Installation
This article covers a basic installation manual to install all required software to run the simulation. The installation on the car is nearly equal but got some cornercases that are not covered here. After install and checkout of the project, please read Manual toad.sh how to run the software.
The following install steps are taken from out travis configuration, you'll find in the base directory of the project.
First install some packages
sudo apt-get install libeigen3-dev python-wstool libsdl2-dev clang-format-3.9 libyaml-cpp0.5v5 ca-certificates
Now we set some variables
source /etc/lsb-release
CUDA_SHORT=10-2
UBUNTU_VERSION=ubuntu${DISTRIB_RELEASE/./}
wget https://developer.download.nvidia.com/compute/cuda/repos/${UBUNTU_VERSION}/x86_64/cuda-${UBUNTU_VERSION}.pin
sudo mv cuda-${UBUNTU_VERSION}.pin /etc/apt/preferences.d/cuda-repository-pin-600
sudo apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/${UBUNTU_VERSION}/x86_64/7fa2af80.pub
sudo add-apt-repository "deb http://developer.download.nvidia.com/compute/cuda/repos/${UBUNTU_VERSION}/x86_64/ /"
sudo apt update -qq
sudo apt install -y cuda-${CUDA_SHORT}
sudo apt clean
VERSION_CUDA_S=$(echo ${CUDA_SHORT} | sed s/-/\./g)
CUDA_HOME=/usr/local/cuda-${VERSION_CUDA_S}
LD_LIBRARY_PATH=${CUDA_HOME}/lib64:${LD_LIBRARY_PATH}
PATH=${CUDA_HOME}/bin:${PATH}
echo "Installing ZED SDK"
wget https://download.stereolabs.com/zedsdk/3.1/cu102/ubuntu18 -O zed_sdk.run
chmod +x ./zed_sdk.run
./zed_sdk.run -- silent skip_tools
cd ros_ws
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update -qq
sudo apt-get install -y "ros-${ROS_DISTRO}-ros-base" python-rosdep
source /opt/ros/${ROS_DISTRO}/setup.bash
sudo rosdep init
rosdep update
