AutoWare.auto与ROS2亲测安装成功安装参考博客：
官⽅课程：
官⽅⽂档：
AutoWare.auto 安装实践
1. 相关程序版本说明
ubuntu版本：20.04 ADE：4.4.0
Autoware.auto版本（基于ROS2）：autoware.auto foxy， ros foxy
<!--最开始使⽤的 **ubuntu版本：18.04版本，后⾯发现ros foxy需要ubuntu20版本，本来想着切到utoware.auto dashing版本，由于本⼈能⼒有限，不知道咋整，直接升级了系统**-->
2. Docker安装
以下操作，请确定⾃⼰已经换源了，不然下载很慢的，参考
Ubuntu系统中，软件源⽂件地址为：/etc/apt/sources.list
1.备份原来的源，将以前的源备份⼀下，以防以后可以⽤的。
$ sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak
2.打开/etc/apt/sources.list⽂件，在前⾯添加如下条⽬，并保存。
$ sudo vim /etc/apt/sources.list（可将vim更换为⾃⼰熟悉的编辑器）
#腾讯源
deb t/ubuntu/ focal main restricted universe multiverse
deb t/ubuntu/ focal-security main restricted universe multiverse
deb t/ubuntu/ focal-updates main restricted universe multiverse
#deb t/ubuntu/ focal-proposed main restricted universe multiverse
#deb t/ubuntu/ focal-backports main restricted universe multiverse
# deb-src t/ubuntu/ focal main restricted universe multiverse
# deb-src t/ubuntu/ focal-security main restricted universe multiverse
# deb-src t/ubuntu/ focal-updates main restricted universe multiverse
#deb-src t/ubuntu/ focal-proposed main restricted universe multiverse
#deb-src t/ubuntu/ focal-backports main restricted universe multiverse
#中科⼤源
# 默认注释了源码仓库，如有需要可⾃⾏取消注释
deb mirrors.ustc.edu/ubuntu/ focal main restricted universe multiverse
# deb-src mirrors.ustc.edu/ubuntu/ focal main restricted universe multiverse
deb mirrors.ustc.edu/ubuntu/ focal-updates main restricted universe multiverse
# deb-src mirrors.ustc.edu/ubuntu/ focal-updates main restricted universe multiverse
deb mirrors.ustc.edu/ubuntu/ focal-backports main restricted universe multiverse
# deb-src mirrors.ustc.edu/ubuntu/ focal-backports main restricted universe multiverse
deb mirrors.ustc.edu/ubuntu/ focal-security main restricted universe multiverse
# deb-src mirrors.ustc.edu/ubuntu/ focal-security main restricted universe multiverse
重来 黄小琥# 预发布软件源，不建议启⽤
# deb mirrors.ustc.edu/ubuntu/ focal-proposed main restricted universe multiverse
# deb-src mirrors.ustc.edu/ubuntu/ focal-proposed main restricted universe multiverse
# deb-src mirrors.ustc.edu/ubuntu/ focal-proposed main restricted universe multiverse
#添加阿⾥源
deb mirrors.aliyun/ubuntu/ focal main restricted universe multiverse
# deb-src mirrors.aliyun/ubuntu/ focal main restricted universe multiverse
deb mirrors.aliyun/ubuntu/ focal-security main restricted universe multiverse
# deb-src mirrors.aliyun/ubuntu/ focal-security main restricted universe multiverse
deb mirrors.aliyun/ubuntu/ focal-updates main restricted universe multiverse
# deb-src mirrors.aliyun/ubuntu/ focal-updates main restricted universe multiverse
# deb mirrors.aliyun/ubuntu/ focal-proposed main restricted universe multiverse
# deb-src mirrors.aliyun/ubuntu/ focal-proposed main restricted universe multiverse
deb mirrors.aliyun/ubuntu/ focal-backports main restricted universe multiverse
# deb-src mirrors.aliyun/ubuntu/ focal-backports main restricted universe multiverse
#添加清华源
达坡阿玻deb mirrors.tuna.tsinghua.edu/ubuntu/ focal main restricted universe multiverse
# deb-src mirrors.tuna.tsinghua.edu/ubuntu/ focal main restricted universe multiverse
deb mirrors.tuna.tsinghua.edu/ubuntu/ focal-updates main restricted universe multiverse
# deb-src mirrors.tuna.tsinghua.edu/ubuntu/ focal-updates main restricted universe multiverse
deb mirrors.tuna.tsinghua.edu/ubuntu/ focal-backports main restricted universe multiverse
# deb-src mirrors.tuna.tsinghua.edu/ubuntu/ focal-backports main restricted universe multiverse
deb mirrors.tuna.tsinghua.edu/ubuntu/ focal-security main restricted universe multiverse
# deb-src mirrors.tuna.tsinghua.edu/ubuntu/ focal-security main restricted universe multiverse multiverse
3.更新
更新源
$ sudo apt-get update
如出现依赖问题，解决⽅式如下：
$ sudo apt-get -f install
更新软件：
$ sudo apt-get upgrade
1. 官⽅安装教程：
// 卸载旧版本docker
#Uninstall old versions
$ sudo apt-get remove docker docker-engine docker.io containerd runc
#Uninstall Docker Engine
$ sudo apt-get purge docker-ce docker-ce-cli containerd.io
春天在哪里歌曲$ sudo rm -rf /var/lib/docker
$ sudo rm -rf /var/lib/containerd
/
/ 使⽤docker repository安装docker engine
#step1：在新主机上⾸次安装Docker Engine之前，需要设置Docker存储库。之后，您可以从存储库安装和更新Docker
#更新apt软件包索引并安装软件包，以允许apt通过HTTPS使⽤存储库
$ sudo apt-get install \
ca-certificates \
curl \
gnupg \
lsb-release
#Step2：Add Docker’s official GPG key:
$ curl -fsSL download.docker/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg
#Step3：Use the following command to set up the stable repository. To add the nightly or test repository, add the word nightly or test (or both) after the word stable in the commands below. Learn about nightly and test channels.
$ echo \
"deb [arch=amd64 signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] download.docker/linux/ubuntu \
$(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
#Step4：Install Docker Engine
$ sudo apt-get update
$ sudo apt-get install docker-ce docker-ce-cli containerd.io //如果没有指定版本，默认安装最⾼版本
#Step5：Verify that Docker Engine is installed correctly by running the hello-world image.
$ sudo docker run hello-world
Hello from Docker!
This message shows that your installation appears to be working correctly.
2. Manage Docker as a non-root user
# 创建docker⽤户组
$ sudo groupadd docker
#将当前⽤户加⼊docker⽤户组
$ sudo usermod -aG docker $USER
#Log out and log back in so that your group membership is re-evaluated.
$ newgrp docker
#Verify that you can run docker commands without sudo.
$ docker run hello-world
$ sudo chmod 666 /var/run/docker.sock
#重启电脑或者重启docker服务
$ sudo systemctl daemon-reload
$ sudo systemctl restart docker
$ sudo docker login registry.gitlab # Use token from Gitlab
3. Autoware.auto容器安装
3.1 程序说明
基于Docker封装的开发容器，包含以下内容：
3.2 ADE安装
是模块化的 Docker-based ⼯具，它确保所有的开发者构建项⽬时有⼀个共同的、⼀致的开发环境
官⽹安装⽂档：
#install it in “/usr/local/bin” PATH
$ cd  /usr/local/bin
$ sudo wget gitlab/ApexAI/ade-cli/-/jobs/1859684348/artifacts/raw/dist/ade+x86_64
$ sudo mv ade+x86_64 ade
$ sudo chmod +x ade
$ which ade
/path/to/ade
# 查看ade版本号
$ ade --version
<version>
# Update ade
$ sudo ./ade update-cli    #这个地⽅需要⼀段时间
Newer version available:
4.4.0
4.3.0
4.2.0
张钱豪Do you want to update to version 4.4.0 [y/N]: y
<!-- '注意：升级ade版本可能会报错 “PermissionError: [Errno 13] Permission denied: '/usr/local/bin/ade'”，切换root⽤户再次执⾏，问题解决'-> 3.3 Autoware容器安装
官⽹安装⽂档：
1. 使⽤ADE安装Autoware.auto环境，ROS2和Autoware.auto已经预编译，安装了⼆进制版本，默认安装在/opt⽬录下
$ mkdir -p ~/adehome
$ cd ~/adehome
$ touch .adehome
$ git clone gitlab/autowarefoundation/autoware.auto/AutowareAuto.git
柯震东
'注意：不要使⽤官⽹视频课程⾥⾯的递归循环安装，编译会报错'
'git clone --recurse-submodules gitlab/autowarefoundation/autoware.auto/AutowareAuto.git'
$ cd AutowareAuto
#拉取⼀些其他分⽀到master
$ vcs import < autoware.auto.$pos
#切换到发布分⽀，如果不切换，默认使⽤master 分⽀代码，可能包含⼀些正在开发的功能，建议切换稳定发布版本
$ git checkout tags/1.0.0 -b release-1.0.0
#共享环境变量
$ cd ~
$ mv ~/.bashrc ~/adehome/.bashrc
$ ln -s ~/adehome/.bashrc
$ cd ~/adehome/AutowareAuto
#其实，有很多预先配置好的ADE环境供我们选择，官⽹提供了三个ADE配置⽂件：AMD64/ARM64/AMD64+LGSVL
$ ls -l .aderc*
lrwxrwxrwx 1 wtcl wtcl  17 12⽉ 23 12:14 .aderc -> .aderc-amd64-foxy
-rw-rw-r-- 1 wtcl wtcl 407 12⽉ 23 12:25 .aderc-amd64-dashing罗温艾金森
-rw-rw-r-- 1 wtcl wtcl 499 12⽉ 23 12:25 .aderc-amd64-dashing-lgsvl
-rw-rw-r-- 1 wtcl wtcl 401 12⽉ 23 12:25 .aderc-amd64-foxy
-rw-rw-r-- 1 wtcl wtcl 490 12⽉ 23 12:25 .aderc-amd64-foxy-lgsvl
lrwxrwxrwx 1 wtcl wtcl  17 12⽉ 23 12:14 .aderc-arm64 -> .aderc-arm64-foxy
-rw-rw-r-- 1 wtcl wtcl 407 12⽉ 23 12:25 .aderc-arm64-dashing
-rw-rw-r-- 1 wtcl wtcl 401 12⽉ 23 12:25 .aderc-arm64-foxy
lrwxrwxrwx 1 wtcl wtcl  23 12⽉ 23 12:14 .aderc-lgsvl -> .aderc-amd64-foxy-lgsvl
#可以看到有好⼏种可选的环境，其中.aderc-lgsvl对应的环境中包含LGSVL模拟器。然后，可以通过如下命令，切换并进⼊相应的ADE环境：#⼆选⼀安装，这个地⽅安装有点慢，需要等待⼀会，ade --rc 命令可以加载并启动相关的镜像容器
$ ade --rc .aderc-amd64-foxy  start --update --enter
<!-- '注意：启动ade报错
“Starting ade with the following images:
ade-foxy    | ec7293d289ad | master | registry.gitlab/autowarefoundation/autoware.auto/autowareauto/amd64/ade-foxy:master  binary-foxy | 9ffc6c658b7a | master | registry.gitlab/autowarefoundation/autoware.auto/autowareauto/amd64/binary-foxy:master ade_registry.gitlab_autowarefoundation_autoware.auto_autowareauto_amd64_binary-foxy_master
xhost:  unable to open display "localhost:10.0"
WARNING: Could not find xhost, you won't be able to launch X applications"
解决办法：设置本地显⽰命令-- $ export DISPLAY=localhost:10.0 $ xhost +>
#What is where inside ADE?
ade$ls /opt
AutowareAuto # image: binary-foxy:master
lgsvl        # image: ade-lgsvl/foxy:2020.06
ros          # image: ade-foxy:master
ade安装过程中可能需要访问gitlab的令牌，需要登录gitlab申请