• 百度Apollo搭建步骤(待更新)


    百度Apollo搭建步骤

    ##一、安装ubuntu16.04

    无需多说,安装完成打开命令行。

    ##二、下载Apollo镜像

    git clone https://github.com/ApolloAuto/apollo

    若提示未安装git,则安装git。

    ##三、安装docker-ce


    如果你过去安装过其他版本的docker,先删掉:

    sudo apt-get remove docker docker-engine docker.io

    首先安装依赖:

    sudo apt-get install apt-transport-https ca-certificates curl gnupg2 software-properties-common

    信任 Docker 的 GPG 公钥:

    curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -

    对于 amd64 架构的计算机,添加软件仓库:

    sudo add-apt-repository
    "deb [arch=amd64] https://mirrors.tuna.tsinghua.edu.cn/docker-ce/linux/ubuntu
    $(lsb_release -cs)
    stable"


    如果你是树莓派或其它ARM架构计算机,请运行:

    echo "deb [arch=armhf] https://mirrors.tuna.tsinghua.edu.cn/docker-ce/linux/ubuntu
    $(lsb_release -cs) stable" |
    sudo tee /etc/apt/sources.list.d/docker.list

    最后安装

    sudo apt-get update
    sudo apt-get install docker-ce

    把当前用户加到docker用户组中:
    ######添加docker用户组

    sudo groupadd docker

    ######把自己加到docker用户组中

    sudo gpasswd -a myusername docker

    myusername是指你的用户名
    ######重启docker后台服务

    sudo service docker restart

    ######切换当前用户到新group

    newgrp - docker

    ######确认docker可以非sudo运行

    docker ps

    image

    ##四、安装ros(apollo里集成ros,就不用安装ros了)

    参见:https://www.cnblogs.com/mohuishou-love/p/10079922.html

    ##五、.安装apollo-kernel(未安装,跳过)


    ######(1)在Apollo github下载百度编译好的内核
    https://github.com/ApolloAuto/apollo-kernel/releases

    这里写图片描述

    安装参见:百度无人车ApolloAuto使用入门

    https://blog.csdn.net/ss910/article/details/74998172 

    https://github.com/ApolloAuto/apollo-kernel
    为运行Apollo软件提供了kernel层面的支持。
    从这里下载linux-4.4.32-apollo-1.0.0.tar.gz:
    https://github.com/ApolloAuto/apollo-kernel/releases
    解压安装:
    tar zxvf linux-4.4.32-apollo-1.0.0.tar.gz
    cd install
    sudo ./install_kernel.sh
    重启系统。

    ##六、    安装apollo-platform (ubuntu14.04 ,跳过)

    https://github.com/ApolloAuto/apollo-platform
    相对于原版ROS,做出了如下改进:
    。增强了ROS的去中心化特性;
    。基于共享内存的更高效的通信;
    。支持Protobuf;
    下载apollo-platform并解压:
    https://github.com/ApolloAuto/apollo-platform/releases

    解压缩:
    tar zxvf ros-indigo-apollo-1.0.0.x86_64.tar.gz

    将文件夹中的ros拷贝到apollo工程中:

    rsync -av ros/ ~/apollo/third_party/ros_x86_64
    cd apollo
    source ./third_party/ros_x86_64/setup.bash

    ##七、    Apollo编译

    执行 service docker start 命令
    ######1.设置docker环境

    cd apollo
    bash docker/scripts/dev_start.sh -C #-C表示从中国镜像服务器下载,速度较快(很长时间5个小时)

    image


    bash docker/scripts/dev_into.sh

    ######2.编译Apollo

    bash apollo.sh build  #若提示权限不足,则sudo su  (小时)

    ######3.启动人机交互界面(HMI)

    bash scripts/bootstrap.sh

    打开chrome浏览器,输入地址“localhost:8888”即可访问dreamview。

    重新打开apollo,演示代码如下:

    cd apollo
    bash docker
    /scripts/dev_start.sh -C bash docker/scripts/dev_into.sh bash scripts/bootstrap.sh

    rosbag play demo_2.0.bag --loop #--loop设置循环回放 localhost:
    8888

    ##八、    Apollo演示(出错)


    ######1.启动docker的release环境

    bash docker/scripts/release_start.sh

    ######2.进入release环境

    bash docker/scripts/release_into.sh

    ######3.回放rosbag

    python docs/demo_guide/rosbag_helper.py demo_1.5.bag #下载rosbag

    下载测试数据包demo_2.0.bag      参见:https://blog.csdn.net/SingingFisher/article/details/81536096

    输入 python docs/demo_guide/rosbag_helper.py demo_2.0.bag 来下载demo_2.0.bag数据包,不过由于资源在github上,所以很大可能是下载不下来的。来这里下载吧:https://pan.baidu.com/s/1jQwavKBzTvHHVnSlwxM1ZQ 密码:1nz8

    此时你还在docker环境下:root@in_dev_docker:/apollo,把下载的demo_2.0.bag复制到此处。

    cd ~/apollo
    bash scripts/hmi.sh
    在浏览器输入http://localhost:8887后回车,在Debug中开启Dreamview,然后点击右上方的Dreamview。
    在另一个终端里输入:


    rosbag play demo_1.5.bag --loop #--loop设置循环回放

    打开chrome浏览器,输入地址“localhost:8888”即可在dreamview中看到demo演示。

    问题:

    (1) 遇到一个问题,总是 build failed

    这时候在docker 环境下执行命令:

    bazel query //...

    然后再执行 build 那一句,就正常了。

    (2) Error response from daemon: Container CONTAINER_NAME is not running

    Build in Visual Studio Code

    Install VSCode

    The easiest way to install for Debian/Ubuntu based distributions is to download from https://code.visualstudio.com and install the .deb package (64-bit) either through the graphical software center if it's available or through the command line with:

    sudo dpkg -i <file>.deb
    sudo apt-get install -f # Install dependencies

    Start VSCode

    Start VSCode with the following command:

    code

    Open the Apollo project in VSCode

    Use the keyboard shortcut (Ctrl+K Ctrl+O) to open the Apollo project.

    Build the Apollo project in VSCode

    Use the keyboard shortcut (Ctrl+Shift+B) to build the Apollo project.

    Run all unit tests for the Apollo project in VSCode

    Select the "Tasks->Run Tasks..." menu command and click "run all unit tests for the apollo project" from a popup menu to check the code style for the Apollo project.

    If you are currently developing on 16.04, you will get a build error. As seen in the image below, 2 perception tests. To avoid this build error, refer to the how to build Apollo using Ubuntu 16.

    Build error

    (虚拟机+ubuntu16.04+vscode 编译没有出现错误)

    Run a code style check task for the Apollo project in VSCode

    Select the "Tasks->Run Tasks..." menu command and click "code style check for the apollo project" from a popup menu to check the code style for the Apollo project.

    Clean the Apollo project in VSCode

    Select the "Tasks->Run Tasks..." menu command and click "clean the apollo project" from a popup menu to clean the Apollo project.

    Change the building option

    You can change the "build" option to another one such as "build_gpu" (refer to the "apollo.sh" file for details) in ".vscode/tasks.json"

    Test

    bash docker/scripts/release_start.sh [release tag]

    The HMI will automatically start and you can control each apollo module through any web browser by inputting IP address and port number, such as localhost:8887. You can get into the release container if quick fix needed.

    bash docker/scripts/release_into.sh

    参见:

    https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_build_and_release.md#open-the-apollo-project-in-vscode

    另外参见:

    ubuntu16.04 安装 apollo-kernel,apollo-platform以及apollo

    http://www.51apollo.com/2018/08/21/ubuntu16-04-安装-apollo-kernel,apollo-platform以及apollo/

    百度阿波罗Apollo r3.0完整安装以及常用操作教程

    https://blog.csdn.net/SingingFisher/article/details/81536096

    https://blog.csdn.net/ss910/article/details/74998172

    https://blog.csdn.net/qq_34906391/article/details/81478968     (重要)

    https://blog.csdn.net/jinzhuojun/article/details/80210180

    Apollo 2.5 安装踩坑指南

    https://www.jianshu.com/p/2c287aaf58bc

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  • 原文地址:https://www.cnblogs.com/mohuishou-love/p/10088196.html
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