{"id":737,"date":"2025-09-17T23:52:50","date_gmt":"2025-09-17T15:52:50","guid":{"rendered":"https:\/\/cennum.top\/?p=737"},"modified":"2025-09-17T23:54:47","modified_gmt":"2025-09-17T15:54:47","slug":"jetson-orin-nano-%e6%ba%90%e7%a0%81%e7%bc%96%e8%af%91%e5%ae%89%e8%a3%85autoware-universe","status":"publish","type":"post","link":"https:\/\/cennum.top\/index.php\/2025\/09\/17\/jetson-orin-nano-%e6%ba%90%e7%a0%81%e7%bc%96%e8%af%91%e5%ae%89%e8%a3%85autoware-universe\/","title":{"rendered":"jetson orin nano \u6e90\u7801\u7f16\u8bd1\u5b89\u88c5autoware.universe"},"content":{"rendered":"\n
\"\"<\/figure>\n\n\n\n

\u4ee5\u4e0b\u662f\u6211\u7684jetson orin nano\u7684\u73af\u5883\u5c55\u793a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

1.\u62c9\u53d6\u6e90\u7801<\/h2>\n\n\n\n

\u5728\u4f60\u7684ros2\u5de5\u4f5c\u7a7a\u95f4\u4e0b\u62c9\u53d6<\/p>\n\n\n\n

git clone https:\/\/github.com\/autowarefoundation\/autoware.git\ncd autoware<\/code><\/pre>\n\n\n\n
2.\u5b89\u88c5\u73af\u5883<\/h2>\n\n\n\n
\u4f7f\u7528autoware\u6587\u4ef6\u5939\u5185\u7684setup-dev-env.sh\u81ea\u52a8\u5b89\u88c5\u4f1a\u51fa\u73b0\u5f88\u591a\u95ee\u9898
.\/setup-dev-env.sh<\/code>
\u867d\u7136\u9ebb\u70e6\uff0c\u5efa\u8bae\u4e00\u4e2a\u4e00\u4e2a\u624b\u52a8\u5b89\u88c5
\u53c2\u8003\u5b98\u65b9\u6559\u7a0b
https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/installation\/autoware\/source-installation\/<\/a><\/p>\n\n\n\n
\u4ee5\u4e0b\u662f\u624b\u52a8\u5b89\u88c5\u6559\u7a0b<\/p>\n\n\n\n
2.1 \u5b89\u88c5 Ansible<\/h3>\n\n\n\n
\u81ea\u52a8\u811a\u672c\u8f6f\u4ef6
#Remove apt installed ansible
<\/p>\n\n\n\n
#\u5378\u8f7d\u901a\u8fc7apt\u5b89\u88c5\u7684ansible\nsudo apt-get purge ansible\n#apt\u5b89\u88c5 pipx\nsudo apt-get -y update\nsudo apt-get -y install pipx\n\n#\u6dfb\u52a0 pipx \u5230 \u7cfb\u7edf PATH\npython3 -m pipx ensurepath\n\n#pipx\u5b89\u88c5 ansible\npipx install --include-deps --force \"ansible==6.\\*\"\n\n\u5b89\u88c5\u5b8c\u6210\u8bb0\u5f97\u751f\u6548\nsource \/.bashrc<\/code><\/pre>\n\n\n\n
<\/p>\n\n\n\n
2.2 \u5b89\u88c5\u6784\u5efa\u5de5\u5177<\/h3>\n\n\n\n
\u7f16\u8bd1\u7f13\u5b58\u5de5\u5177<\/p>\n\n\n\n
sudo apt-get install -y ccache<\/code><\/code><\/pre>\n\n\n\n
2.3 \u5b89\u88c5\u5f00\u53d1\u5de5\u5177<\/h3>\n\n\n\n
# For the environment variables\nwget -O \/tmp\/amd64.env https:\/\/raw.githubusercontent.com\/autowarefoundation\/autoware\/main\/amd64.env && source \/tmp\/amd64.env\n\nsudo apt-get update\nsudo apt install python3-pip\nsudo apt-get install -y golang\nsudo apt-get install -y ros-${rosdistro}-plotjuggler-ros\nsudo apt-get install -y git-lfs\n\n# Setup Git LFS\ngit lfs install\n\npip3 install pre-commit\npip3 install clang-format==${pre_commit_clang_format_version}<\/code><\/pre>\n\n\n\n
2.4\u5b89\u88c5 gdown<\/h3>\n\n\n\n
pip3 install gdown<\/code><\/p>\n\n\n\n
2.5\u5b89\u88c5 geographiclib<\/h3>\n\n\n\n
sudo apt install geographiclib-tools\n\n# Add EGM2008 geoid grid to geographiclib\nsudo geographiclib-get-geoids egm2008-1<\/code><\/pre>\n\n\n\n
2.6 \u5b89\u88c5 pacmod<\/h3>\n\n\n\n
#\u5bf9\u4e8e Universe\uff0c rosdistro \u53d8\u91cf\u8fd8\u53ef\u4ee5\u5728\u8be5\u4f4d\u7f6e\u627e\u5230\uff1a..\/..\/playbooks\/universe.yaml\n\nwget -O \/tmp\/amd64.env https:\/\/raw.githubusercontent.com\/autowarefoundation\/autoware\/main\/amd64.env && source \/tmp\/amd64.env<\/code><\/pre>\n\n\n\n
# Taken from https:\/\/github.com\/astuff\/pacmod3#installation\nsudo apt install apt-transport-https\nsudo sh -c 'echo \"deb [trusted=yes] https:\/\/s3.amazonaws.com\/autonomoustuff-repo\/ $(lsb_release -sc) main\" > \/etc\/apt\/sources.list.d\/autonomoustuff-public.list'\nsudo apt update\nsudo apt install ros-${rosdistro}-pacmod3<\/code><\/pre>\n\n\n\n
2.7 \u5b89\u88c5 RMW \u5b9e\u73b0<\/h3>\n\n\n\n
\u5bf9\u4e8e Universe\uff0c rosdistro \u548c rmw_implementation \u53d8\u91cf\u4e5f\u53ef\u4ee5\u5728\u8be5\u4f4d\u7f6e\u627e\u5230\uff1a..\/..\/playbooks\/universe.yaml\nwget -O \/tmp\/amd64.env https:\/\/raw.githubusercontent.com\/autowarefoundation\/autoware\/main\/amd64.env && source \/tmp\/amd64.env<\/code><\/pre>\n\n\n\n
# For details: https:\/\/docs.ros.org\/en\/humble\/How-To-Guides\/Working-with-multiple-RMW-implementations.html\nsudo apt update\nrmw_implementation_dashed=$(eval sed -e \"s\/_\/-\/g\" <<< \"${rmw_implementation}\")\nsudo apt install ros-${rosdistro}-${rmw_implementation_dashed}\n\n# (Optional) You set the default RMW implementation in the ~\/.bashrc file.\necho '' >> ~\/.bashrc && echo \"export RMW_IMPLEMENTATION=${rmw_implementation}\" >> ~\/.bashrc<\/code><\/pre>\n\n\n\n
2.8 \u5b89\u88c5 ROS 2<\/h3>\n\n\n\n
\u5c0f\u9c7c\u4e00\u952e\u5b89\u88c5
wget http:\/\/fishros.com\/install -O fishros && bash fishros<\/code><\/p>\n\n\n\n
2.9\u5b89\u88c5 ROS 2 \u5f00\u53d1\u5de5\u5177<\/h3>\n\n\n\n
sudo apt update && sudo apt install -y \\\n  python3-colcon-mixin \\\n  python3-flake8-docstrings \\\n  python3-pip \\\n  python3-pytest-cov \\\n  ros-dev-tools \\\n  python3-flake8-blind-except \\\n  python3-flake8-builtins \\\n  python3-flake8-class-newline \\\n  python3-flake8-comprehensions \\\n  python3-flake8-deprecated \\\n  python3-flake8-import-order \\\n  python3-flake8-quotes \\\n  python3-pytest-repeat \\\n  python3-pytest-rerunfailures\n\n# Initialize rosdep \u6216\u8005\u4f7f\u7528\u5c0f\u9c7c\u7684rosdepc\nsudo rosdep init\nrosdep update<\/code><\/pre>\n\n\n\n
2.10\u5b89\u88c5 Nvidia CUDA<\/h3>\n\n\n\n
\u4f7f\u7528nvidia SDK Manager\u5b89\u88c5\uff0c\u53c2\u8003https:\/\/cennum.top\/index.php\/2025\/09\/12\/%e4%bd%bf%e7%94%a8sdk-manager%e7%bb%99jetson-orin-nano-%e7%83%a7%e5%bd%95%e7%b3%bb%e7%bb%9f%e4%b8%8e%e7%8e%af%e5%a2%83\/<\/a><\/p>\n\n\n\n
2.11\u5b89\u88c5 Nvidia cuDNN \u548c TensorRT<\/h3>\n\n\n\n
\u4f7f\u7528nvidia SDK Manager\u5b89\u88c5\uff0c\u53c2\u8003https:\/\/cennum.top\/index.php\/2025\/09\/12\/%e4%bd%bf%e7%94%a8sdk-manager%e7%bb%99jetson-orin-nano-%e7%83%a7%e5%bd%95%e7%b3%bb%e7%bb%9f%e4%b8%8e%e7%8e%af%e5%a2%83\/<\/a><\/p>\n\n\n\n
2.12\u5b89\u88c5 AutowareRViz \u4e3b\u9898\uff08\u4ec5\u5f71\u54cd Autoware RViz\uff09<\/h3>\n\n\n\n
#\u5728\u66f4\u65b0\u4e3b\u9898\u65f6\u5fc5\u987b\u8fd0\u884c\u8fd9\u4e24\u4e2a\u547d\u4ee4\u3002\ncd ~\/autoware # The root directory of the cloned repository\nansible-galaxy collection install -f -r \"ansible-galaxy-requirements.yaml\"\nansible-playbook autoware.dev_env.install_rviz_theme --ask-become-pass\n#\u5982\u4f55\u5728 RViz2 \u4e2d\u4f7f\u7528\u81ea\u5b9a\u4e49\u4e3b\u9898\u53c2\u8003https:\/\/github.com\/autowarefoundation\/autoware\/tree\/main\/ansible\/roles\/qt5ct_setup#readme<\/a>\n#\u6ce8\u610f\uff1a\u627e\u4e0d\u5230\u547d\u4ee4\u8bf7\u91cd\u65b0\u5f00\u7ec8\u7aef\u6216\u8005source<\/code><\/pre>\n\n\n\n
2.13\u4e0b\u8f7d\u5de5\u4ef6\uff08\u7528\u4e8e\u611f\u77e5\u63a8\u7406\uff09<\/h3>\n\n\n\n
cd ~\/autoware # The root directory of the cloned repository\nansible-galaxy collection install -f -r \"ansible-galaxy-requirements.yaml\"\n#\u5982\u679c\u81ea\u52a8\u5b89\u88c5\u5931\u8d25\uff0c\u624b\u52a8\u5b89\u88c5\u89c1<\/code><\/pre>\n\n\n\n
2.14 \u5b89\u88c5spconv + cumm<\/h3>\n\n\n\n
\u53c2\u8003https:\/\/github.com\/autowarefoundation\/autoware\/tree\/main\/ansible\/roles\/spconv<\/a><\/p>\n\n\n\n
#\u76f4\u63a5\u4f7f\u7528\u811a\u672c\u5b89\u88c5\u5373\u53ef\nexport CUMM_VERSION=0.5.3\nexport SPCONV_VERSION=2.3.8\nansible-playbook autoware.dev_env.install_spconv.yaml -e cumm_version=${CUMM_VERSION} -e spconv_version=${SPCONV_VERSION} --ask-become-pass<\/code><\/pre>\n\n\n\n
3.\u5c55\u5f00\u6e90\u7801<\/h2>\n\n\n\n
vcs import src < autoware.repos<\/code><\/p>\n\n\n\n
\u65f6\u95f4\u4f1a\u6bd4\u8f83\u957f<\/p>\n\n\n\n
4.\u4f7f\u7528rosdep\u5b89\u88c5ros\u4f9d\u8d56<\/h2>\n\n\n\n
rosdep update \nrosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO\n\nsudo apt install -y \\\nros-humble-diagnostic-updater \\\nros-humble-geographic-msgs \\\nros-humble-pcl-ros \\\nros-humble-lanelet2-core \\\nros-humble-lanelet2-io \\\nros-humble-lanelet2-validation \\\nros-humble-grid-map-core \\\nros-humble-grid-map-ros \\\nros-humble-grid-map-rviz-plugin \\\nros-humble-xacro \\\nros-humble-topic-tools \\\nros-humble-velodyne-msgs \\\nros-humble-radar-msgs \\\nros-humble-usb-cam \\\nros-humble-aruco \\\nros-humble-ublox-msgs<\/code><\/pre>\n\n\n\n
5.\u6e90\u7801\u7f16\u8bd1\u5b89\u88c5opencv\u6700\u65b0\u7248<\/h2>\n\n\n\n
\u4f7f\u7528jetpack\u81ea\u5e26\u7684opencv\u4f1a\u7f16\u8bd1\u5931\u8d25<\/p>\n\n\n\n
\u91cd\u65b0\u6e90\u7801\u5b89\u88c5\u6700\u65b0\u7248\u672c\u7684opencv\u4ee5\u53caopencv_contrib\u6a21\u5757<\/p>\n\n\n\n
#\u5b89\u88c5 freetype \u7684\u5f00\u53d1\u4f9d\u8d56\u5e93\nsudo apt update\nsudo apt install libfreetype-dev libharfbuzz-dev\n\n# \u5047\u8bbe\u6700\u65b0\u7a33\u5b9a\u7248\u662f 4.12.0\nexport OPENCV_VERSION=\"4.12.0\"\n\n# \u521b\u5efa\u65b0\u76ee\u5f55\nmkdir opencv_build && cd opencv_build\n\n# \u4e0b\u8f7d\u4e3b\u5e93\u548c\u6269\u5c55\u6a21\u5757\u7684\u6e90\u7801\nwget -O opencv.zip https:\/\/github.com\/opencv\/opencv\/archive\/${OPENCV_VERSION}.zip\nwget -O opencv_contrib.zip https:\/\/github.com\/opencv\/opencv_contrib\/archive\/${OPENCV_VERSION}.zip\n\n# \u89e3\u538b\nunzip opencv.zip\nunzip opencv_contrib.zip<\/code><\/pre>\n\n\n\n
\u6ce8\u610f\uff1a\u5728\u5f00\u59cb\u7f16\u8bd1opencv\u4e4b\u524d\uff0c\u5148\u5b89\u88c5quirc\uff08contrib\u7684\u5fc5\u8981\u4f9d\u8d56\uff09<\/strong><\/p>\n\n\n\n
#\u62c9\u53d6quirc\u6e90\u7801\ngit clone https:\/\/github.com\/dlbeer\/quirc.git\ncd quirc\n#make\n#sudo make install\n#\u8bf7\u6ce8\u610fquirc\u5b58\u5728bug\uff0c\u9700\u8981\u4fee\u6539makefile,\u5b9e\u73b0\u53ea\u7f16\u8bd1\u6838\u5fc3\u5e93\n#\u5b89\u88c5\u4e5f\u8981\u624b\u52a8\u5b89\u88c5<\/code><\/pre>\n\n\n\n
\"\"
\u624b\u52a8\u5b89\u88c5quirc\u65b9\u6cd5<\/strong><\/p>\n\n\n\n
#\u5b89\u88c5\u5e93\u6587\u4ef6\nsudo cp libquirc.a libquirc.so* \/usr\/local\/lib\/\n#\u5b89\u88c5\u5934\u6587\u4ef6\nsudo cp lib\/quirc.h \/usr\/local\/include\/\n#\u66f4\u65b0\u52a8\u6001\u7f13\u5b58\nsudo ldconfig<\/code><\/pre>\n\n\n\n

\u56e0\u4e3a\u6211\u4eec\u662f\u624b\u52a8\u5b89\u88c5\uff0c\u9700\u8981\u4e3a quirc \u521b\u5efa pkg-config \u6587\u4ef6\uff0cpkg-config \u624d\u80fd\u627e\u5230\u5b83<\/p>\n\n\n\n
#\u521b\u5efa pkg-config \u76ee\u5f55\nsudo mkdir -p \/usr\/local\/lib\/pkgconfig\n#\u521b\u5efa\u5e76\u7f16\u8f91 quirc.pc \u6587\u4ef6\nsudo nano \/usr\/local\/lib\/pkgconfig\/quirc.pc\n\n#\u5c06\u4e0b\u5185\u5bb9\u590d\u5236\u8fdbquirc.pc\u5e76\u4fdd\u5b58\nprefix=\/usr\/local\nexec_prefix=${prefix}\nlibdir=${exec_prefix}\/lib\nincludedir=${prefix}\/include\n\nName: quirc\nDescription: A QR code recognition library\nVersion: 1.2\nLibs: -L${libdir} -lquirc\nCflags: -I${includedir}\n<\/code><\/pre>\n\n\n\n
#\u9a8c\u8bc1 pkg-config<\/strong>\u662f\u5426\u5b89\u88c5\u6210\u529f<\/p>\n\n\n\n
pkg-config --modversion quirc   #\u5e94\u8f93\u51fa1.2\uff08\u7248\u672c\u53f7\uff09\npkg-config --libs quirc         #\u8f93\u51fa-L\/usr\/local\/lib -lquirc<\/code><\/pre>\n\n\n\n
\u4f7f\u7528\u6700\u65b0\u7684\u6e90\u7801\u8fdb\u884c\u914d\u7f6e\u3002\u52a1\u5fc5\u5c06\u4e0b\u9762\u547d\u4ee4\u8def\u5f84\u4e2d\u7684\u7248\u672c\u53f7 4.12.0 \u4e0e\u60a8\u5b9e\u9645\u4e0b\u8f7d\u7684\u7248\u672c\u4fdd\u6301\u4e00\u81f4\u3002<\/p>\n\n\n\n
\n# \u8fdb\u5165\u65b0\u7684\u6e90\u7801\u76ee\u5f55\u5e76\u521b\u5efa build \u6587\u4ef6\u5939\ncd opencv_build\nmkdir build\ncd build<\/code><\/pre>\n\n\n\n
# \u8fd0\u884c cmake \u547d\u4ee4\uff08\u8bf7\u6ce8\u610f\u4fee\u6539\u4f60\u7684OPENCV_EXTRA_MODULES_PATH\u4e3a\u4f60\u7684opencv_contrib-4.12.0\/modules\u7684\u8def\u5f84\uff09\ncmake -D CMAKE_BUILD_TYPE=RELEASE \\\n      -D CMAKE_INSTALL_PREFIX=\/usr\/local \\\n      -D CMAKE_PREFIX_PATH=\/usr\/local \\\n      -D OPENCV_EXTRA_MODULES_PATH=..\/opencv_contrib-4.12.0\/modules \\\n      -D WITH_CUDA=ON \\\n      -D CUDA_ARCH_BIN=8.7 \\\n      -D WITH_CUDNN=ON \\\n      -D OPENCV_DNN_CUDA=ON \\\n      -D ENABLE_FAST_MATH=1 \\\n      -D CUDA_FAST_MATH=1 \\\n      -D WITH_CUBLAS=1 \\\n      -D WITH_V4L=ON \\\n      -D WITH_GSTREAMER=ON \\\n      -D WITH_OPENGL=OFF \\\n      -D OPENCV_GENERATE_PKGCONFIG=ON \\\n      -D BUILD_EXAMPLES=OFF \\\n      -D BUILD_TESTS=OFF \\\n      -D BUILD_PERF_TESTS=OFF \\\n      -D BUILD_DOCS=OFF \\\n      -D BUILD_opencv_python3=OFF \\\n      -D BUILD_opencv_apps=OFF \\\n      ..\/opencv-4.12.0\n\nmake -j$(nproc)\nsudo make install\n#\u68c0\u67e5\u662f\u5426\u8f93\u51fa\nfind \/usr\/local\/ -name \"libopencv_barcode.so*\"<\/code><\/pre>\n\n\n\n
6.\u7f16\u8bd1autoware\u6e90\u7801<\/h2>\n\n\n\n
\u8fd9\u91cc\u4f1a\u53ef\u80fd\u9047\u5230\u5f88\u591a\u95ee\u9898\uff0c\u8bf7\u6309\u7167\u4ee5\u4e0b\u6392\u9664<\/strong><\/p>\n\n\n\n
    \n
  1. \u5728autoware_ws\u5de5\u4f5c\u7a7a\u95f4\u4e0b\u6210\u529f\u6267\u884crosdep_
    rosdep update
    rosdep install -y –from-paths src –ignore-src –rosdistro $ROS_DISTRO<\/li>\n\n\n\n
  2. \u66f4\u65b0opencv\u5230\u6700\u65b0\u7248\u672c\uff0c\u5e76\u4e14\u7f16\u8bd1\u5b89\u88c5\u597dopencv_contrib\u6a21\u5757_
    \u6309\u7167 5.\u6e90\u7801\u7f16\u8bd1\u5b89\u88c5opencv\u6700\u65b0\u7248 \u6267\u884c\u6210\u529f<\/li>\n\n\n\n
  3. autoware_elevation_map_loader\u8fd9\u4e2a\u5305\u7f16\u8bd1\u65f6\u4f1a\u627e\u4e0d\u5230opencv_contrib\u6a21\u5757\uff0c\u4f7f\u7528\u7b26\u53f7\u8fde\u63a5\u65b0\u5b89\u88c5\u7684opencv_contrib\u6765\u89e3\u51b3 <\/li>\n<\/ol>\n\n\n\n
    #\u521b\u5efa\u7b26\u53f7\u94fe\u63a5,\u89e3\u51b3autoware_elevation_map_loader\u7f16\u8bd1\u95ee\u9898 \nsudo ln -s \/usr\/local\/lib\/libopencv_objdetect.so \/usr\/local\/lib\/libopencv_barcode.so \n#\u66f4\u65b0\u52a8\u6001\u8fde\u63a5 \nsudo ldconfig \ncolcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release<\/code><\/pre>\n\n\n\n
    7.\u4e0b\u8f7d\u5730\u56fe\u548c\u5176\u4ed6\u8d44\u6e90<\/h2>\n\n\n\n
    \u53c2\u8003\u5b98\u65b9https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/tutorials\/ad-hoc-simulation\/rosbag-replay-simulation\/<\/a><\/p>\n\n\n\n
    \u4e0b\u8f7d\u5e76\u89e3\u538b\u793a\u4f8b\u5730\u56fe<\/strong>\uff08\u7528\u4e8erosbag\u4eff\u771fdemo\uff09<\/p>\n\n\n\n
    gdown -O ~\/autoware_map\/ 'https:\/\/docs.google.com\/uc?export=download&id=1A-8BvYRX3DhSzkAnOcGWFw5T30xTlwZI'\nunzip -d ~\/autoware_map\/ ~\/autoware_map\/sample-map-rosbag.zip<\/code><\/pre>\n\n\n\n
    \u4e0b\u8f7d\u793a\u4f8b rosbag \u6587\u4ef6<\/strong>\uff08\u7528\u4e8erosbag\u4eff\u771fdemo\uff09<\/p>\n\n\n\n
    gdown -O ~\/autoware_map\/ 'https:\/\/docs.google.com\/uc?export=download&id=1sU5wbxlXAfHIksuHjP3PyI2UVED8lZkP'\nunzip -d ~\/autoware_map\/ ~\/autoware_map\/sample-rosbag.zip<\/code><\/pre>\n\n\n\n
    \u4e0b\u8f7d\u7684\u5730\u56fe\u6587\u4ef6\u548crosbag\u4f1a\u653e\u5230$HOME\/autoware_map\u76ee\u5f55\u4e0b_<\/p>\n\n\n\n
    \u4e0b\u8f7d\u5de5\u4ef6\uff08\u542f\u52a8\u53c2\u6570\u6587\u4ef6\uff09<\/strong><\/p>\n\n\n\n
    cd ~\/autoware # The root directory of the cloned repository\nansible-galaxy collection install -f -r \"ansible-galaxy-requirements.yaml\"\nansible-playbook autoware.dev_env.download_artifacts -e \"data_dir=$HOME\/autoware_data\" --ask-become-pass<\/code><\/pre>\n\n\n\n
    \u4e0b\u8f7d\u7684\u5de5\u4ef6\u4f1a\u653e\u5230$HOME\/autoware_data\u76ee\u5f55\u4e0b\uff0c\u8fd9\u4e2a\u662f\u542f\u52a8antowate\u7684\u53c2\u6570\u6587\u4ef6<\/p>\n\n\n\n

    \u4f7f\u7528ansible-playbook\u811a\u672c\u9047\u5230\u7f51\u7edc\u95ee\u9898\u7684\u89e3\u51b3\u65b9\u6cd5<\/strong><\/p>\n\n\n\n
    Download tensorrt_bevdet \u4efb\u52a1\u4e0b\u8f7d\u8d85\u65f6\u95ee\u9898\uff1a\u4f1a\u50cf\u4e0b\u9762\u8fd9\u6837\u62a5\u9519<\/p>\n\n\n\n
    TASK [autoware.dev_env.artifacts : Download tensorrt_bevdet\/tensorrt_bevdet.tar.gz] *\nAn exception occurred during task execution. To see the full traceback, use -vvv. The error was: TimeoutError: The read operation timed out\nfatal: [localhost]: FAILED! => {\"changed\": false, \"elapsed\": 1, \"msg\": \"failed to create temporary content file: The read operation timed out\"}<\/code><\/pre>\n\n\n\n
    \u627e\u5230home\u76ee\u5f55\u4e0bautoware_data\/tensorrt_bevdet\u6587\u4ef6\u5939\u6267\u884c\u4ee5\u4e0b\u547d\u4ee4\u624b\u52a8\u4e0b\u8f7d<\/p>\n\n\n\n
    wget -c \"https:\/\/autoware-files.s3.us-west-2.amazonaws.com\/models\/tensorrt_bevdet.tar.gz\"<\/code><\/pre>\n\n\n\n
    Download lidar_transfusion\/transfusion.onnx\u4efb\u52a1\u4e0b\u8f7d\u8d85\u65f6\u95ee\u9898
    #\u8fdb\u5165\u8be5\u76ee\u5f55\u624b\u52a8\u4e0b\u8f7d<\/p>\n\n\n\n
    cd ~\/autoware_data\/lidar_transfusion\nwget -c \"https:\/\/awf.ml.dev.web.auto\/perception\/models\/transfusion\/t4xx1_90m\/v2.1\/transfusion.onnx\"<\/code><\/pre>\n\n\n\n
    Download tensorrt_rtmdet_onnx_models.tar.gz\u4e0b\u8f7d\u8d85\u65f6\u95ee\u9898_<\/p>\n\n\n\n
    cd ~\/autoware_data\/tensorrt_rtmdet\nwget -c \"https:\/\/autoware-files.s3.us-west-2.amazonaws.com\/models\/tensorrt_rtmdet_onnx_models.tar.gz\"<\/code><\/pre>\n\n\n\n
    \u518d\u9047\u5230\u4e0b\u8f7d\u95ee\u9898<\/strong><\/p>\n\n\n\n
      \n
    1. \u5728ansible-playbook\u811a\u672c\u4e2d\u627e\u5230\u9519\u8bef\u7684\u4efb\u52a1\u540d\uff0c\u6bd4\u5982Download tensorrt_rtmdet_onnx_models.tar.gz\uff0c\u5c31\u662f\u4e0b\u8f7d tensorrt_rtmdet_onnx_models.tar.gz\u6587\u4ef6\u5931\u8d25<\/li>\n\n\n\n
    2. \u5728autoware\u6e90\u7801\u4e2d\u641c\u7d22\u8be5\u6587\u4ef6\u540d
      grep -r “tensorrt_rtmdet_onn” \/autoware<\/li>\n\n\n\n
    3. \u627e\u5230\/autowaredata\/\u6587\u4ef6\u5939\u4e0b\u4e0e\u8be5\u540d\u79f0\u7c7b\u4f3c\u7684\u540d\u5b57\uff0c\u6216\u8005\u53bb\u95eeai\u5e94\u8be5\u653e\u54ea
      #\u4f7f\u7528wget\u547d\u4ee4\u4e0b\u8f7d
      wget -c “\u4e0b\u8f7d\u5730\u5740”<\/li>\n<\/ol>\n\n\n\n
      \u518d\u6b21\u6267\u884cansible-playbook\u81ea\u52a8\u914d\u7f6e\u811a\u672c\uff0c\u624b\u52a8\u4e0b\u8f7d\u7684\u4f1a\u88ab\u8bc6\u522b\u5230\u800c\u8df3\u8fc7<\/p>\n\n\n\n
      ansible-playbook autoware.dev_env.download_artifacts -e \"data_dir=$HOME\/autoware_data\" --ask-become-pass<\/code><\/pre>\n\n\n\n
      \u8fd0\u884c rosbag \u56de\u653e\u6a21\u62df<\/strong>
      source ~\/autoware\/install\/setup.bash
      ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME\/autoware_map\/sample-map-rosbag vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
      #\u6ce8\u610f\uff0c\u60a8\u4e0d\u80fd\u5728\u8fd9\u91cc\u4f7f\u7528 ~ \u4ee3\u66ff $HOME \u3002
      \"\"
      \u5728\u64ad\u653e rosbag \u4e4b\u524d\uff0c\u60a8\u53ef\u80fd\u5728\u7ec8\u7aef\u9047\u5230\u9519\u8bef\u548c\u8b66\u544a\u4fe1\u606f\u3002\u8fd9\u662f\u6b63\u5e38\u884c\u4e3a\u3002\u4e00\u65e6 rosbag \u64ad\u653e\u5e76\u6b63\u786e\u521d\u59cb\u5316\uff0c\u8fd9\u4e9b\u4fe1\u606f\u5e94\u8be5\u4f1a\u505c\u6b62\u3002<\/p>\n\n\n\n
      \u64ad\u653e\u793a\u4f8b rosbag \u6587\u4ef6<\/strong>
      source ~\/autoware\/install\/setup.bash
      ros2 bag play ~\/autoware_map\/sample-rosbag\/ -r 0.2 -s sqlite3
      \"\"
      \u7531\u4e8e rosbag \u4e2d\u7684\u65f6\u95f4\u6233\u4e0e\u5f53\u524d\u7cfb\u7edf\u65f6\u95f4\u6233\u5b58\u5728\u5dee\u5f02\uff0cAutoware \u53ef\u80fd\u4f1a\u5728\u7ec8\u7aef\u751f\u6210\u8b66\u544a\u6d88\u606f\uff0c\u63d0\u9192\u8fd9\u79cd\u4e0d\u5339\u914d\u3002\u8fd9\u662f\u6b63\u5e38\u884c\u4e3a\u3002<\/p>\n\n\n\n
      \u8981\u805a\u7126\u4e8e ego \u8f66\u8f86\uff0c\u8bf7\u5728 RViz \u89c6\u56fe\u9762\u677f\u4e2d\u5c06 Target Frame \u4ece viewer \u66f4\u6539\u4e3a base_link \u3002_
      \"\"<\/p>\n\n\n\n
      \u8981\u5c06\u89c6\u56fe\u5207\u6362\u5230 Third Person Follower \u7b49\uff0c\u8bf7\u66f4\u6539 RViz \u89c6\u56fe\u9762\u677f\u4e2d\u7684 Type \u3002
      \"\"<\/p>\n","protected":false},"excerpt":{"rendered":"
      \u4ee5\u4e0b\u662f\u6211\u7684jetson orin nano\u7684\u73af\u5883\u5c55 …<\/p>\n","protected":false},"author":1,"featured_media":739,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[2,30,32],"tags":[],"class_list":["post-737","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-linux","category-ros2","category-32"],"_links":{"self":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/737","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/comments?post=737"}],"version-history":[{"count":3,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/737\/revisions"}],"predecessor-version":[{"id":742,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/737\/revisions\/742"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/media\/739"}],"wp:attachment":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/media?parent=737"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/categories?post=737"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/tags?post=737"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}