Apollo环境搭建 Ubuntu20.04

https://github.com/ApolloAuto/apollo/
https://zhuanlan.zhihu.com/p/369418136

1. 克隆仓库 https://github.com/ApolloAuto/apollo.git
2. 安装NVIDIA驱动

sudo apt-get install nvidia-driver-495
重启，运行nvidia-smi检查驱动
3. 安装docker

sudo apt install curl
curl _{[https://get.docker.com](https://link.zhihu.com/?target=https%3A//get.docker.com)} | sh
sudo systemctl start docker && sudo systemctl enable docker
增加权限
sudo groupadd docker
sudo usermod -aG docker $USER
logout后重新登录
newgrp docker
docker run hello-world
若安装成功会有显示，然后继续为docker添加启动项
sudo systemctl enable docker.service
sudo systemctl enable containerd.service

可选：安装docker管理软件portainer
docker volume create portainer_data
docker run -d -p 8000:8000 -p 9443:9443 --name portainer --restart=always -v /var/run/docker.sock:/var/run/docker.sock -v portainer_data:/data portainer/portainer-ce:latest
然后登录https://localhost:9443

4. 安装N卡 Container Toolkit，这是apollo运行所必须的组件

distribution=ubuntu18.04
curl -s -L _{[https://nvidia.github.io/nvidia-docker/gpgkey](https://link.zhihu.com/?target=https%3A//nvidia.github.io/nvidia-docker/gpgkey)} | sudo apt-key add -
curl -s -L _{[https://nvidia.github.io/nvidia-docker/](https://link.zhihu.com/?target=https%3A//nvidia.github.io/nvidia-docker/)}$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
sudo apt-get -y update
sudo apt-get install -y nvidia-docker2
sudo systemctl restart docker

5. 添加docker镜像，加速下载，以免下载失败

sudo nano /etc/docker/daemon.json
https://yeasy.gitbook.io/docker_practice/install/mirror

"registry-mirrors": [
 "https://hub-mirror.c.163.com",
 "https://mirror.baidubce.com"

],
(注意空格，末尾“,”)
sudo systemctl daemon-reload
sudo systemctl restart docker

6. 进入Apollo目录，开始配置（若之前打开过，要先关闭终端，让docker更改生效）

cd apollo
echo “export APOLLO_ROOT_DIR=$(pwd)” >> ~/.bashrc && source ~/.bashrc
newgrp docker
下载docker运行Apollo的环境
bash docker/scripts/dev_start.sh
bash docker/scripts/dev_into.sh

由于cuda升级，需要Remove Bazel output of previous builds
rm -rf /apollo/.cache/{bazel,build,repos}

Re-configure bazelrc.
./apollo.sh config --noninteractive

./apollo.sh build

7. 运行

bash scripts/bootstrap.sh

以上完成编译，接下来运行Apollo

1. 运行

Startup modules monitor and dreamview, the default option is start.

./scripts/bootstrap.sh [start | stop | restart]
此时再打开网页_{[http://localhost:8888](http://localhost:8888)} 即可看到UI界面

2. 下载record用于播放（py文件需要重新定位）

python3 record_helper.py demo_3.5.record

3. 播放record

cyber_recorder play -f docs/demo_guide/demo_3.5.record -l