自动驾驶环境搭建过程记录

autoware启动world_test.launch出现找不到urdf_tutorial包：
apt-get install ros-版本-urdf-tutorial
gitee上下载gazebo_worlds
https://search.gitee.com/?skin=rec&type=repository&q=gazebo_models

在docker内把gazebo_worlds复制到/tmp下
找到download_model.sh文件
修改如下再运行 bash src/autoware/simulation/vehicle_gazebo_simulation_launcher/scripts/download_model.sh
#!/bin/sh


	mkdir -p ~/.gazebo/models
	echo "---- Download generic gazebo models ----"
	if [ -e /tmp/gazebo_models ]; then
	  echo "---- Already exist /tmp/gazebo_models ----"
	  #echo "---- removing /tmp/gazebo_models ----"
	  #rm -r /tmp/gazebo_models
	fi
	#hg clone https://bitbucket.org/osrf/gazebo_models /tmp/gazebo_models
	#git clone https://gitee.com/lilingkang123/gazebo_models.git /tmp/gazebo_models


	if [ -e /tmp/gazebo_models ]; then
	  echo "---- Install generic gazebo models ----"
	  mv -n /tmp/gazebo_models/* ~/.gazebo/models/
	  echo "---- Completed ----"
	else
	  echo "---- Error ----"
	fi

	echo "---- Install models ----"
	cp -rn $(rospack find gazebo_world_description)/models/* ~/.gazebo/models/
	echo "---- Completed ----"

然后再运行同一目录下的setup.sh
再启动gazebo
roslaunch vehicle_gazebo_simulation_launcher world_test.launch
同样的，如果使用move_base导航包，也需要下载gazebo的模型文件，修改名为models复制到home隐藏文件夹.gazebo下
再启动gazebo_sim gazebo_sim.launch

如果系统内安装了两个版本的opencv，在编译时会报版本冲突，在启动yolo时跑一会也会导致电脑自动关机
解决：需要卸载一个版本的opencv（到安装目录下卸载）
rslidar_sdk编译报Eigen错误的问题，需要把Eigen软连接到Eigen3
roslaunch zed_wrapper zed2.launch node_name:=zed_node_1 camera_id:=0 camera_name:=zed2_1
roslaunch zed_wrapper zed2.launch node_name:=zed_node_2 camera_id:=1 camera_name:=zed2_2

ros2自定义消息类型
string类型不能是一个单词需要有下划线（比如 string path_name）

https://registry.docker-cn.com

mp@mp-GL65-Leopard-10SFSK:~/ads_copatrol$ ros2 run vision_detection vision_detection_node
/opt/ros/foxy/bin/ros2:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
from pkg_resources import load_entry_point
/home/mp/ads_copatrol/install/vision_detection/lib/vision_detection/vision_detection_node: error while loading shared libraries: libdarknet.so: cannot open shared object file: No such file or directory
找不到共享库
在~/.bashrc中增加共享库链接 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/mp/ads_copatrol/src/vision_detection/lib

提示找不到lib**.so库，可以locate该库的位置，建立软链接
sudo ln -s lib**.so(库的位置） /usr/lib/lib**.so(链接到的地址)
sudo ldconfig

popen(“play ./data/voice/111.mp3”,“r”);
popen(“ls ./”, “r”);
sleep(8);

用docker安装autowareai，静态tf变换需要使用以下命令单独启动（即velodyne到base_link），其他静态tf发布命令无效
rosrun tf2_ros static_transform_publisher 0.55 0 1.25 0 0 0 /base_link /velodyne
rosrun tf static_transform_publisher 0.55 0 1.25 0 0 0 /base_link /velodyne

[gazebo-2] process has died [pid 42657, exit code 255, cmd /opt/ros/noetic/lib/gazebo_ros/gzserver -e ode /home/wyw/catkin_ws/src/mrobot_gazebo/worlds/cloister.world __name:=gazebo __log:=/home/wyw/.ros/log/513ffeee-f6c8-11ed-aa8c-419406861ae4/gazebo-2.log].
log file: /home/wyw/.ros/log/513ffeee-f6c8-11ed-aa8c-419406861ae4/gazebo-2*.log
遇到以上错误输入命令：

killall gzserver

https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Service-And-Client.html（ros2学习官方文档）

https://tools.tier4.jp/vector_map_builder_ll2/ 编辑ll2高精地图出现不能有负值坐标的问题
解决在map中找到 change map projector info，将projector type改为local

基于yolov4的ros1物体识别，在编译过程中如果出现libdarknet.so 对xxx的未定义应用的错误，需要重新在本机下载darknet进行编译，生成新的libdarknet.so替换掉原来的即可，同时如有opencv的错误需要重新安装opencv4
https://zhuanlan.zhihu.com/p/364231810

添加# 添加colcon自动补全
echo “source /usr/share/colcon_cd/function/colcon_cd.sh” >> ~/.bashrc
echo “export _colcon_cd_root=/opt/ros/galactic/” >> ~/.bashrc
echo “source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash” >> ~/.bashrc

docker pull拉取镜像失败，网站不可达：
换源
sudo mkdir -p /etc/docker
vim /etc/docker/daemon.json
首先进入/etc/docker/daemon.json文件

然后在里面加入下面的配置

{
“registry-mirrors” : [“https://docker.registry.cyou”,
“https://docker-cf.registry.cyou”,
“https://dockercf.jsdelivr.fyi”,
“https://docker.jsdelivr.fyi”,
“https://dockertest.jsdelivr.fyi”,
“https://mirror.aliyuncs.com”,
“https://dockerproxy.com”,
“https://mirror.baidubce.com”,
“https://docker.m.daocloud.io”,
“https://docker.nju.edu.cn”,
“https://docker.mirrors.sjtug.sjtu.edu.cn”,
“https://docker.mirrors.ustc.edu.cn”,
“https://mirror.iscas.ac.cn”,
“https://docker.rainbond.cc”,
“https://do.nark.eu.org”,
“https://dc.j8.work”,
“https://dockerproxy.com”,
“https://gst6rzl9.mirror.aliyuncs.com”,
“https://registry.docker-cn.com”,
“http://hub-mirror.c.163.com”,
“http://mirrors.ustc.edu.cn/”,
“https://mirrors.tuna.tsinghua.edu.cn/”,
“http://mirrors.sohu.com/”
],
“insecure-registries” : [
“registry.docker-cn.com”,
“docker.mirrors.ustc.edu.cn”
],
“debug”: true,
“experimental”: false
}
重载生效