{"id":9911,"date":"2024-11-19T23:29:59","date_gmt":"2024-11-19T15:29:59","guid":{"rendered":"https:\/\/yanjingang.com\/blog\/?p=9911"},"modified":"2025-09-26T17:32:37","modified_gmt":"2025-09-26T09:32:37","slug":"autoware-ai%e7%89%88%e6%9c%ac%e7%9a%84%e9%83%a8%e7%bd%b2","status":"publish","type":"post","link":"https:\/\/yanjingang.com\/blog\/?p=9911","title":{"rendered":"Autoware\u2014AI\u7248\u672c\u7684\u90e8\u7f72"},"content":{"rendered":"<p>\u7531\u4e8eLIO-SAM\u5728\u516c\u56ed\u7b49\u6811\u6728\u591a\u7279\u5f81\u5c11\u7684\u573a\u666f\u6548\u679c\u4e0d\u592a\u597d\uff0c\u4f46NDT\u662f\u96c6\u6210\u5728Autoware.ai 1.x\u7248\u672c\u91cc\u7684\uff0c\u8fd9\u91cc\u8bb0\u5f55\u4e0b\u90e8\u7f72\u7f16\u8bd1\u8fc7\u7a0b\u3002<\/p>\n<p>\u7531\u4e8eAutoware.ai 1.x\u7248\u672c\u6e90\u7801\u7f16\u8bd1\u53ea\u652f\u6301\u5230Ubuntu 18\uff0c\u624b\u4e0a\u5df2\u7ecf\u6ca1\u6709\u8fd9\u4e2a\u7248\u672c\u7684\u8bbe\u5907\uff0c\u6240\u4ee5\u8fd9\u91cc\u76f4\u63a5\u5728Ubuntu 20.04\u4e0b\u7528docker\u73af\u5883\u6765\u7f16\u8bd1\u3002<\/p>\n<h1>\u4e00\u3001\u5b89\u88c5Docker<\/h1>\n<p>\u5177\u4f53Docker\u5b89\u88c5\u65b9\u6cd5\u4e0d\u518d\u8d58\u8ff0\uff0c\u8be6\u89c1\uff1a<\/p>\n<ul>\n<li>\u53c2\u8003\uff1a<a href=\"https:\/\/yanjingang.com\/blog\/?p=2194\" target=\"_blank\" rel=\"noopener\">docker\u5165\u95e8<\/a><\/li>\n<li>\u53c2\u8003\uff1a<a href=\"https:\/\/yanjingang.com\/blog\/?p=9638\" target=\"_blank\" rel=\"noopener\">Docker\u2014\u5c06\u5bb9\u5668\u5bfc\u51fa\u4e3a\u955c\u50cf\u5e76push\u5230hub\u4ed3\u5e93<\/a><\/li>\n<\/ul>\n<h1>\u4e8c\u3001\u90e8\u7f72Autoware.ai<\/h1>\n<h4>1. \u4f7f\u7528\u5b98\u65b9\u955c\u50cf<\/h4>\n<h6>1.1 \u4e0b\u8f7d\u5e76\u542f\u52a8\u955c\u50cf<\/h6>\n<p>\u4e5f\u53ef\u4ee5\u53c2\u8003<a href=\"https:\/\/github.com\/autowarefoundation\/autoware_ai_documentation\/wiki\/Installation\" target=\"_blank\" rel=\"noopener\">Installation<\/a>\u624b\u52a8\u90e8\u7f72\u5b98\u65b9\u955c\u50cf\u5e76\u8fdb\u884c\u4fee\u6539\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"hljs sql\"># source code\r\ngit clone https:\/\/github.com\/autowarefoundation\/autoware_ai_docker.git autoware.ai\r\n\r\n# run docker\r\ncd ~\/autoware.ai\/generic\r\n.\/run.sh  --cuda on          # use cuda<\/code><\/pre>\n<h6>1.2 \u5bb9\u5668\u5185\u7f16\u8bd1\u548c\u8fd0\u884cAutoware<\/h6>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u8fdb\u5165\u5bb9\u5668\r\ncd ~\/autoware.ai\/\r\n.\/open.sh\r\n\r\n# \u4f7f\u7528\u7f16\u8bd1\u7f13\u5b58\r\nsudo apt install -y ccache\r\nccache -s\r\n\r\n# \u7f16\u8bd1Autoware\u76ee\u5f55\u6e90\u7801\r\ncd ~\/Autoware\r\ncolcon build --<span class=\"hljs-keyword\">symlink<\/span>-install --cmake-args -DCMAKE_BUILD_TYPE=Release\r\n# or with cuda\r\nAUTOWARE_COMPILE_WITH_CUDA=1 colcon build --<span class=\"hljs-keyword\">symlink<\/span>-install --cmake-args -DCMAKE_BUILD_TYPE=Release\r\n\r\n# \u542f\u52a8autoware\r\nsource ~\/Autoware\/install\/setup.bash\r\nroslaunch runtime_manager runtime_manager.launch\r\n<\/code><\/pre>\n<h6><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-runtime-manager.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-9918\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-runtime-manager.png\" alt=\"\" width=\"991\" height=\"683\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-runtime-manager.png 991w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-runtime-manager-300x207.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-runtime-manager-768x529.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-runtime-manager-624x430.png 624w\" sizes=\"(max-width: 991px) 100vw, 991px\" \/><\/a><\/h6>\n<h6>1.3 \u79fb\u52a8\u6e90\u7801\u5230\u6302\u8f7d\u76ee\u5f55<\/h6>\n<p>\u4e3a\u4e86\u65b9\u4fbf\u5728\u5bbf\u4e3b\u673a\u76f4\u63a5\u4fee\u6539\u4ee3\u7801\uff0c\u5728docker\u5185\u7f16\u8bd1\uff0c\u6211\u4eec\u8fd9\u91cc\u628a\u6e90\u7801\u79fb\u52a8\u5230\u6302\u8f7d\u76ee\u5f55\u5185\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u8fdb\u5165\u5bb9\u5668\r\ncd ~\/autoware.ai\/\r\n.\/open.sh\r\n\r\n# \u5907\u4efd\u5b98\u65b9\u7684Autoware\u4ee3\u7801\u5230\u5bbf\u4e3b\u673ashare\u76ee\u5f55\r\nmv Autoware ~\/shared_dir\/Autoware\r\n\r\n# \u81ea\u52a8\u52a0\u8f7dautoware\r\nvim ~\/.bashrc\r\n    source ~\/Autoware\/install\/setup.bash<\/code><\/pre>\n<h6>1.4 \u4fdd\u5b58\u53c2\u6570\u5230\u6e90\u7801<\/h6>\n<p>\u9ed8\u8ba4\u60c5\u51b5\u4e0bruntime_manager\u754c\u9762\u4e0a\u7684\u4fee\u6539\u4f1a\u4fdd\u5b58\u5230.\/Autoware\/install\/runtime_manager\/lib\/runtime_manager\/param.yaml\uff0c\u8fd9\u4e2a\u6587\u4ef6\u5e76\u4e0d\u53d7\u7248\u672c\u5e93\u63a7\u5236\uff0c\u5bfc\u81f4\u91cd\u542fdocker\u6216\u66f4\u6362\u8bbe\u5907\u540e\u6240\u6709\u7684\u914d\u7f6e\u90fd\u8981\u624b\u52a8\u914d\u4e00\u904d\uff0c\u592a\u8fc7\u7e41\u7410\u3002<\/p>\n<p>\u6211\u4eec\u8fd9\u91cc\u628a\u8fd9\u4e2a\u6587\u4ef6\u6539\u4e3a\u8f6f\u94fe\uff0c\u52a0\u5230autoware\u4ee3\u7801\u7ba1\u7406\u91cc\uff0c\u65b9\u4fbf\u9000\u51fadocker\u80fd\u4fdd\u5b58\u5230pc\uff0c\u540c\u65f6\u65b9\u4fbf\u591a\u8bbe\u5907\u540c\u6b65\u914d\u7f6e\u53c2\u6570\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># backup docker param.yaml to src\r\ncp ~\/Autoware\/install\/runtime_manager\/lib\/runtime_manager\/param.yaml ~\/Autoware\/src\/autoware\/utilities\/runtime_manager\/scripts\/\r\n\r\n# add param.yaml install\r\nvim shared_dir\/Autoware\/src\/autoware\/utilities\/runtime_manager\/CMakeLists.txt\r\ninstall(\r\n  FILES\r\n    #other yaml file\r\n    scripts\/setup.yaml\r\n    scripts\/map.yaml\r\n    scripts\/sensing.yaml\r\n    ... \r\n    # add param.yaml\r\n    scripts\/<span style=\"color: #ff0000;\">param.yaml<\/span>\r\n)\r\n\r\n# rebuild\r\ncolcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-select runtime_manager\r\nor\r\nln -s ~\/Autoware\/src\/autoware\/utilities\/runtime_manager\/scripts\/param.yaml ~\/Autoware\/install\/runtime_manager\/lib\/runtime_manager\/param.yaml\r\n\r\n# check install-&gt;src link\r\nll ~\/Autoware\/install\/runtime_manager\/lib\/runtime_manager\/param.yaml\r\n    lrwxrwxrwx 1 autoware autoware 81 Dec  5 06:14 \/home\/autoware\/Autoware\/install\/runtime_manager\/lib\/runtime_manager\/param.yaml -&gt; \/home\/autoware\/Autoware\/src\/autoware\/utilities\/runtime_manager\/scripts\/param.yaml<\/code><\/pre>\n<h6>1.5 \u5b89\u88c5\u5176\u4ed6ROS\u7ec4\u4ef6<\/h6>\n<pre class=\"pure-highlightjs\"><code class=\"hljs nginx\"><span class=\"hljs-comment\"># \u914d\u7f6eros\u6e90(ustc\u7684\u6e90\u6700\u597d\u6700\u5feb)<\/span>\r\n<span class=\"hljs-attribute\">sudo<\/span> sh -c <span class=\"hljs-string\">'. \/etc\/lsb-release &amp;&amp; echo \"deb [arch=$(dpkg --print-architecture)] http:\/\/mirrors.ustc.edu.cn\/ros\/ubuntu\/ <span class=\"hljs-variable\">$DISTRIB_CODENAME<\/span> main\" &gt; \/etc\/apt\/sources.list.d\/ros-latest.list'<\/span>\r\n<span class=\"hljs-comment\"># \u6dfb\u52a0\u516c\u94a5<\/span>\r\nsudo apt-key adv --keyserver <span class=\"hljs-string\">'hkp:\/\/keyserver.ubuntu.com:80'<\/span> --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654\r\n<span class=\"hljs-comment\"># \u6216  curl -s https:\/\/raw.githubusercontent.com\/ros\/rosdistro\/master\/ros.asc | sudo apt-key add -<\/span>\r\n<span class=\"hljs-comment\"># \u66f4\u65b0apt\u5305\u5217\u8868<\/span>\r\nsudo apt update\r\n<span class=\"hljs-comment\"># \u5b89\u88c5\u8f66\u8f86\u6a21\u578b\u663e\u793a\u5305<\/span>\r\nsudo apt install ros-melodic-joint-state-publisher-gui ros-melodic-jsk-rviz-plugins <span class=\"hljs-comment\">ros-melodic-jsk-recognition-msgs<\/span><\/code><\/pre>\n<h6>1.6 \u6839\u636e\u5f53\u524d\u5bb9\u5668\u521b\u5efa\u65b0\u955c\u50cf<\/h6>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u4fdd\u5b58\u5bb9\u5668\u5185\u7684\u53d8\u5316\r\ndocker ps\r\ndocker commit -a \"yanjingang\" -m \"autoware.ai latest-melodic-base-cuda\" 0d9e8e0b0998 yanjingang\/autoware:latest-melodic-base-cuda\r\n# docker commit -a \"yanjingang\" -m \"autoware.ai\" 2ce41d2f80d0 yanjingang\/autoware:latest-melodic-base\r\n\r\n# push\u955c\u50cf\u5230hub\r\ndocker image list\r\ndocker login\r\ndocker push yanjingang\/autoware:latest-melodic-base-cuda\r\n\r\n# \u4f7f\u7528\u65b0\u955c\u50cf\r\nvim ~\/autoware.ai\/generic\/run.sh\r\n    IMAGE_NAME=\"yanjingang\/autoware\"\r\n    TAG_PREFIX=\"latest\"\r\n\r\n# \u91cd\u542fdocker\r\ncd ~\/autoware.ai\/generic\/\r\n.\/run.sh --cuda on -b $HOME\/autoware.ai\/shared_dir\/Autoware     # use cuda, mount local code\r\n# .\/run.sh --cuda off -b $HOME\/autoware.ai\/shared_dir\/Autoware  # without cuda, mount local code<\/code><\/pre>\n<h6><\/h6>\n<h4>2. \u76f4\u63a5\u4f7f\u7528\u65b0\u955c\u50cf<\/h4>\n<p>\u5b8c\u6210\u4e00\u6b21\u4ee5\u4e0a\u6b65\u9aa4\u540e\uff0c\u5176\u4ed6\u8bbe\u5907\u4e0a\u5c31\u53ef\u4ee5\u76f4\u63a5\u7528\u8fd9\u4e2a\u5df2\u7ecf\u9002\u914d\u597d\u7684\u955c\u50cf\uff1a<\/p>\n<h6>2.1 \u4e0b\u8f7d\u955c\u50cf<\/h6>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u4e0b\u8f7d\u955c\u50cf\r\ndocker login\r\ndocker pull yanjingang<span class=\"token operator\">\/autoware:latest-melodic-base-cuda    # with cuda\r\n# docker pull yanjingang\/autoware:latest-melodic-base       # without cuda\r\n\r\n<code class=\"hljs sql\"># \u4e0b\u8f7dautoware\u914d\u7f6e\u548c\u811a\u672c\r\ngit clone git@gitee.com:cyber-robotics\/autoware.ai.git<\/code><\/span><\/code><\/pre>\n<h6>2.2 \u8fd0\u884cAutoware<\/h6>\n<pre class=\"pure-highlightjs\"><code class=\"hljs sql\"># \u542f\u52a8\u5bb9\u5668\r\ncd ~\/autoware.ai\/generic\r\n<code class=\"\">.\/run.sh --cuda on -b $HOME\/autoware.ai\/shared_dir\/Autoware  -i yanjingang\/autoware    # use cuda, mount local code, use my image\r\n# .\/run.sh --cuda off -b $HOME\/autoware.ai\/shared_dir\/Autoware  -i yanjingang\/autoware # without cuda, mount local code, use my image\r\n\r\n# \u7f16\u8bd1autoware\r\ncd ~\/Autoware\r\ncolcon build --<span class=\"hljs-keyword\">symlink<\/span>-install --cmake-args -DCMAKE_BUILD_TYPE=Release\r\n\r\n# \u542f\u52a8autoware\r\nsource ~\/Autoware\/install\/setup.bash\r\n<\/code>roslaunch runtime_manager runtime_manager.launch<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p>yan 24.11.18<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/m0_60355964\/article\/details\/126034939\" target=\"_blank\" rel=\"noopener\">\u5de5\u63a7\u673a\uff08arm + ubuntu18.04\uff09\u642d\u5efaAutoware 1.14\u73af\u5883\u4ee5\u53ca\u6e90\u7801\u7f16\u8bd1\uff08GPU\u7248\uff09\u8be6\u7ec6\u6b65\u9aa4\u5916\u52a0\u5b98\u65b9demo\u8fd0\u884c<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u7531\u4e8eLIO-SAM\u5728\u516c\u56ed\u7b49\u6811\u6728\u591a\u7279\u5f81\u5c11\u7684\u573a\u666f\u6548\u679c\u4e0d\u592a\u597d\uff0c\u4f46NDT\u662f\u96c6\u6210\u5728Autoware.ai 1.x\u7248\u672c\u91cc\u7684 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[1368,708],"tags":[1427,1369,1426,707],"_links":{"self":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/9911"}],"collection":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=9911"}],"version-history":[{"count":4,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/9911\/revisions"}],"predecessor-version":[{"id":10759,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/9911\/revisions\/10759"}],"wp:attachment":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=9911"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=9911"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=9911"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}