先进行docker安装

sudo apt-get update
sudo apt-get install ca-certificates curl gnupg lsb-release
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
sudo apt-get install docker-ce docker-ce-cli containerd.io
sudo systemctl enable docker

安装ade

$ mkdir ~/adehome
$ cd ~/adehome
$ wget https://gitlab.com/ApexAI/ade-cli/-/jobs/1341322851/artifacts/raw/dist/ade+x86_64
$ mv ade+x86_64 ade
$ chmod +x ade
$ ./ade --version
4.3.0
$ sudo mv ade /usr/local/bin
$ which ade
/usr/local/bin/ade

安装Autoware.auto容器

$ touch .adehome
$ git clone https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto.git
$ cd AutowareAuto
$ git checkout tags/1.0.0 -b release-1.0.0
$ sudo ade start

如果出现类似下面的错误

可以通过以下命令解决

# $USER改为自己的用户名
$ sudo usermod -aG docker $USER
$ sudo chmod 666 /var/run/docker.sock
$ ade start --update --enter

这样就进入到ade容器了，然后切换到AutowareAuto目录，下载相关文件

ade$ cd AutowareAuto
ade$ vcs import < autoware.auto.$ROS_DISTRO.repos

然后就进行编译

ade$ colcon build

参考文章：https://blog.csdn.net/m0_60789828/article/details/135199526