图为智盒T600采用AGX Xaiver为核心版,系统为ubuntu18.04, arm64架构
https://www.cnblogs.com/xiangzh/p/14244915.html
https://github.com/Autoware-AI/autoware.ai/wiki/Source-Build
sudo apt-get purge libopencv-dev sudo apt install libopencv-dev
(2) 若为nvidia官方系统则运行
sudo apt-get purge libopencv-dev vim /etc/apt/sources.list.d/nvidia-l4t-apt-source.list
将文件中两行全部注释掉,如下
保存退出后运行
sudo apt install libopencv-dev
rosdep init
或rosdep update
不成功的问题,参考下面链接中的方法二cd Downloads unzip eigen-3.3.7.zip cd eigen-3.3.7/ mkdir build cd build cmake .. make sudo make install
sudo apt update sudo apt install -y python-catkin-pkg python-rosdep ros-$ROS_DISTRO-catkin sudo apt install -y python3-pip python3-colcon-common-extensions python3-setuptools python3-vcstool pip3 install -U setuptools
(2) 下载源码
mkdir -p autoware.ai/src cd autoware.ai wget -O autoware.ai.repos "https://raw.githubusercontent.com/Autoware-AI/autoware.ai/master/autoware.ai.repos" vcs import src < autoware.ai.repos rosdepc update rosdepc install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
(3)修改cuda版本
将3处cuda10.0改为cuda10.2
gedit ~/autoware.ai/src/autoware/common/autoware_build_flags/cmake/autoware_build_flags-extras.cmake
修改后文件为
(3) 编译代码
With CUDA support
AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
Without CUDA Support
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release