Foreword: The emergence of ROS makes robot software development faster and more modular. On this basis, the Autoware.ai open source project allows us to easily deploy a complete set of autonomous driving software to our test vehicles and witness it start running!

1. Introduction to Autoware

Autoware is an "integrated" open source autopilot software that can realize functions such as perception, decision-making, and control. By building an Autoware development environment and running cases in Ubuntu, everyone has a clearer understanding of the realization of autopilot technology .

The software architecture diagram is as follows:

2. Computer software and hardware configuration requirements

• Hardware requirements:
  • Processor - i7 recommended, i5 minimum
  • Running memory-16G and above
  • Hard disk storage - 100G and above
  • Graphics card - no requirements yet
• Software requirements:
  • OS - Ubuntu 18.04
  • Framework & Middleware-ROS Melodic
  • Interface Framework - Qt 5.12.0
  • Autopilot Software - Autoware 1.13

Since most learner computers do not have a GPU, the following installation is only for the Autoware-cpu version.

3.Ubuntu 18.04 system

It is recommended to install dual systems, and the installation method will not be repeated here!

4.ROS Melodic installation

ROS installation

It is recommended to use the one-click installation command of "Yuxiang ROS":
wget http://fishros.com/install -O fishros && . fishros

(Note: Select "whether to update the source", "ROS version", "desktop version/lite version" according to your own situation)
After the installation is complete, test the master node through the roscore command, and the following information is output to indicate that the installation is successful:

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.7

NODES

auto-starting new master
process[master]: started with pid [1215]
ROS_MASTER_URI=http://nx:11311/

setting /run_id to cb38e680-dee2-11ea-bae1-70665563e003
process[rosout-1]: started with pid [1228]
started core service [/rosout]

Configure rosdep update

The implementation of rosdep update automatically updates the ros source:

1. Download script: wget https://gitee.com/ncnynl/rosdep/raw/master/rosdep_update.sh ;
2. The administrator gives execution permission: sudo chmod +x ./rosdep_update.sh;
3. Administrator run script: sudo ./rosdep_update.sh
4. This line appears, which means success: all files replaced is finished, please continues run rosdecp update
5. Then execute in sequence: sudo rosdep init and rosdep update.
   ------------Invalid, available small fish tool [3]rosdepc---------------

5.Qt 5.12.0 framework installation

Install Qt

Open a browser and enter the following address in the address bar:

http://mirrors.ustc.edu.cn/qtproject/archive/qt/5.12/5.12.0/qt-opensource-linux-x64-5.12.0.run

The following packages will be downloaded automatically:

qt-opensource-linux-x64-5.12.0.run

Enter the "Download" directory, open the terminal, change the execution permission and install:
(Note, please disconnect the network connection when installing Qt! Please place the installation path in /opt/Qt5.12.0, and select the required Qt module)

sudo chmod +x qt-opensource-linux-x64-5.12.0.run

sudo ./qt-opensource-linux-x64-5.12.0.run

Configure the system path

After the installation is complete, you need to configure the system path, which can solve the problems of not being able to find header files and not being able to add files.
Open a terminal and type:

sudo gedit /etc/bash.bashrc

Add at the end of the file:

export QTDIR=/opt/Qt5.12.0/5.12.0/gcc_64
export PATH=$QTDIR/bin:$PATH
export LD_LIBRARY_PATH=$QTDIR/lib:$LD_LIBRARY_PATH

Execute in the terminal after saving:

source /etc/bash.bashrc

To confirm whether the addition is successful, you can enter the following command (the output path of Qt indicates that the configuration is successful):

echo $PATH

At this point, the Qt creater installation is complete, and qt development can also be performed.

6.Autoware 1.13 autopilot software installation

Because the Autoware1.14 version has many bugs, it has not been repaired yet. Many packages that use the 1.14 version are transplanted from the 1.13 version, but the 1.12 version is missing many modules, because the 1.13 version is selected.

Install system software dependencies

sudo apt-get update
sudo apt-get install -y python-catkin-pkg python-rosdep ros-melodic-catkin
sudo apt-get install -y python3-pip python3-colcon-common-extensions python3-setuptools python3-vcstool
pip3 install -U setuptools

(If there is an error, use the following statement to solve it, if there is no error, please skip it!)
python3.6 -m pip install launchpadlib

create workspace

mkdir -p autoware.ai/src
cd autoware.ai

Download the source code or use my given source code (just replace the src folder):

wget -O autoware.ai.repos https://gitlab.com/autowarefoundation/autoware.ai/autoware/raw/1.13.0/autoware.ai.repos?inline=false
vcs import src < autoware.ai.repos

Install autoware software dependencies

rosdepc update
rosdepc install --from-paths src --ignore-src --rosdistro=melodic -y

start compiling

Compile the cpu version of autoware (Note: If you change the source code, that is, the src folder, just recompile the autoware workspace!)

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

(Under normal circumstances, 164 packages are compiled successfully!)

Start autoware:

source install/setup.bash
roslaunch runtime_manager runtime_manager

The interface is as follows:

At this point, the installation of Autoware 1.13 is complete! Congratulations on taking another step forward on the road of autonomous driving! ! !

7. Other

Q1: citysim compilation error
A1: Other protobuf versions are installed on the computer and need to be adapted to protobuf3.0.0

above.