Apollo-9.0.0在Ubuntu20.04/x86_64/NVIDIA GeForce RTX 4090机器上的使用

参考：使用4090显卡编译代码报错 · Issue #14821 · ApolloAuto/apollo · GitHub​​

一、下载apollo

https://codeload.github.com/ApolloAuto/apollo/tar.gz/refs/tags/v9.0.0

二、创建并进入apollo容器

1. 修改 docker/scripts/dev_start.sh第33行为：

VERSION_X86_64="dev-x86_64-18.04-20231128_2222"

2. 运行

cd apollo-9.0.0

bash docker/scripts/dev_start.sh

bash docker/scripts/dev_into.sh

​三、编译
1. 修改third_party/centerpoint_infer_op/workspace.bzl为：

"""Loads the paddlelite library"""

# Sanitize a dependency so that it works correctly from code that includes
# Apollo as a submodule.
load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")

def clean_dep(dep):
    return str(Label(dep))

def repo():
    http_archive(
        name = "centerpoint_infer_op-x86_64",
        sha256 = "038470fc2e741ebc43aefe365fc23400bc162c1b4cbb74d8c8019f84f2498190",
        strip_prefix = "centerpoint_infer_op",
        urls = ["https://apollo-pkg-beta.bj.bcebos.com/archive/centerpoint_infer_op_cu118.tar.gz"],
    )

    http_archive(
        name = "centerpoint_infer_op-aarch64",
        sha256 = "e7c933db4237399980c5217fa6a81dff622b00e3a23f0a1deb859743f7977fc1",
        strip_prefix = "centerpoint_infer_op",
        urls = ["https://apollo-pkg-beta.bj.bcebos.com/archive/centerpoint_infer_op-linux-aarch64-1.0.0.tar.gz"],
    )

2. 修改third_party/paddleinference/workspace.bzl为：

"""Loads the paddlelite library"""

# Sanitize a dependency so that it works correctly from code that includes
# Apollo as a submodule.
load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")

def clean_dep(dep):
    return str(Label(dep))

def repo():
    http_archive(
        name = "paddleinference-x86_64",
        sha256 = "7498df1f9bbaf5580c289a67920eea1a975311764c4b12a62c93b33a081e7520",
        strip_prefix = "paddleinference",
        urls = ["https://apollo-pkg-beta.cdn.bcebos.com/archive/paddleinference-cu118-x86.tar.gz"],
    )

    http_archive(
        name = "paddleinference-aarch64",
        sha256 = "048d1d7799ffdd7bd8876e33bc68f28c3af911ff923c10b362340bd83ded04b3",
        strip_prefix = "paddleinference",
        urls = ["https://apollo-pkg-beta.bj.bcebos.com/archive/paddleinference-linux-aarch64-1.0.0.tar.gz"],
    )

3. 注释掉文件modules/perception/common/inference/tensorrt/rt_legacy.h的

// #ifdef __aarch64__

// #endif

4. 编译

bash /apollo/apollo.sh build_opt_gpu

5. 成了！

​