异速联服务器如何配置，异速联服务器配置指南，从基础设置到故障排除全解析

异速联服务器配置指南，涵盖从基础设置到故障排除的全面解析，助您轻松配置并解决服务器问题。

异速联（Autoware）是一款开源的自动驾驶软件平台，广泛应用于自动驾驶汽车的研发与测试，在使用异速联服务器时，我们可能会遇到“此服务未开启”的提示，这可能是由于服务器配置不当或某些服务未启动导致的，本文将详细讲解如何配置异速联服务器，并针对常见问题进行故障排除。

异速联服务器配置步骤

1、环境准备

（1）操作系统：Linux操作系统，推荐使用Ubuntu 18.04或更高版本。

（2）依赖库：编译Autoware所需的各种依赖库，如OpenCV、PCL、ROS等。

（3）编译器：CMake、g++等。

2、安装Autoware

（1）克隆Autoware源代码：

git clone https://github.com/Autoware-AUT/Autoware.git
cd Autoware

（2）编译Autoware：

mkdir build
cd build
cmake ..
make
sudo make install

3、启动服务

（1）启动roscore：

roscore

（2）启动Autoware所需服务：

rosrun autoware.initialize initialize
rosrun vehicle_model vehicle_model_node
rosrun vehicle_model lanelets_bridge
rosrun map_maker map_maker_node
rosrun localization base_localization_node
rosrun perception.detection detection_node
rosrun perception.detection detection_node_radar
rosrun perception.detection detection_node_lidar
rosrun perception.detection detection_node_camera
rosrun perception.detection detection_node_radar_camera
rosrun planning PlatooningPlanner
rosrun planning DecelerationPlanner
rosrun planning ObstaclePlanner
rosrun planning IntersectionPlanner
rosrun planning IntersectionDecisionPlanner
rosrun planning BehaviorPlanner
rosrun planning PathPlanner
rosrun planning PathFollower
rosrun planning DecelerationPlanner
rosrun planning LaneChangePlanner
rosrun planning FollowLanePlanner
rosrun planning SpeedController
rosrun planning YawController
rosrun planning StatePlanner
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