Install Autoware and AD EYE - AD-EYE/AD-EYE_Core GitHub Wiki
curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash
sudo apt-get update
sudo apt install git-lfs
Clone the AD-EYE repository and checkout to the dev branch
git clone https://github.com/AD-EYE/AD-EYE_Core
cd AD-EYE_Core
git checkout dev
git submodule update --init --recursive
Fetch and checkout large files with git-lfs
git-lfs fetch
git-lfs checkout
After cloning the repository you can run the script to install Autoware and its dependencies or else you can do them manually by following the steps mentioned below
Modify the boolean WITH_CUDA in the file Helper_Scripts/Install_AD-EYE.bash to suit your setup.
Then run:
bash Helper_Scripts/Install_AD-EYE.bash
You will be prompted git username and token as the different required repositories will be cloned.
Get all the Autoware repositories
cd autoware.ai
./autoware.ai.repos.run
sudo apt-get update
sudo apt install -y python3-pip python3-colcon-common-extensions python3-setuptools python3-vcstool openni2-doc openni2-utils openni-doc openni-utils libopenni0 libopenni-sensor-pointclouds0 libopenni2-0 libopenni-sensor-pointclouds-dev libopenni2-dev libopenni-dev libproj-dev python-catkin-pkg python-rosdep ros-$ROS_DISTRO-catkin gksu
pip3 install -U setuptools
If installing latest version of setup tools results in a syntax error due to f string, try a lower version like 50.3.2
Eigen >= 3.3.7. Install manually https://gitlab.com/libeigen/eigen/-/releases/3.3.9
sudo apt install ros-melodic-velodyne sudo apt install ros-melodic-autoware-system-msgs sudo apt install ros-melodic-grid-map sudo apt install ros-melodic-geodesy sudo apt install ros-melodic-lanelet2 sudo apt install libgflags-dev sudo apt install libgoogle-glog-dev
rosdep update --rosdistro=kinetic
rosdep install -y -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO
If one gets issues rosdep, due to an outdated version of rospkg, an update can be made using pip install rospkg==required_version
sudo apt-get install libarchive-dev
The compilation must be done in AD-EYE_Core/autoware.ai.
With CUDA support
AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
With CUDA support for PX2
NOTE: To prevent PX2 from hanging, or if you get internal-compiler-error-killed-program-cc1plus error, try adding more swap space before compiling by following method.
sudo dd if=/dev/zero of=/swapfile bs=64M count=32
sudo mkswap /swapfile
sudo swapon /swapfile
That should let you compile your code. For reverting the swapon after compilation, you can use these comands:
sudo swapoff /swapfile
sudo rm /swapfile
AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --parallel-workers 1 --cmake-args -DCMAKE_BUILD_TYPE=Release
Without CUDA Support
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
Usefull colcon build options:
--continue-on-error
--packages-select
--packages-ignore
echo "source $HOME/AD-EYE_Core/autoware.ai/install/setup.bash --extend" >> ~/.bashrc
exec bash
cd ..
sudo apt-get install ros-kinetic-costmap-2d ros-kinetic-navigation ros-kinetic-grid-map ros-kinetic-rosbridge-suite
Melodic: sudo apt install ros-melodic-rosbridge-server
cd AD-EYE/ROS_Packages
catkin_make
PS: For compiling only one package use this:
catkin_make --only-pkg-with-deps <package_name>
echo "source $HOME/AD-EYE_Core/AD-EYE/ROS_Packages/devel/setup.bash --extend" >> ~/.bashrc
exec bash
OpenSSH is required for Test Automation and OpenScenario.
sudo apt install openssh-client
sudo apt install openssh-server
Source:
https://help.ubuntu.com/lts/serverguide/openssh-server.html
During the process of compiling the autoware we may encounter an issue related to libGL.so. In that case, you need to reinstall the NVIDIA Drivers and compile again.