百度无人车ApolloAuto使用入门

1.安装原版ubuntu 14.04

http://www.ubuntu.org.cn/download/alternative-downloads

2.安装对应ubuntu 14.04的indigo版ROS

http://wiki.ros.org/indigo/Installation/Ubuntu

3.安装Apollo Kernel

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。

4.安装Apollo本体

https://github.com/ApolloAuto/apollo
下载资源:
git clone https://github.com/ApolloAuto/apollo.git
安装docker环境:
cd ~/apollo
bash docker/scripts/install_docker.sh
先注销再重新登录,然后测试一下docker是否安装成功:
docker ps
设置环境:
bash docker/scripts/dev_start.sh
bash docker/scripts/dev_into.sh
编译:
bash apollo.sh build

5.安装Apollo ROS支持

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;
从这里下载ros-indigo-apollo-1.0.0.x86_64.tar.gz:
https://github.com/ApolloAuto/apollo-platform/releases
解压缩:
tar zxvf ros-indigo-apollo-1.0.0.x86_64.tar.gz
将解压后的文件夹ros拷贝到apollo工程中:
rsync -av ros/ ~/apollo/third_party/ros_x86_64

source ~/apollo/third_party/ros_x86_64/setup.bash


6.运行Apollo

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 -l ./docs/demo_guide/demo.bag
然后就可以看到界面播放demo.bag数据啦:


当然,这只是播放录像而已,要搭建一个真实的无人车所需要的硬件诸如工业电脑IPC、GPS、IMU、CANBUS卡等,在~/apollo/docs/quickstart/中有介绍:


# Key Hardware Components
The key hardware components to install include:

- Onboard computer system ─ Neousys Nuvo-5095GC
- Controller Area Network (CAN) Card ─ ESD CAN-PCIe/402-1
- General Positioning System (GPS) and Inertial Measurement Unit (IMU) ─
You can select one of the following options:
- NovAtel SPN-IGM-A1
- NovAtel SPAN® ProPak6™ and NovAtel IMU-IGM-A1

## Additional Components Required
You need to provide these additional components for the Additional Tasks Required:

- A 4G router for Internet access
- A monitor, keyboard, and mouse for debugging at the car onsite
- Cables: Video Graphics Array (VGA) connector, a Digital Visual Interface (DVI) cable (optional)
- Apple iPad Pro: 9.7-inch, Wi-Fi (optional)

The features of the key hardware components are presented in the subsequent sections.

## Onboard Computer System - IPC
The onboard computer system is an industrial PC (IPC) for the autonomous vehicle and uses the **NeousysNuvo-5095GC** that is powered by a sixth-generation Intel Skylake core i7-6700 CPU.

The Neousys Nuvo-5095GC is the central unit of the autonomous driving system (ADS).

### IPC Configuration
Configure the IPC as follows:

- 32GB DDR4 RAM
- MezIO-V20-EP module (with ignition control for in-vehicle usage)
- PO-160W-OW 160W AC/DC power adapter
- CSM2 module (x16 PCIe expansion Gen3 8-lane cassette)


当然,首先你要有个车。


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版权声明:本文为博主原创文章,未经博主允许不得转载。 https://blog.csdn.net/ss910/article/details/74998172
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