Autoware universe & novatel & hesai driver install

Autoware installation

Prerequisites

• OS
  • Ubuntu 22.04

• ROS
  • ROS 2 Humble
  아직 humble 설치하지 말기!!!! 만약 설치했다면 포맷하는 것을 추천.

• Git
  • Registering SSH keys to GitHub is preferable.

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

How to set up a development environment

1. Clone autowarefoundation/autoware and move to the directory.

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

3. If you are installing Autoware for the first time, you can automatically install the dependencies by using the provided Ansible script.If you encounter any build issues, please consult the Troubleshooting section for assistance.

4. ./setup-dev-env.sh
   

How to set up a workspace

1. Create the src directory and clone repositories into it.

   cd autoware
   mkdir src
   vcs import src < autoware.repos
   

2. Autoware uses vcstool to construct workspaces.
3. Install dependent ROS packages.

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

    

4. Build the workspace.

5. colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
   

novatel ros install

sudo apt install ros-${ROS_DISTRO}-novatel-oem7-driver`

 

HesaiLidar_ROS_2.0 Driver build

build in this path (autoware/src/sensor_component/external/)

install Boost

sudo apt-get update
sudo apt-get install libboost-all-dev

 

Install Yaml

sudo apt-get update
sudo apt-get install -y libyaml-cpp-dev

 

Clone

cd autoware/src/sensor_component/external/
git clone --recurse-submodules https://github.com/HesaiTechnology/HesaiLidar_ROS_2.0.git

 

Build

cd ~/autoware

  colcon build --symlink-install
  . install/local_setup.bash

 

run

  ros2 launch hesai_ros_driver start.py

Troubleshooting.

이해가 안되는 에러가 나왔을 때는 sudo apt-get autoremove 해주면 해결될 때가 있음.

autoware ros build시 catkin_pkg 모듈이 없다고 뜨면 포멧하는게 나음
autoware에 있는 파이썬 폴더에 존재하는 catkin_pkg(/home/hdlee/autoware/autoware/lib/python3.10/site-packages/catkin_pkg)를 opt/ros/humble/lib/python3.10/site-packages 로 옮기거나 복붙한다.

./setup-dev-env.sh error (nvidia 555 ***** cuda error)

sudo apt purge *nvidia
sudo apt-get install -f
sudo apt-get update
sudo apt-get upgrade./setup-dev-env.sh*

cfg.make 파일이 없다고 하면 ./setup-dev-env.sh 을 다시 해본다