【Autoware】编译仿真

仓库拉取

git clone https://github.com/autowarefoundation/autoware.git
vcs import src < repositories/autoware.repos

编译

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCOMPILE_WARNING_AS_ERROR=OFF -DBUILD_TESTING=OFF --parallel-workers 1

问题：

1. autoware_path_optimizer失败：
   需要acados、t_renderer。
   注意，编译acados编译默认的python路径是cados/.venv/bin，需要软连接指定系统python

mkdir -p /home/hp-omen-lc/Programs/acados/.venv/bin 
ln -sf /usr/bin/python3 /home/hp-omen-lc/Programs/acados/.venv/bin/python3 
/home/hp-omen-lc/Programs/acados/.venv/bin/python3 --version

2. ros2agnocast失败：
   升级python插件：

python3 -m pip install -U setuptools colcon-ros colcon-common-extensions

资源下载

地图：

wget https://autoware-files.s3.us-west-2.amazonaws.com/maps/demos/sample-map-planning.zip -O /home/hp-omen-lc/autoware_map/sample-map-planning.zip

场景：

git clone https://github.com/autowarefoundation/autoware_sample_scenarios.git

仿真启动

CPU启动：

ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/home/hp-omen-lc/autoware_data/maps/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

GPU启动：

__NV_PRIME_RENDER_OFFLOAD=1 __GLX_VENDOR_LIBRARY_NAME=nvidia ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/home/hp-omen-lc/autoware_data/maps/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit rviz:=true use_gpu:=true perception_mode:=template

模拟效果