{"id":23,"date":"2026-03-08T23:55:10","date_gmt":"2026-03-08T15:55:10","guid":{"rendered":"https:\/\/192.168.124.24\/?p=23"},"modified":"2026-03-10T18:01:13","modified_gmt":"2026-03-10T10:01:13","slug":"ubuntu22%e9%83%a8%e7%bd%b2autoware","status":"publish","type":"post","link":"https:\/\/192.168.5.31\/index.php\/2026\/03\/08\/ubuntu22%e9%83%a8%e7%bd%b2autoware\/","title":{"rendered":"Ubuntu22\u90e8\u7f72Autoware"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">\u9996\u5148\u9ed8\u8ba4\u4f60\u5df2\u7ecf\u5b89\u88c5\u597d\u4e86docker\u4ee5\u53canvidia\u7684ctk\uff0c\u522b\u95ee\u4e3a\u4ec0\u4e48\uff0c\u56e0\u4e3a\u6211\u5728\u672c\u673a\u5c1d\u8bd5\u4e86N\u6b21\u4e86\uff0c\u5747\u4ee5\u5931\u8d25\u544a\u7ec8\uff0c\u65e0\u5948\u53ea\u80fd\u9009\u62e9docker\u62c9\u53d6\u5b98\u65b9\u7ed9\u597d\u7684\u73af\u5883\u90e8\u7f72\uff0c\u7ed3\u679c\u4e00\u6b21\u6210\u529f\u3002(\u766b\u72c2)<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e4b\u540e\u521b\u5efa\u4e00\u4e2a\u5de5\u4f5c\u7a7a\u95f4\uff0c\u8fd9\u4e2a\u968f\u4f60\uff0c\u5c3d\u91cf\u4e22\u5728SSD\u91cc<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>ROS_DISTRO=humble\nAUTOWARE_DIR=~\/autodrive\/autoware\nmkdir -p $AUTOWARE_DIR\/src &amp;&amp; cd $AUTOWARE_DIR<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e0b\u9762\u662f\u4e0b\u8f7dautoware.repo\u6587\u4ef6\uff0c\u4f46\u662f\u4e3a\u4e86\u7167\u987e\u6ca1\u6709\u9b54\u6cd5\u7684\u7528\u6237\u6216\u8005\u9b54\u6cd5\u6bd4\u8f83\u6162\uff0c\u6211\u4fee\u6539\u4e86autoware.repo\u6587\u4ef6\uff0c\u53ea\u9700\u8981\u590d\u5236\u7c98\u8d34\u8fdb\u53bb\u5c31\u597d<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>repositories:\n  # core\n  core\/autoware_msgs:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/autowarefoundation\/autoware_msgs.git\n    version: 1.11.0\n  core\/autoware_adapi_msgs:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/autowarefoundation\/autoware_adapi_msgs.git\n    version: 1.9.1\n  core\/autoware_internal_msgs:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/autowarefoundation\/autoware_internal_msgs.git\n    version: 1.12.1\n  core\/autoware_cmake:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/autowarefoundation\/autoware_cmake.git\n    version: 1.1.0\n  core\/autoware_utils:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/autowarefoundation\/autoware_utils.git\n    version: 1.6.0\n  core\/autoware_lanelet2_extension:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/autowarefoundation\/autoware_lanelet2_extension.git\n    version: 0.12.0\n  core\/autoware_core:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/autowarefoundation\/autoware_core.git\n    version: 1.7.0\n  core\/autoware_rviz_plugins:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/autowarefoundation\/autoware_rviz_plugins.git\n    version: 0.4.0\n  # universe\n  universe\/autoware_universe:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/autowarefoundation\/autoware_universe.git\n    version: 0.50.0\n  universe\/external\/tier4_autoware_msgs:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/tier4\/tier4_autoware_msgs.git\n    version: v0.58.0\n  # Fix the version not to merge https:\/\/github.com\/MORAI-Autonomous\/MORAI-ROS2_morai_msgs\/pull\/9\n  universe\/external\/morai_msgs:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/MORAI-Autonomous\/MORAI-ROS2_morai_msgs.git\n    version: e2e75fc1603a9798773e467a679edf68b448e705\n  universe\/external\/muSSP:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/tier4\/muSSP.git\n    version: c79e98fd5e658f4f90c06d93472faa977bc873b9\n  universe\/external\/pointcloud_to_laserscan:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/tier4\/pointcloud_to_laserscan.git\n    version: d969ec699f84fad827fbadfa3001c9c657482fbe\n  universe\/external\/eagleye:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/MapIV\/eagleye.git\n    version: 575136ebba99892946d36d8398f228aee2136af0\n  universe\/external\/rtklib_ros_bridge:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/MapIV\/rtklib_ros_bridge.git\n    version: ef094407bba4f475a8032972e0c60cbb939b51b8\n  universe\/external\/llh_converter:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/MapIV\/llh_converter.git\n    version: 4fc2a2e1bc9dcf3e6ab0a8085d8257168e160342\n  universe\/external\/glog:  # TODO(Horibe): to use isGoogleInitialized() API in v0.6.0. Remove when the rosdep glog version is updated to v0.6.0 (already updated in Ubuntu 24.04)\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/tier4\/glog.git\n    version: ea36766fdc2ac8e8c8e3ac988ae69acd6d09bb30\n  universe\/external\/bevdet_vendor: # TODO: wrap the original bevdet-tensorrt-cpp source code as a vendor package and provide it to autoware_tensorrt_bevdet package\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/autowarefoundation\/bevdet_vendor.git\n    version: 0.1.0\n  universe\/external\/trt_batched_nms:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/autowarefoundation\/trt_batched_nms.git\n    version: 0.1.0\n  universe\/external\/cuda_blackboard:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/autowarefoundation\/cuda_blackboard.git\n    version: 0.3.0\n  universe\/external\/negotiated:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/osrf\/negotiated.git\n    version: eac198b55dcd052af5988f0f174902913c5f20e7\n  universe\/external\/managed_transform_buffer:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/autowarefoundation\/managed_transform_buffer.git\n    version: 0.2.0\n  # launcher\n  launcher\/autoware_launch:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/autowarefoundation\/autoware_launch.git\n    version: 0.50.0\n  # sensor_component\n  sensor_component\/external\/sensor_component_description:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/tier4\/sensor_component_description.git\n    version: 03ba094851ec90febfcfc0adb20b64b0e19df7a8\n  sensor_component\/external\/nebula:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/tier4\/nebula.git\n    version: v0.3.2.2\n  sensor_component\/external\/sync_tooling_msgs:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/tier4\/sync_tooling_msgs.git\n    version: 0.2.6\n  # Fork of transport_drivers that enables reduction of copy operations\n  sensor_component\/transport_drivers:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/autowarefoundation\/transport_drivers\n    version: 39ebd8afe1bb9760a6cd6272e428468480f6de90\n  # Continental compatible version of ROS 2 socket CAN\n  sensor_component\/ros2_socketcan:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/autowarefoundation\/ros2_socketcan\n    version: e39a814180b03f00a5692b6951a5d4e9f0463486\n  # middleware\n  # TODO(TIER IV): During the transition period of Agnocast introduction,\n  # the Agnocast ROS packages are provided as a source build.\n  # Once the transition stabilizes, use the packages released from the official ROS repository.\n  # Issue: https:\/\/github.com\/autowarefoundation\/autoware\/issues\/5968\n  middleware\/external\/agnocast:\n    type: git\n    url: https:\/\/gh-proxy.org\/https:\/\/github.com\/tier4\/agnocast.git\n    version: backport-jazzy-support-v2.1.2<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u4ece\u8fd9\u4e00\u90e8\u5206\u5f00\u59cb\u5c31\u51c6\u5907\u8f6c\u5230docker\u91cc\u4e86<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>sudo docker pull ghcr.nju.edu.cn\/autowarefoundation\/autoware:universe-devel-cuda-20260306  \/\/\u8d5e\u7f8enju\n\/\/\u6211\u7684\u673a\u5668\u662f3080ti\uff0c\u5982\u679c\u4f60\u662f30\u7cfb\u5217\u8ddf\u7740\u6211\u8d70\u5c31\u884c<\/code><\/pre>\n\n\n\n<pre class=\"wp-block-code\"><code>services:\n  autoware:\n    image: ghcr.nju.edu.cn\/autowarefoundation\/autoware:universe-devel-cuda-20260306\n    container_name: autoware-universe\n    privileged: true\n    network_mode: host\n    ipc: host # \u4f18\u5316 ROS 2 \u8fdb\u7a0b\u95f4\u901a\u4fe1\n    environment:\n      - DISPLAY=:1\n      - QT_X11_NO_MITSHM=1\n      - NVIDIA_VISIBLE_DEVICES=all\n      - NVIDIA_DRIVER_CAPABILITIES=all\n    volumes:\n      # \u56fe\u5f62\u754c\u9762\u652f\u6301\n      - \/tmp\/.X11-unix:\/tmp\/.X11-unix:rw\n      # \u6302\u8f7d\u4f60\u7684\u5de5\u4f5c\u95f4\n      - \/home\/cold\/autodrive\/autoware:\/autoware:rw\n    deploy:\n      resources:\n        reservations:\n          devices:\n            - driver: nvidia\n              count: all\n              capabilities: &#91;gpu]\n    stdin_open: true\n    tty: true\n    command: \/bin\/bash\n  <\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u542f\u52a8\u955c\u50cf\u4e4b\u540esudo docker exec -it autoware-universe \/bin\/bash  \/\/Docker,\u542f\u52a8\uff01<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>sudo rosdep init 2&gt;\/dev\/null || true\nrosdep update\nsudo apt update\nrosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO\nnvidia-smi  \/\/\u786e\u8ba4\u662f\u5426\u5b89\u88c5\u5230\u4f4d\nexport NVCC_PREPEND_FLAGS=\"--extended-lambda --expt-relaxed-constexpr -arch=sm_86\" \/\/\u8fd9\u662f3080ti \u5176\u4f59\u578b\u53f7\u53ef\u4ee5\u81ea\u5df1\u641c\u641c\uff0c\u7136\u540e\u66ff\u6362sm_XX\u5c31\u884c\n\ncolcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CUDA_ARCHITECTURES=86\n\/\/\u7136\u540e\u4f60\u5c31\u7b49\u628a\uff0c7900x3d\u7f16\u8bd1\u4e8628\u5206\u949f\uff0c\u5982\u679c\u5185\u5b58\u5c0f\u5bb9\u6613\u7206\uff0c\u8bb0\u5f97\u589e\u52a0swap<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e4b\u540e\u4f60\u7684\u7cfb\u7edf\u4f1a\u5f00\u59cb\u7f16\u8bd1autoware\uff0c\u8fd9\u91cc\u8017\u65f6\u4f1a\u6bd4\u8f83\u4e45\uff0c\u5177\u4f53\u65f6\u5e38\u7531\u4f60\u7535\u8111\u6027\u80fd\u51b3\u5b9a\u3002\u5982\u679c\u5185\u5b58\u6bd4\u8f83\u5c11\u8bb0\u5f97\u589e\u52a0swap<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u7f16\u8bd1\u5b8c\u6210\u4e4b\u540e\u53ca\u7684source install\/setup.bash \u5982\u679c\u63d0\u793a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>not found: \"\/home\/rambo\/autoware\/install\/autoware_cuda_utils\/share\/autoware_cuda_utils\/local_setup.bash\"\nnot found: \"\/home\/rambo\/autoware\/install\/autoware_tensorrt_common\/share\/autoware_tensorrt_common\/local_setup.bash\"\nnot found: \"\/home\/rambo\/autoware\/install\/autoware_tensorrt_classifier\/share\/autoware_tensorrt_classifier\/local_setup.bash\"\nnot found: \"\/home\/rambo\/autoware\/install\/autoware_tensorrt_plugins\/share\/autoware_tensorrt_plugins\/local_setup.bash\"\nnot found: \"\/home\/rambo\/autoware\/install\/bevdet_vendor\/share\/bevdet_vendor\/local_setup.bash\"\nnot found: \"\/home\/rambo\/autoware\/install\/cuda_blackboard\/share\/cuda_blackboard\/local_setup.bash\"\nnot found: \"\/home\/rambo\/autoware\/install\/autoware_cuda_pointcloud_preprocessor\/share\/autoware_cuda_pointcloud_preprocessor\/local_setup.bash\"<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5982\u679c\u4f60\u7528cpu\u4eff\u771f\u5c31\u6ca1\u5565\u5f71\u54cd\uff0cnvidia\u7684\u8bdd\u4f60\u5c31\u8981\u53bb\u5b89\u88c5\u5bf9\u5e94\u7684\u9a71\u52a8\u7136\u540e\u91cd\u65b0build \/\/\u540e\u8865\u5145\u5982\u679c\u4f60\u662f\u7528docker\u5c31\u6ca1\u8fd9\u4e2a\u5f71\u54cd\u4e86<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>colcon build \\\n  --symlink-install \\\n  --cmake-args -DCMAKE_BUILD_TYPE=Release<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e4b\u540e\u9a8c\u8bc1\u4e00\u4e0b\u8282\u70b9<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>ros2 pkg list | grep autoware<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u521b\u5efa\u5730\u56fe\u6587\u4ef6\u5939<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>mkdir -p ~\/autoware_maps &amp;&amp; cd ~\/autoware_maps<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u521b\u5efa\u5b8c\u6210\u4e4b\u540e\u5982\u679c\u4f60\u8981\u542f\u52a8\u4eff\u771f\u5c31\u8f93\u5165<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>source install\/setup.bash\n\nros2 launch autoware_launch planning_simulator.launch.xml \\\n  map_path:=\/autoware\/autoware_map\/Town01 \\\n  lanelet2_map_filename:=vector_map.osm \\\n  pointcloud_map_filename:=pointcloud_map.pcd \\\n  vehicle_model:=sample_vehicle \\\n  sensor_model:=sample_sensor_kit\n\n\/\/map_path\u5199\u4f60\u81ea\u5df1\u7684\u76ee\u5f55 \u542f\u52a8\u540e\u4f60\u5e94\u8be5\u5c31\u80fd\u770b\u5230\u6574\u4f53\u4e86<\/code><\/pre>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"639\" src=\"https:\/\/192.168.124.24\/wp-content\/uploads\/2026\/03\/1773136751-2026-03-10_17-59-1024x639.png\" alt=\"\" class=\"wp-image-29\" srcset=\"https:\/\/192.168.5.31\/wp-content\/uploads\/2026\/03\/1773136751-2026-03-10_17-59-1024x639.png 1024w, https:\/\/192.168.5.31\/wp-content\/uploads\/2026\/03\/1773136751-2026-03-10_17-59-300x187.png 300w, https:\/\/192.168.5.31\/wp-content\/uploads\/2026\/03\/1773136751-2026-03-10_17-59-768x479.png 768w, https:\/\/192.168.5.31\/wp-content\/uploads\/2026\/03\/1773136751-2026-03-10_17-59-1536x958.png 1536w, https:\/\/192.168.5.31\/wp-content\/uploads\/2026\/03\/1773136751-2026-03-10_17-59.png 1690w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>\u9996\u5148\u9ed8\u8ba4\u4f60\u5df2\u7ecf\u5b89\u88c5\u597d\u4e86docker\u4ee5\u53canvidia\u7684ctk\uff0c\u522b\u95ee\u4e3a\u4ec0\u4e48\uff0c\u56e0\u4e3a\u6211\u5728\u672c\u673a\u5c1d\u8bd5\u4e86N\u6b21\u4e86\uff0c\u5747\u4ee5\u5931\u8d25\u544a\u7ec8\uff0c\u65e0\u5948\u53ea\u80fd\u9009\u62e9doc &#8230;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"emotion":"","emotion_color":"","title_style":"","license":"","footnotes":""},"categories":[1],"tags":[],"class_list":["post-23","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"_links":{"self":[{"href":"https:\/\/192.168.5.31\/index.php\/wp-json\/wp\/v2\/posts\/23","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/192.168.5.31\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/192.168.5.31\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/192.168.5.31\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/192.168.5.31\/index.php\/wp-json\/wp\/v2\/comments?post=23"}],"version-history":[{"count":4,"href":"https:\/\/192.168.5.31\/index.php\/wp-json\/wp\/v2\/posts\/23\/revisions"}],"predecessor-version":[{"id":30,"href":"https:\/\/192.168.5.31\/index.php\/wp-json\/wp\/v2\/posts\/23\/revisions\/30"}],"wp:attachment":[{"href":"https:\/\/192.168.5.31\/index.php\/wp-json\/wp\/v2\/media?parent=23"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/192.168.5.31\/index.php\/wp-json\/wp\/v2\/categories?post=23"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/192.168.5.31\/index.php\/wp-json\/wp\/v2\/tags?post=23"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}