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autoware.universe

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dora NDT module first version. This code has to be dora V0.3.2+

目录说明：在“~”目录下存放dora 及 autoware.universe文件夹

​ 在 dora_project目录下安装dora运行文件

1 安装dora V0.3.2

1.1 安装依赖项

sudo apt  install cargo clang
pip install dora-rs==0.3.2

1.2 安装 dora V0.3.2

参考连接：https://blog.csdn.net/crp997576280/article/details/135368894（Dora-rs 机器人框架学习教程（1）—— Dora-rs安装）

mkdir dora_project && cd dora_project

export DORA_VERSION=v0.3.2 # Check for the latest release
export ARCHITECTURE=$(uname -m)
wget https://github.com/dora-rs/dora/releases/download/${DORA_VERSION}/dora-${DORA_VERSION}-${ARCHITECTURE}-Linux.zip
unzip dora-${DORA_VERSION}-${ARCHITECTURE}-Linux.zip
pip install dora-rs==${DORA_VERSION} ## For Python API
export PATH=$PATH:$(pwd) >> ~/.bashrc
dora --help

完成上述步骤后把 PATH=$PATH:/home/xxx/dora_project (例如：PATH="$PATH:/home/crp/dora_project" )加入到 .bashrc中最后一行

1.3下载 dora 源码

原文链接： https://blog.csdn.net/weixin_44112228/article/details/135607575 （Dora-rs 机器人框架学习教程（2）——从零开始编译C++节点）

cd ~
git clone https://github.com/dora-rs/dora.git
cd dora/examples/c++-dataflow
cargo run --example cxx-dataflow  # compile C++ node
cargo build -p dora-node-api-c --release  # compile dora-node-api-c 

cd ../c++-ros2-dataflow
source /opt/ros/galactic/setup.bash
cargo run --example cxx-ros2-dataflow --features ros2-examples

2.下载 dora autoware.universe

下载autoware dora分支

cd ~
git clone -b  feature/autoware_dora https://github.com/ShoreFlower/autoware.universe.git
English

Welcome to Dora Autoware

This project use DORA as the middleware for autoware.universe. Currently it support a few robot platform. The simulator is still in progress.

dora NDT module first version. This code has to be dora V0.3.2+

1 Install dora V0.3.2

1.1 Dependencies

sudo apt  install cargo clang
pip install dora-rs==0.3.2

1.2 Install dora V0.3.2

mkdir dora_project && cd dora_project

export DORA_VERSION=v0.3.2 # Check for the latest release
export ARCHITECTURE=$(uname -m)
wget https://github.com/dora-rs/dora/releases/download/${DORA_VERSION}/dora-${DORA_VERSION}-${ARCHITECTURE}-Linux.zip
unzip dora-${DORA_VERSION}-${ARCHITECTURE}-Linux.zip
pip install dora-rs==${DORA_VERSION} ## For Python API
export PATH=$PATH:$(pwd) >> ~/.bashrc
dora --help

After completing the above steps, add PATH=$PATH:/home/xxx/dora_project (for example: PATH="$PATH:/home/crp/dora_project") to the last line of .bashrc

1.3 Download dora source code

Link： https://blog.csdn.net/weixin_44112228/article/details/135607575

cd ~
git clone https://github.com/dora-rs/dora.git
cd dora/examples/c++-dataflow
cargo run --example cxx-dataflow  # compile C++ node
cargo build -p dora-node-api-c --release  # compile dora-node-api-c 

cd ../c++-ros2-dataflow
source /opt/ros/galactic/setup.bash
cargo run --example cxx-ros2-dataflow --features ros2-examples

2.Download dora autoware.universe

Download autoware from main branch

cd ~
git clone https://github.com/ShoreFlower/autoware.universe.git