosquitto-dev/mosquitto-ppa
% sudo apt-get update
% sudo apt-get install libmosquitto-dev

NOTE: Please do not install ros-indigo-velodyne-pointcloud package. If it is already installed, please uninstall it.

System dependencies for Ubuntu 16.04 Kinetic

% sudo apt-get update
% sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin libmosquitto-dev gksu

NOTE: Following packages are not supported in ROS Kinetic.

  • gazebo
  • orb slam
  • dpm ocv

How to build

  1. Clone the repository
$ cd $HOME
$ git clone https://github.com/CPFL/Autoware.git --recurse-submodules

or if you already have a copy of the repo, run $ git submodule update --init --recursive

  1. Initialize the workspace, let rosdep to install the missing dependencies and compile.

Build with colcon (v1.11 and above)

Install colcon, and its dependencies:

$ sudo apt-get install -y python3-pip python3-setuptools
$ sudo pip3 install -U setuptools
$ sudo apt-get install -y python3-colcon-common-extensions

Compile

$ cd ~/Autoware/ros/
$ rosdep update
$ rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
$ ./colcon_release

Build with catkin_make (v1.10 and below)

$ cd ~/Autoware/ros/src
$ catkin_init_workspace
$ cd ../
$ rosdep update
$ rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
$ ./catkin_make_release

DNN-based nodes

Some DNN-based nodes, such as SSD, are not automatically built.

To build these nodes please follow the respective node's README SSD Darknet is now included in Autoware perception.

How to start

$ cd $HOME/Autoware/ros
$ ./run