Apollo学习001: 装置Apollo

本文旨在具体记录 Apollo在个人电脑的 Ubuntu 18.04 零碎中的残缺装置及运行过程。

硬件要求

百度Apollo零碎失常须要装置在工业计算机IPC中，在个人电脑上也能够装置。因为网上没有查到具体的硬件要求，这里PO出集体笔记本电脑配置作为参考：电脑型号：神州战神z7m，CPU i7, 16G内存，GPU: GTX965m。实测能够跑通。（PS：Unbutu零碎须要空间大一些，实测200个G的空间装完并且将Apollo齐全编译后仅剩50G）

Apollo装置过程

  1. 装置Nvidia显卡驱动。

    sudo apt-get updatesudo apt-add-repository multiversesudo apt-get updatesudo apt-get install nvidia-driver-455

    装置结束采纳nvidia-smi 命令查看显卡:

    Wed Aug 25 21:55:21 2021       +-----------------------------------------------------------------------------+| NVIDIA-SMI 460.73.01    Driver Version: 460.73.01    CUDA Version: 11.2     ||-------------------------------+----------------------+----------------------+| GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC || Fan  Temp  Perf  Pwr:Usage/Cap|         Memory-Usage | GPU-Util  Compute M. ||                               |                      |               MIG M. ||===============================+======================+======================||   0  GeForce GTX 965M    Off  | 00000000:01:00.0 Off |                  N/A || N/A   61C    P0    N/A /  N/A |    438MiB /  2002MiB |     25%      Default ||                               |                      |                  N/A |+-------------------------------+----------------------+----------------------+                                                                               +-----------------------------------------------------------------------------+| Processes:                                                                  ||  GPU   GI   CI        PID   Type   Process name                  GPU Memory ||        ID   ID                                                   Usage      ||=============================================================================||    0   N/A  N/A      1515      G   /usr/lib/xorg/Xorg                216MiB ||    0   N/A  N/A      1771      G   /usr/bin/gnome-shell               26MiB ||    0   N/A  N/A      3659      G   ...AAAAAAAAA= --shared-files       16MiB ||    0   N/A  N/A      4582      G   ...AAAAAAAAA= --shared-files      133MiB ||    0   N/A  N/A      7588      G   ...AAAAAAAAA= --shared-files        7MiB ||    0   N/A  N/A     10792      G   ...AAAAAAAAA= --shared-files       27MiB |+-----------------------------------------------------------------------------+

  2. 装置docker

    curl https://get.docker.com | shsudo systemctl start docker && sudo systemctl enable docker

    重启 Docker 守护过程以使改变失效：

    sudo systemctl restart docker

    实现 Docker 装置后，在终端中执行下述命令并重启零碎，这样能够免去每次执行 Docker 命令时须要增加 sudo 的繁琐：

    sudo groupadd dockersudo usermod -aG docker your_username

  3. 装置nvidia工具包

    如果是在物理机中装置的 Ubuntu，且机器配有 NVIDIA 显卡，在装置了驱动的前提下，还须要装置 NVIDIA 容器工具包以运行 Apollo Docker 镜像中的 CUDA：

    distribution=$(. /etc/os-release;echo $ID$VERSION_ID)curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.listsudo apt-get -y updatesudo apt-get install -y nvidia-docker2

  4. git clone源码

    # 应用 SSH 的形式git clone git@github.com:ApolloAuto/apollo.git# 应用 HTTPS 的形式git clone https://github.com/ApolloAuto/apollo.git

Docker构建启动Apollo

  1. 进入到 Apollo 源码根目录，终端执行下述命令以启动 Apollo Docker 开发容器：

    ./docker/scripts/dev_start.sh

  2. 进入docker

    ./docker/scripts/dev_into.sh

  3. 容器中构建Apollo,

    ./apollo.sh build#若编译失败可多尝试几次，卡死可尝试./apollo.sh build_opt

  4. 启动Apollo

    ./scripts/bootstrap.sh start

    上述命令会启动 DreamView 并使能模块监控机制，在浏览器中拜访 http://localhost:8888 来显示 DreamView 界面。

踩坑记录

git clone Apollo仓库遇到谬误

andre@andre-CN15S:~$ git clone git clone https://github.com/ApolloAuto/apollo.gitCloning into 'apollo'... remote: Enumerating objects: 2618, done. remote: Counting objects: 100% (2618/2618), done. remote: Compressing objects: 100% (1495/1495), done. error: RPC failed; curl 56 GnuTLS recv error (-110): The TLS connection was non-properly terminated. fatal: The remote end hung up unexpectedly fatal: early EOF fatal: index-pack failed

解决办法：

https://github.com/ApolloAuto...

Apollo执行 ./apollo.h build遇到谬误

(16:20:38) ERROR: no such package '@com_github_grpc_grpc//bazel': java.io.IOException: Error downloading [https://apollo-system.cdn.bcebos.com/archive/6.0/v1.30.0.tar.gz, https://github.com/grpc/grpc/archive/v1.30.0.tar.gz] to /apollo/.cache/bazel/540135163923dd7d5820f3ee4b306b32/external/com_github_grpc_grpc/temp13334635335104087956/v1.30.0.tar.gz: Unknown host: github.com (16:20:38) INFO: Elapsed time: 164.995s (16:20:38) INFO: 0 processes. (16:20:38) FAILED: Build did NOT complete successfully (0 packages loaded)

解决办法： 多编译几次 就好了

装置VS code并配置C++环境

VS code装置和配置参见: https://segmentfault.com/a/11...