{"id":17088,"date":"2024-10-21T15:50:47","date_gmt":"2024-10-21T07:50:47","guid":{"rendered":"http:\/\/192.168.10.115\/?p=17088"},"modified":"2024-10-21T15:50:47","modified_gmt":"2024-10-21T07:50:47","slug":"2024-10-21-autoware-universe-%e4%bd%bf%e7%94%a8%e4%b9%8brosbag-replay-simulation%e6%94%be%e5%8c%85%e4%bb%bf%e7%9c%9f","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/10\/21\/17088\/","title":{"rendered":"2024-10-21 autoware.universe \u4f7f\u7528\u4e4bRosbag replay simulation\u653e\u5305\u4eff\u771f"},"content":{"rendered":"\n<p>1. \u4e0b\u8f7dbag\u5305\u548c\u5bf9\u5e94\u7684\u5730\u56fe\u6587\u4ef6<\/p>\n\n\n\n<p>\u5c06\u4e0b\u8f7d\u597d\u7684\u6587\u4ef6\u653e\u5230.\/autoware_map\/\u6587\u4ef6\u5939\u4e0b\u3002<\/p>\n\n\n\n<p>\u4e0b\u8f7d\u5730\u56fe<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>gdown -O ~\/autoware_map\/ 'https:\/\/docs.google.com\/uc?export=download&amp;id=1A-8BvYRX3DhSzkAnOcGWFw5T30xTlwZI'\nunzip -d ~\/autoware_map\/ ~\/autoware_map\/sample-map-rosbag.zip\n<\/code><\/pre>\n\n\n\n<p>\u4e0b\u8f7drosbag\u5305<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>gdown -O ~\/autoware_map\/ 'https:\/\/docs.google.com\/uc?export=download&amp;id=1VnwJx9tI3kI_cTLzP61ktuAJ1ChgygpG'\nunzip -d ~\/autoware_map\/ ~\/autoware_map\/sample-rosbag.zip\n<\/code><\/pre>\n\n\n\n<p>\u6267\u884c\u4e0a\u8ff0\u547d\u4ee4\u65f6\u62a5\u9519\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"498\" height=\"146\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-188.png\" alt=\"\" class=\"wp-image-17089\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-188.png 498w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-188-300x88.png 300w\" sizes=\"(max-width: 498px) 100vw, 498px\" \/><\/figure>\n\n\n\n<p>\u53c2\u8003<a href=\"https:\/\/blog.csdn.net\/weixin_44003119\/article\/details\/124281044\">\u6587\u7ae0<\/a>\u5b89\u88c5gdown\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>git clone https:\/\/github.com\/wkentaro\/gdown.git\ncd gdown\npip install gdown\n<\/code><\/pre>\n\n\n\n<p>\u5b89\u88c5\u540e\u53d1\u73b0\u5728\u7ec8\u7aef\u76f4\u63a5\u8f93\u5165gdown\u4ecd\u7136\u4f1a\u62a5\u4e0a\u8ff0\u9519\u8bef\u3002\u6545\u76f4\u63a5\u8fdb\u5165gdown\u9879\u76ee\uff0c\u65b0\u5efa.py\u6587\u4ef6\uff0c\u5199python\u4ee3\u7801\u4e0b\u8f7d:<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>import gdown\n# \u4f8b\u5982\nurl = \"https:\/\/docs.google.com\/uc?export=download&amp;id=1A-8BvYRX3DhSzkAnOcGWFw5T30xTlwZI\"\noutput = \"sample-map-rosbag.zip\"\ngdown.download(url, output)\n<\/code><\/pre>\n\n\n\n<p>\u6267\u884c\u4ee3\u7801\u53ef\u80fd\u4f1a\u56e0\u4e3a\u65f6\u95f4\u95ee\u9898\u62a5\u9519\uff0c\u6211\u8fd9\u91cc\u662f\u4f7f\u7528\u4e86\u4ee3\u7406\u624d\u6210\u529f\u4e0b\u8f7d\u3002<br>\u4e0b\u8f7d\u5b8c\u6210\u540e\uff0c\u5c06\u538b\u7f29\u5305\u89e3\u538b\u653e\u5230autoware_map\u76ee\u5f55\u4e0b\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>unzip -d ~\/autoware_map ~\/autoware_map\/sample-map-rosbag.zip\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4ed6zip\u6587\u4ef6\u540c\u7406\u4e0b\u8f7d\u3002\u4e4b\u540e\u6211\u4f1a\u628a\u76f8\u5173zip\u5305\u548cdata\u653e\u5230\u767e\u5ea6\u4e91\u4e2d\uff0c\u6709\u9700\u8981\u7684\u53ef\u81ea\u53d6\u3002<\/p>\n\n\n\n<p>2. \u521b\u5efaautoware_data\u6587\u4ef6\u5939<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\u5c06\u4ee5\u4e0b\u6587\u4ef6\u653e\u5230autoware_data\u6587\u4ef6\u5939\u4e0b\uff1a\nimage_projection_based_fusion\nlidar_apollo_instance_segmentation\nlidar_centerpoint\ntensorrt_yolo\ntensorrt_yolox\ntraffic_light_classifier\ntraffic_light_fine_detector\ntraffic_light_ssd_fine_detector\nyabloc_pose_initializer\n......\n<\/code><\/pre>\n\n\n\n<p>\u6587\u4ef6\u4e0b\u8f7d\u53ef\u4ee5\u53c2<a href=\"https:\/\/github.com\/autowarefoundation\/autoware\/tree\/main\/ansible\/roles\/artifacts\">\u5b98\u7f51\u5730\u5740<\/a>\u8fdb\u884c\u4e0b\u8f7d\uff0c\u4e5f\u53ef\u76f4\u63a5\u4e0b\u8f7d\u6211\u5206\u4eab\u7684\u767e\u5ea6\u4e91\u94fe\u63a5\u3002<\/p>\n\n\n\n<p>3. \u8fdb\u5165\u5bb9\u5668\uff0c\u653e\u5305\u6d4b\u8bd5<\/p>\n\n\n\n<p>\u8fdb\u5165\u5bb9\u5668<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>rocker --nvidia --x11 --user --volume $HOME\/autoware --volume $HOME\/autoware_map --volume $HOME\/autoware_data\/ -- ghcr.io\/autowarefoundation\/autoware-universe:latest-cuda\n<\/code><\/pre>\n\n\n\n<p>source<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>source .\/autoware\/install\/setup.bash\n<\/code><\/pre>\n\n\n\n<p>ros2 launch \u6253\u5f00\u6a21\u62df\u5668<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME\/autoware_map\/sample-map-rosbag vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit\n<\/code><\/pre>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u65b0\u5f00\u7ec8\u7aef\uff0c\u548c\u4e0a\u8ff0\u65b9\u6cd5\u4e00\u81f4\uff0c\u8fdb\u5165\u5bb9\u5668\uff0csource\u73af\u5883<\/li>\n\n\n\n<li>\u653e\u5305\uff0c\u5305\u91cc\u56e0\u4e3a\u6d89\u53ca\u9690\u79c1\u95ee\u9898\uff0c\u6ca1\u6709\u56fe\u50cf<\/li>\n<\/ul>\n\n\n\n<pre class=\"wp-block-code\"><code>ros2 bag play .\/autoware_map\/sample-rosbag\/sample.db3 -r 0.2 -s sqlite3\n<\/code><\/pre>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u65b0\u5f00\u7ec8\u7aef\uff0c\u548c\u4e0a\u8ff0\u65b9\u6cd5\u4e00\u81f4\uff0c\u8fdb\u5165\u5bb9\u5668\uff0csource\u73af\u5883<\/li>\n\n\n\n<li>\u653e\u5305\uff0c\u5305\u91cc\u56e0\u4e3a\u6d89\u53ca\u9690\u79c1\u95ee\u9898\uff0c\u6ca1\u6709\u56fe\u50cf<\/li>\n<\/ul>\n\n\n\n<pre class=\"wp-block-code\"><code>ros2 bag play .\/autoware_map\/sample-rosbag\/sample.db3 -r 0.2 -s sqlite3\n<\/code><\/pre>\n\n\n\n<p>\u4e0a\u8ff0\u547d\u4ee4\u6267\u884c\u5b8c\uff0c\u6b63\u5e38\u60c5\u51b5\u4e0b\u6a21\u62df\u5668\u4e2d\u4f1a\u663e\u793a\u5730\u56fe\u548c\u96f7\u8fbe\u4fe1\u606f\uff0c\u5c0f\u8f66\u4f1a\u6839\u636e\u7ebf\u8def\u79fb\u52a8\uff0c\u5e76\u4e14\u5468\u56f4\u8f66\u8f86\u7b49\u4f1a\u6709\u5305\u56f4\u6846\u7b49\u4fe1\u606f\u8f93\u51fa\uff0c\u5982\u4e0b\u56fe\u6240\u793a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"693\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-189-1024x693.png\" alt=\"\" class=\"wp-image-17090\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-189-1024x693.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-189-300x203.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-189-768x520.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-189-1536x1040.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-189-2048x1386.png 2048w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-189-1478x1000.png 1478w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4f46\u662f\uff0c\u6211\u7684\u6a21\u62df\u5668\u4e2d\u51fa\u73b0\u4e24\u4e2a\u95ee\u9898\uff1a<br>\u2003\u2003(1) \u6574\u4e2a\u753b\u9762\u6709\u5ef6\u8fdf\uff0c\u70b9\u4e91\u5730\u56fe\u52a0\u8f7d\u6709\u5ef6\u8fdf\uff0c\u4e14\u65f6\u6709\u65f6\u65e0\uff1b<br>\u2003\u2003(2) \u5468\u56f4\u76ee\u6807\u6ca1\u6709\u8f93\u51fa\u4efb\u4f55\u5305\u56f4\u6846\u4fe1\u606f\uff0c\u8bf4\u660e\u68c0\u6d4b\u5c31\u6ca1\u8d77\u4f5c\u7528\u3002\u6211\u67e5\u770b\u7ec8\u7aef\u4fe1\u606f\uff0c\u53d1\u73b0\u4e2d\u95f4\u6709error\u4fe1\u606f\u8f93\u51fa\u3002<br>\u2003\u2003\u6709\u4e0a\u8ff0\u9519\u8bef\u51fa\u73b0\u800c\u4e14\u5305\u91cc\u6ca1\u6709\u56fe\u50cf\uff0c\u6545\u68c0\u6d4b\u57fa\u672c\u5e94\u8be5\u4f7f\u7528\u6fc0\u5149\u96f7\u8fbe\u76f8\u5173\u7684\u7b97\u6cd5\u68c0\u6d4b\u5f97\u5230\uff0c\u4f46\u662f\u4e0a\u8ff0\u5e76\u6ca1\u6709\u8f93\u51fa\u68c0\u6d4b\u4fe1\u606f\uff0c\u8bf4\u660e\u6fc0\u5149\u96f7\u8fbe\u76f8\u5173\u7b97\u6cd5\u90a3\u91cc\u53ef\u80fd\u51fa\u4e86\u95ee\u9898\u3002\u4ece\u76f8\u5173\u7684launch.xml\u6587\u4ef6\u4e2d\u4e5f\u80fd\u770b\u5230\u6fc0\u5149\u96f7\u8fbe\u68c0\u6d4b\u4f7f\u7528\u7684\u662fcenterpoint\uff0c\u6b63\u597d\u6211\u4e3b\u8981\u76ee\u7684\u662f\u6d4b\u8bd5lidar_centerpoint\u68c0\u6d4b\u7ed3\u679c\u3002\u6545\u73b0\u5728\u5355\u72ec\u542f\u52a8lidar_centerpoint\u7b97\u6cd5\u67e5\u770b\u3002<\/p>\n\n\n\n<p>4. \u6d4b\u8bd5lidar_centerpoint<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code># \u91cc\u9762\u6d89\u53ca\u5230\u7684\u8def\u5f84\u53ef\u4ee5\u6839\u636e\u5b9e\u9645\u8def\u5f84\u4fee\u6539\nros2 launch lidar_centerpoint lidar_centerpoint.launch.xml model_name:=centerpoint_tiny model_path:=$HOME\/autoware_data\/lidar_centerpoint model_param_path:=$(ros2 pkg prefix lidar_centerpoint --share)\/config\/centerpoint_tiny.param.yaml build_only:=true\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d\uff0cbuild_only\u9ed8\u8ba4\u4e3aFalse\uff0c\u5f53\u8bbe\u7f6e\u4e3aTrue\u65f6\uff0c\u4f1a\u5c06onnx\u8f6c\u4e3aengine\u3002<\/p>\n\n\n\n<p>\u5728\u6267\u884c\u4e0a\u8ff0\u547d\u4ee4\u65f6\u62a5\u9519\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"92\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-190-1024x92.png\" alt=\"\" class=\"wp-image-17091\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-190-1024x92.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-190-300x27.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-190-768x69.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-190.png 1256w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u89e3\u51b3\u65b9\u6cd5\uff1a<br>\u2003\u2003\u6839\u636egithub\u4e0a\u7684<a href=\"https:\/\/github.com\/autowarefoundation\/autoware.universe\/issues\/6461\">\u95ee\u9898<\/a>\uff0c\u6211\u67e5\u770b\u4e86\u672c\u673a\u4e0a\u7684nvidia-driver\u662f535\u7684\uff0c\u6545\u5c1d\u8bd5\u5c06nvidia-driver \u7531535\u6539\u4e3a545\u3002\u53c2\u8003<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/674766674\">\u6587\u7ae0<\/a>\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code># 1. \u6dfb\u52a0 NVIDIA \u56fe\u5f62\u9a71\u52a8 PPA\uff1a\nsudo add-apt-repository ppa:graphics-drivers\/ppa\nsudo apt update\n\n# 2. \u67e5\u770b\u53ef\u7528\u7684 NVIDIA \u9a71\u52a8\u7248\u672c\uff1a\napt search nvidia-driver\n\n# 3. \u5b89\u88c5\u6700\u65b0\u7684 NVIDIA \u9a71\u52a8\uff1a\u8fd9\u4e2a\u8fc7\u7a0b\u975e\u5e38\u6162\uff01\nsudo apt install nvidia-driver-545\n\n# \u91cd\u542f\nreboot\n\n# \u518d\u6b21\u67e5\u770b\uff0c\u53d1\u73b0nvidia-driver 545\u6210\u529f\u5b89\u88c5\nnvidia-smi\n<\/code><\/pre>\n\n\n\n<p>nvidia-driver \u7531535\u6362\u4e3a545\u540e\uff0c\u4e0a\u8ff0\u9519\u8bef\u6d88\u5931\u3002\u518d\u6b21\u6267\u884c\u4e0a\u8ff0\u547d\u4ee4\uff0c\u53c8\u8fce\u6765\u65b0\u7684\u62a5\u9519\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"134\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-191-1024x134.png\" alt=\"\" class=\"wp-image-17092\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-191-1024x134.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-191-300x39.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-191-768x100.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-191.png 1414w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6211\u4ed4\u7ec6\u770b\u4e86\u7ec8\u7aef\u8f93\u51fa\u53d1\u73b0engine\u5df2\u7ecf\u751f\u6210\u4e86\uff0c\u662f\u751f\u6210\u4e4b\u540e\u62a5\u7684\u9519\u8bef\u3002\u67e5\u627e\u4e86\u8d44\u6599\uff0c\u5176\u4e2d\u6709\u7684\u662f\u8bf4\u662fruntime\u548cengine\u521d\u59cb\u5b9a\u4e49\u7684\u987a\u5e8f\u4e0d\u5bf9\uff0c\u5bfc\u81f4\u6700\u7ec8\u9500\u6bc1\u65f6runtime\u5148\u88ab\u9500\u6bc1\u5c31\u4f1a\u51fa\u73b0\u8fd9\u79cd\u9519\u8bef\u3002\u8fd9\u4e2a\u5c31\u6d89\u53ca\u5230\u4ee3\u7801\u5c42\u9762\u7684\u95ee\u9898\u4e86\uff0c\u6211\u67e5\u4e86autoware github\u4e0a\u7684\u62a5\u9519\u95ee\u9898\uff0c\u5e76\u6ca1\u6709\u627e\u5230\u7c7b\u4f3c\u7684\u62a5\u9519\u3002\u6211\u731c\u60f3\u53ef\u80fd\u4e0d\u662f\u4e0a\u9762\u8bf4\u7684\u8fd9\u4e2a\u95ee\u9898\u3002\u540e\u6765\u770b\u5230\u4e00\u7bc7\u535a\u5ba2\u8bf4\u8fd9\u4e2aerror\u4e0d\u5f71\u54cd\uff0c\u53ef\u4ee5\u5ffd\u7565\u3002\u7136\u540e\u6211\u53c8\u91cd\u65b0\u6267\u884c\u4e86\u4e0a\u8ff0\u547d\u4ee4\uff0c\u5c06build_only\u8bbe\u7f6e\u4e3aFalse\u3002\u7ec8\u7aef\u663e\u793a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"187\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-192-1024x187.png\" alt=\"\" class=\"wp-image-17093\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-192-1024x187.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-192-300x55.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-192-768x140.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-192.png 1489w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6ca1\u6709\u62a5\u9519\u3002\u4e4b\u540e\u6211\u901a\u8fc7Ctrl+C\u7ed3\u675f\u8fdb\u7a0b\uff0c\u53d1\u73b0\u6709\u663e\u793a\u4e0a\u8ff0\u9519\u8bef\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"276\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-193-1024x276.png\" alt=\"\" class=\"wp-image-17094\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-193-1024x276.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-193-300x81.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-193-768x207.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-193.png 1499w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4e0a\u9762\u62a5\u9519\u5e94\u8be5\u6ca1\u6709\u4ec0\u4e48\u5f71\u54cd\uff0c\u540e\u7eed\u5982\u679c\u6709\u5f71\u54cd\uff0c\u6211\u4f1a\u518d\u56de\u6765\u66f4\u65b0\u3002<\/p>\n\n\n\n<p>5. \u91cd\u65b0\u653e\u5305\u6d4b\u8bd5<\/p>\n\n\n\n<p>\u56de\u5230\u524d\u9762\u7b2c3\u8282\uff0c\u91cd\u65b0\u6253\u5f00\u6a21\u62df\u5668\u3001\u540c\u65f6\u653e\u5305\uff0c\u53d1\u73b0\u5df2\u7ecf\u53ef\u4ee5\u663e\u793a\u5305\u56f4\u6846\u3001\u8f68\u8ff9\u89c4\u5212\u8def\u5f84\u7b49\u7b49<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"564\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-194-1024x564.png\" alt=\"\" class=\"wp-image-17095\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-194-1024x564.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-194-300x165.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-194-768x423.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-194-1536x846.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-194-1800x991.png 1800w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-194.png 1814w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>6. \u5176\u4ed6\u62a5\u9519<\/p>\n\n\n\n<p>error1<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1014\" height=\"43\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-195.png\" alt=\"\" class=\"wp-image-17096\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-195.png 1014w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-195-300x13.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-195-768x33.png 768w\" sizes=\"(max-width: 1014px) 100vw, 1014px\" \/><\/figure>\n\n\n\n<p>\u539f\u56e0\u662f\u5fd8\u8bb0source\u73af\u5883\u4e86<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>source .\/autoware\/install\/setup.bash\n<\/code><\/pre>\n\n\n\n<p>error2<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"93\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-196-1024x93.png\" alt=\"\" class=\"wp-image-17097\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-196-1024x93.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-196-300x27.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-196-768x70.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-196.png 1411w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u62a5\u9519\u539f\u56e0\u662f\u76f4\u63a5\u4f7f\u7528\u4e86\u522b\u4eba\u751f\u6210\u7684engine\uff0c\u5c06\u5bf9\u5e94\u6587\u4ef6\u4e2d\u7684engine\u5220\u9664\uff0c\u8bbe\u7f6ebuild_only:=true\u91cd\u65b0\u751f\u6210engine\u5373\u53ef\u3002<\/p>\n\n\n\n<p>7. \u53c2\u8003<\/p>\n\n\n\n<p><a href=\"https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/tutorials\/ad-hoc-simulation\/rosbag-replay-simulation\/\">\u5b98\u65b9\u6587\u6863<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/github.com\/autowarefoundation\/autoware.universe\/issues\/6461\">https:\/\/github.com\/autowarefoundation\/autoware.universe\/issues\/6461<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/674766674\">https:\/\/zhuanlan.zhihu.com\/p\/674766674<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>1. \u4e0b\u8f7dbag\u5305\u548c\u5bf9\u5e94\u7684\u5730\u56fe\u6587\u4ef6 \u5c06\u4e0b\u8f7d\u597d\u7684 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-17088","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/17088"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=17088"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/17088\/revisions"}],"predecessor-version":[{"id":17098,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/17088\/revisions\/17098"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=17088"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=17088"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=17088"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}