本文已参与「新人创作礼」活动，一起开启掘金创作之路

前言

系统环境是Ubuntu 16.04，每完成一大步，将会把系统的完整镜像（VM Ware导出的虚拟机）发布到Github与Gitee，供使用。因为安装环境，本身是很耗费时间的，安装过程亦参考了网上很多的文章，踩了很多的坑，本系列旨在填坑，让后来人可以集中精力做实际的开发、学习。 每步会有步骤说明，命令的输出如果太多，就省略不再贴出来。 使用的设备是 Livox Horizon + 大华(Dahua) DH-IPC-HFW2433M-LED

Autoware 源码安装

ningdr@ubuntu:~/soft$ echo ===================第一步===================
ningdr@ubuntu:~/soft$ sudo apt install -y zlib1g-dev libbz2-dev libssl-dev libncurses5-dev libsqlite3-dev libreadline-dev tk-dev libgdbm-dev libdb-dev libpcap-dev xz-utils libexpat1-dev liblzma-dev libffi-dev libc6-dev aptitude
ningdr@ubuntu:~/soft$ sudo apt install -y python-catkin-pkg python-rosdep ros-$ROS_DISTRO-catkin gksu
ningdr@ubuntu:~/soft$ sudo apt install -y python3-pip python3-colcon-common-extensions python3-setuptools python3-vcstool
ningdr@ubuntu:~/soft$ echo ==================第二步==================
ningdr@ubuntu:~/soft$ git clone https://github.com/Autoware-AI/autoware.ai.git
ningdr@ubuntu:~/soft$ cd autoware.ai/
ningdr@ubuntu:~/soft/autoware.ai$ git checkout 1.10.0
Note: checking out '1.10.0'.
ningdr@ubuntu:~/soft/autoware.ai$
ningdr@ubuntu:~/soft/autoware.ai$ echo ==================第三步==================
ningdr@ubuntu:~/soft/autoware.ai$ rosdep update
# 这一步会报很多依赖没安装，那就安装
ningdr@ubuntu:~/soft/autoware.ai$ rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
ningdr@ubuntu:~/soft/autoware.ai$ echo ==================第五步==================
# 以缺失joint_state_controller来说，把下划线改为中划线，然后加上ros-kinetic-前缀，apt install 即可
ningdr@ubuntu:~/soft/autoware.ai$ sudo apt install -y ros-kinetic-nmea-msgs \
ros-kinetic-joint-state-controller \
ros-kinetic-jsk-recognition-msgs \
ros-kinetic-jsk-topic-tools \
ros-kinetic-nmea-navsat-driver \
ros-kinetic-pacmod-msgs \
ros-kinetic-image-view2 \
ros-kinetic-jsk-rviz-plugins
ningdr@ubuntu:~/soft/autoware.ai$ sudo apt install -y ros-kinetic-gps-common \
ros-kinetic-lgsvl-msgs \
ros-kinetic-grid-map-ros \
ros-kinetic-velodyne-pointcloud \
ros-kinetic-grid-map-msgs \
ros-kinetic-gscam \
ros-kinetic-velodyne-gazebo-plugins \
ros-kinetic-jsk-recognition-msgs \
ros-kinetic-sound-play \
ros-kinetic-rosbridge-server \
ros-kinetic-imu-tools
ningdr@ubuntu:~/soft/autoware.ai$ sudo apt install -y ros-kinetic-controller-manager \
ros-kinetic-velodyne-description \
ros-kinetic-grid-map-visualization \
ros-kinetic-uvc-camera \
ros-kinetic-automotive-navigation-msgs
ros-kinetic-effort-controllers \
ros-kinetic-automotive-platform-msgs
ningdr@ubuntu:~/soft/autoware.ai$ sudo apt install -y ros-kinetic-automotive-platform-msgs \
ros-kinetic-effort-controllers
ningdr@ubuntu:~/soft/autoware.ai$ sudo apt install -y ros-kinetic-velocity-controllers
ningdr@ubuntu:~/soft/autoware.ai$ sudo apt install -y ros-kinetic-velodyne
ningdr@ubuntu:~/soft/autoware.ai$ sudo apt install -y ros-kinetic-transmission-interface
ningdr@ubuntu:~/soft/autoware.ai$ sudo apt install -y ros-kinetic-position-controllers
ningdr@ubuntu:~/soft/autoware.ai$ sudo apt install -y ros-kinetic-gazebo-ros-control
ningdr@ubuntu:~/soft/autoware.ai$ sudo apt install -y ros-kinetic-nlopt
ningdr@ubuntu:~/soft/autoware.ai$ echo ==================第六步==================
ningdr@ubuntu:~/soft/autoware.ai$ rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
......输出省略.......
Processing triggers for libc-bin (2.23-0ubuntu11.2) ...
#All required rosdeps installed successfully
ningdr@ubuntu:~/soft/autoware.ai$ echo ==================第七步==================
# 这一步需要你机器的内存进行支撑，4G不够使，分配16G内存才完成编译，见到了成功的输出，哈哈哈
ningdr@ubuntu:~/soft/autoware.ai/ros$ ./catkin_make_release
ningdr@ubuntu:~/soft/autoware.ai/ros$ echo ==================第八步==================
ningdr@ubuntu:~/soft/autoware.ai/ros$ echo "source /home/ningdr/soft/autoware.ai/ros/devel/setup.bash" >> ~/.bashrc
ningdr@ubuntu:~/soft/autoware.ai/ros$ source ~/.bashrc
ningdr@ubuntu:~/soft/autoware.ai/ros$ cp ./run autoware_run
ningdr@ubuntu:~/soft/autoware.ai/ros$ vim ~/.bashrc 
=========================add file content========================
export AUTOWARE_BIN=/home/ningdr/soft/autoware.ai/ros
export PATH=${AUTOWARE_BIN}:${PATH}
=========================add file content========================
ningdr@ubuntu:~/soft/autoware.ai/ros$ source ~/.bashrc
ningdr@ubuntu:~/soft/autoware.ai/ros$
# 启动 autoware
ningdr@ubuntu:~/soft/autoware.ai/ros$ autoware_run 

至此，Autoware 安装成功