前言

图为智盒T600采用AGX Xaiver为核心版，系统为ubuntu18.04, arm64架构

参考连接

https://www.cnblogs.com/xiangzh/p/14244915.html
https://github.com/Autoware-AI/autoware.ai/wiki/Source-Build

操作步骤

1. 将opencv版本换为opencv3.2.0
   (1) 若为T600预装系统运行

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

2. 安装ros
   http://wiki.ros.org/cn/melodic/Installation/Ubuntu
   若遇到rosdep init或rosdep update不成功的问题，参考下面链接中的方法二
   https://blog.csdn.net/TengYun_zhang/article/details/122166916
3. 安装eigen3.3.7以上版本
   https://gitlab.com/libeigen/eigen/-/releases
   通过上面链接下载3.3.7版本的eigen包

cd Downloads
unzip eigen-3.3.7.zip
cd eigen-3.3.7/
mkdir build
cd build
cmake ..
make
sudo make install

4. 安装autoware.ai
   (1) 安装依赖

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