硬件：
CPU：i7-9700
显卡：GTX 1050 Ti

1-安装ROS

2-安装显卡驱动

1-删除旧版显卡驱动

sudo apt-get remove --purge nvidia*

2-查看可供安装的驱动

sudo add-apt-repository ppa:graphics-drivers/ppa
sudo apt-get update
sudo apt-get upgrade
ubuntu-drivers devices  #查看自己的显卡及可以安装的驱动版本

3-安装驱动，并重启

sudo apt install nvidia-driver-510

4-查看显卡驱动安装效果

nvidia-smi

3-查看cmake版本

cmake --version

4-安装eigen-3.3.7

1-查看当前版本
查看结果为3.3.4，需要升级到3.3.7

vim /usr/include/eigen3/Eigen/src/Core/util/Macros.h

2-下载/安装/编译
自己别的方式下载也可以，这里我随手敲的，可能命令有错误

wget http://bitbucket.org/eigen/eigen/get/3.3.7.tar.gz
tar -xzvf eigen-3.3.7.tar.gz
mkdir build && cd build && cmake .. && make && sudo make install

3-更改软链接

sudo rm -rf /usr/include/eigen3/
sudo rm -rf /usr/include/Eigen
sudo cp -r /usr/local/include/eigen3/Eigen /usr/include
sudo cp -r /usr/local/include/eigen3 /usr/include
sudo ln -s /usr/include/eigen3 /usr/local/include/eigen3
sudo ln -s /usr/include/Eigen/ /usr/local/include/Eigen
cd /usr/lib/cmake/eigen3/
sudo rm ./*
sudo cp /usr/local/share/eigen3/cmake/* ./
sudo updatedb

4-查看版本

vim /usr/include/eigen3/Eigen/src/Core/util/Macros.h

5-安装qt5.14.2

1-下载
https://download.qt.io/archive/qt/5.14/5.14.2/

2-安装

sudo chmod a+x ./qt-opensource-linux-x64-5.14.0.run
./qt-opensource-linux-x64-5.14.0.run

6-安装CUDA10.0

1-下载
https://developer.nvidia.com/cuda-10.0-download-archive?target_os=Linux

2-安装

sudo sh cuda_10.0.130_410.48_linux.run #第一个安装驱动是n，其他的为y

安装完毕：

3-添加环境变量

sudo gedit ~/.bashrc
export PATH=$PATH:/usr/local/cuda/bin  
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda/lib64  
export LIBRARY_PATH=$LIBRARY_PATH:/usr/local/cuda/lib64  

4-版本查看

source ~/.bashrc
nvcc --version
cat /usr/local/cuda/version.txt  

5-测试

cd /usr/local/cuda/samples/1_Utilities/deviceQuery 
sudo make
./deviceQuery

界面出现PASS证明正常。

6-安装CUDNN7.6.5

1-下载
百度网盘 ，密码：c5p7

官方网址
2-拷贝安装

sudo cp cuda/include/cudnn.h /usr/local/cuda/include/
sudo cp cuda/lib64/libcudnn* /usr/local/cuda/lib64/
sudo chmod a+r /usr/local/cuda/include/cudnn.h
sudo chmod a+r /usr/local/cuda/lib64/libcudnn*

3-验证

cat /usr/local/cuda/include/cudnn.h | grep CUDNN_MAJOR -A 2

7-安装Qt5.14.2

1-下载：qt

2-安装

chmod a+x ./qt-opensource-linux-x64-5.14.0.run
./qt-opensource-linux-x64-5.14.0.run

注意：不安装android sources script

8-算力

NVIDIA GPU算力表：链接

9-编译

1-安装库

sudo apt update
sudo apt install -y python-catkin-pkg python-rosdep ros-$ROS_DISTRO-catkin
sudo apt install -y python3-pip python3-colcon-common-extensions python3-setuptools python3-vcstool
pip3 install -U setuptools
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

2-编译命令
GPU编译CUDA加速：

AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

单独编译一个包：

AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-select adi_driver

10-参考链接：

链接1 链接2 链接3 链接4 链接5 链接6