【apollo6.0发行版（可以理解为简化版）安装全教程】

首先感谢前辈，因为我也踩过很多坑，都是他们的奉献，帮助了大家提高 ~磕～

参考文章包括：
https://zhuanlan.zhihu.com/p/425483403
https://github.com/ApolloAuto/apollo/blob/master/docs/specs/prerequisite_software_installation_guide.md

0关于apollo安装的版本提示！

首先需要说明的是安装apollo有两种方式，分别是开发版和发行版（release build）。
本文所讲述的是按照正常步骤安装安装开发版，但是其中的编译程序步骤需要电脑有很高性能，除此之外呢百度为了让大家省略掉编译这一步，发布了一个发行版（release build），通过运行一个简单的安装脚本省掉了耗时很长的编译步骤，这样的简化版是大家安装apollo更加方便了。

那么如何区分这两个版本呢？
根据apollo文件下载源区分：一般大家在github下载的都是开发版，现在我只看到百度官网提供了发行版（release build）的apollo文件压缩包，也就是这里
apollo开放平台首页https://apollo.auto/developer_cn.html
关于发行版安装方法大家可以看百度官方教程 官方教程地址
然后我也非常推荐这篇apollo6.0安装到启动（内含超多踩坑细节，2022-3-8日亲测可用）
感谢博主奉献～磕～

1电脑推荐配置！！非常重要！！

这里要提到我的心酸血泪史，如果要安装开发版的话，电脑性能不行真的有各种奇怪问题！所以大家在安装过程中出现问题后，不要老是怀疑自己操作，或者版本问题，换台电脑真的可能迎刃而解！

	推荐配置
内存	最好16G以上 （最重要）
硬盘	安装双系统的话留出100G以上
cpu	推荐8核以上，越快越好，主要影响后面的编译时间
英伟达GPU	最好有，没有也没关系
网速	拉取镜像和下载程序都需要网速，网速太慢就可能会连接失败

我的网速，测速网测的下载网速有100m，
电脑是戴尔inspiron3881，配置和系统版本如下：

2安装ubuntu系统

安装ubuntu系统，我没见有人在虚拟机上安装成功的，所以还是推荐大家直接在本机上安装或者安装双系统，安装18.04或者20.04应该都可以。你的电脑应该至少能装上这两个系统其中之一。

安装方法大家参考：
windows10安装ubuntu双系统教程（绝对史上最详细）
地址：https://www.cnblogs.com/masbay/p/10745170.html

需要注意的是系统分区：
由于Linux和Windows的分区方式是不一样的，所以文章里也有提到要按照Linux的方式分出"/“，”/boot"，
“swap”，"/home"这四个分区，

最后安装成功后的占用空间供大家参考

所以100G的分区建议如下，当然如果空间大多分一点当然是更好的

分区	类别	大小
/	主分区	40G
/boot	主分区	1G
swap	逻辑分区	32G
/home	逻辑分区	25G

3安装NVIDIA GPU 驱动

xiansgengxin, 查看自己的设备信息

ubuntu-drivers devices

显示如下

xu@xu-Inspiron-3881:~$ ubuntu-drivers devices
WARNING:root:_pkg_get_support nvidia-driver-510-server: package has invalid Support PBheader, cannot determine support level
WARNING:root:_pkg_get_support nvidia-driver-510: package has invalid Support PBheader, cannot determine support level
== /sys/devices/pci0000:00/0000:00:01.0/0000:01:00.0 ==
modalias : pci:v000010DEd00002187sv00001043sd00008767bc03sc00i00
vendor   : NVIDIA Corporation
model    : TU116 [GeForce GTX 1650 SUPER]
driver   : nvidia-driver-510-server - distro non-free
driver   : nvidia-driver-510 - distro non-free
driver   : nvidia-driver-450-server - distro non-free
driver   : nvidia-driver-470 - distro non-free recommended
driver   : nvidia-driver-470-server - distro non-free
driver   : xserver-xorg-video-nouveau - distro free builtin

根据推荐的版本号，也就是recommended那一行，推荐版本nvidia-driver-470，安装命令如下：

sudo apt-add-repository multiverse
sudo apt-get update
sudo apt-get install nvidia-driver-470

安装完成后，可以通过命令nvidia-smi测试，出现下面提示说明安装成功：

xu@xu-Inspiron-3881:~$ nvidia-smi
Thu Mar 24 20:38:08 2022       
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 470.103.01   Driver Version: 470.103.01   CUDA Version: 11.4     |
|-------------------------------+----------------------+----------------------+
| 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  NVIDIA GeForce ...  Off  | 00000000:01:00.0  On |                  N/A |
| 31%   39C    P8    11W / 100W |    177MiB /  3903MiB |      2%      Default |
|                               |                      |                  N/A |
+-------------------------------+----------------------+----------------------+
                                                                               
+-----------------------------------------------------------------------------+
| Processes:                                                                  |
|  GPU   GI   CI        PID   Type   Process name                  GPU Memory |
|        ID   ID                                                   Usage      |
|=============================================================================|
|    0   N/A  N/A      1232      G   /usr/lib/xorg/Xorg                 35MiB |
|    0   N/A  N/A      1730      G   /usr/lib/xorg/Xorg                 44MiB |
|    0   N/A  N/A      1859      G   /usr/bin/gnome-shell               87MiB |
+-----------------------------------------------------------------------------+
xu@xu-Inspiron-3881:~$ 
xu@xu-Inspiron-3881:~$ 

如果不成功，就把ubuntu系统重启一下使安装生效，我就是重启后才成功的。

再有问题的话也可以参考百度的官方文章：
开发者说 | 为Apollo项目安装NVIDIA显卡驱动的有效方法
地址： https://mp.weixin.qq.com/s/-1lkRpHKfWB-0QpHUg0e6Q

4换国内源

有很多博主推荐安装完系统后，马上换成国内源更新软件，但是我这里比较保守是先安装驱动在更新源。
这里不难，但是大家要注意对应你的ubuntu换源

大家参考文章：
Ubuntu 20.04 && Ubuntu 18.04 修改 apt 源
地址：https://blog.csdn.net/WU2629409421perfect/article/details/110881141
或者这篇
Ubuntu 更换国内源
https://blog.csdn.net/qq_35451572/article/details/79516563

记得更新和升级！

sudo apt-get update
sudo apt-get upgrade

5安装docker

sudo apt install docker.io

Setting up docker.io (20.10.7-0ubuntu5~20.04.2) ...
Adding group `docker' (GID 135) ...
Done.
Created symlink /etc/systemd/system/multi-user.target.wants/docker.service → /li
b/systemd/system/docker.service.
Created symlink /etc/systemd/system/sockets.target.wants/docker.socket → /lib/sy
stemd/system/docker.socket.
Setting up git (1:2.25.1-1ubuntu3.2) ...
Processing triggers for man-db (2.9.1-1) ...
Processing triggers for systemd (245.4-4ubuntu3.15) ...

这时候应该已经安装成功，可以查看版本验证

docker --version

显示对应版本

Docker version 20.10.7, build 20.10.7-0ubuntu5~20.04.2

下面打开docker，然后查看状态信息

systemctl start docker && systemctl enable docker
systemctl status docker

出现绿色字体的active 说明docker已经正常开启

● docker.service - Docker Application Container Engine
     Loaded: loaded (/lib/systemd/system/docker.service; enabled; vendor preset: enabled)
     Active: active (running) since Sat 2022-03-12 21:53:16 CST; 55s ago
TriggeredBy: ● docker.socket
       Docs: https://docs.docker.com
   Main PID: 31000 (dockerd)
      Tasks: 22
     Memory: 40.4M
     CGroup: /system.slice/docker.service
             └─31000 /usr/bin/dockerd -H fd:// --containerd=/run/containerd/containerd.sock

3月 12 21:53:14 xu-Inspiron-3881 dockerd[31000]: time="2022-03-12T21:53:14.920899278+08:00" level=warning msg="Your kernel does not support CPU realti>
3月 12 21:53:14 xu-Inspiron-3881 dockerd[31000]: time="2022-03-12T21:53:14.920966589+08:00" level=warning msg="Your kernel does not support cgroup blk>
3月 12 21:53:14 xu-Inspiron-3881 dockerd[31000]: time="2022-03-12T21:53:14.920988547+08:00" level=warning msg="Your kernel does not support cgroup blk>
3月 12 21:53:14 xu-Inspiron-3881 dockerd[31000]: time="2022-03-12T21:53:14.921379094+08:00" level=info msg="Loading containers: start."
3月 12 21:53:15 xu-Inspiron-3881 dockerd[31000]: time="2022-03-12T21:53:15.415038447+08:00" level=info msg="Default bridge (docker0) is assigned with >
3月 12 21:53:15 xu-Inspiron-3881 dockerd[31000]: time="2022-03-12T21:53:15.553883257+08:00" level=info msg="Loading containers: done."
3月 12 21:53:15 xu-Inspiron-3881 dockerd[31000]: time="2022-03-12T21:53:15.741642643+08:00" level=info msg="Docker daemon" commit="20.10.7-0ubuntu5~20>
3月 12 21:53:15 xu-Inspiron-3881 dockerd[31000]: time="2022-03-12T21:53:15.741892264+08:00" level=info msg="Daemon has completed initialization"
3月 12 21:53:16 xu-Inspiron-3881 systemd[1]: Started Docker Application Container Engine.
3月 12 21:53:16 xu-Inspiron-3881 dockerd[31000]: time="2022-03-12T21:53:16.019919839+08:00" level=info msg="API listen on /run/docker.sock"

下面运行一下docker看看能否正常运行

xu@xu-Inspiron-3881:~$ docker run hello-world
docker: Got permission denied while trying to connect to the Docker daemon socket at unix:///var/run/docker.sock: Post "http://%2Fvar%2Frun%2Fdocker.sock/v1.24/containers/create": dial unix /var/run/docker.sock: connect: permission denied.
See 'docker run --help'.

发现不能正常运行，这时需要添加用户组

xu@xu-Inspiron-3881:~$ sudo groupadd docker

xu@xu-Inspiron-3881:~$ sudo usermod -aG docker $USER

xu@xu-Inspiron-3881:~$ newgrp docker

再一次运行hello-world

xu@xu-Inspiron-3881:~$ docker run hello-world
Unable to find image 'hello-world:latest' locally
latest: Pulling from library/hello-world
2db29710123e: Pull complete 
Digest: sha256:4c5f3db4f8a54eb1e017c385f683a2de6e06f75be442dc32698c9bbe6c861edd
Status: Downloaded newer image for hello-world:latest

Hello from Docker!
This message shows that your installation appears to be working correctly.

To generate this message, Docker took the following steps:
 1. The Docker client contacted the Docker daemon.
 2. The Docker daemon pulled the "hello-world" image from the Docker Hub.
    (amd64)
 3. The Docker daemon created a new container from that image which runs the
    executable that produces the output you are currently reading.
 4. The Docker daemon streamed that output to the Docker client, which sent it
    to your terminal.

To try something more ambitious, you can run an Ubuntu container with:
 $ docker run -it ubuntu bash

Share images, automate workflows, and more with a free Docker ID:
 https://hub.docker.com/

For more examples and ideas, visit:
 https://docs.docker.com/get-started/

发现运行成功了，出现了Hello from Docker!这一行，说明docker没有问题了

这里我转述其他博主，需要注意：Docker的更新也比较频繁，经常会出现新版本安装不成功又禁用旧版本服务的情况，此时别慌，仅需以下几个命令即可解决：

xu@xu-Inspiron-3881:~$ service docker start 
xu@xu-Inspiron-3881:~$ systemctl unmask docker.service
xu@xu-Inspiron-3881:~$ systemctl unmask docker.socket
xu@xu-Inspiron-3881:~$ systemctl start docker.service
xu@xu-Inspiron-3881:~$ service docker start 
xu@xu-Inspiron-3881:~$ docker run hello-world

再次检查镜像也没问题，就是刚才hello-world的镜像

xu@xu-Inspiron-3881:~$ docker images
REPOSITORY    TAG       IMAGE ID       CREATED        SIZE
hello-world   latest    feb5d9fea6a5   5 months ago   13.3kB

当然如果是完全不懂docker的同学可以去b站搜下docker，然后看下狂神视频，你会有新收获

6安装docker上英伟达驱动，也就是Installing NVIDIA Container Toolkit

还是挺简单的

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.list
sudo apt-get -y update
sudo apt-get install -y nvidia-docker2

如果显示这个，那就先安装一下curl哈，也很简单，按提示的这两条语句就可以

Command 'curl' not found, but can be installed with:

sudo snap install curl  # version 7.81.0, or
sudo apt  install curl  # version 7.68.0-1ubuntu2.8

See 'snap info curl' for additional versions.

gpg: no valid OpenPGP data found.

完成之后重新启动一下docker

sudo systemctl restart docker

7下载Apollo 6.0 edu

终于要下载Apollo了，小激动~

官网链接地址https://apollo.auto/developer_cn.html

步骤一：下载安装包
在 官网首页 下载安装包。

步骤二：解压安装包
选择合适的路径解压。解压后的文件夹将作为 Apollo 的根目录。

tar -xvf apollo_v6.0_edu_amd64.tar.gz

步骤三：安装

输入

cd apollo
./apollo.sh

输出如下

xu@xu-Inspiron-3881:~$ cd apollo
xu@xu-Inspiron-3881:~/apollo$ ./apollo.sh
Welcome to
    ___                ____    
   /   |  ____  ____  / / /___ 
  / /| | / __ \/ __ \/ / / __ \
 / ___ |/ /_/ / /_/ / / / /_/ /
/_/  |_/ .___/\____/_/_/\____/ 
      /_/ 
THE APOLLO OPEN PLATFORM (“PLATFORM”) FOR AND ON BEHALF OF ITSELF AND ITS SUBSIDIARIES AND AFFILIATES UNDER COMMON CONTROL, IS WILLING TO LICENSE THE SOFTWARE TO YOU ONLY UPON THE CONDITION THAT YOU ACCEPT ALL OF THE TERMS CONTAINED IN THIS LICENSE AGREEMENT ("AGREEMENT"). PLEASE READ THE AGREEMENT CAREFULLY. BY SELECTING THE "ACCEPT LICENSE AGREEMENT" (OR THE EQUIVALENT) BUTTON AND/OR BY USING THE SOFTWARE YOU ACKNOWLEDGE THAT YOU HAVE READ THE TERMS AND AGREE TO THEM. IF YOU ARE AGREEING TO THESE TERMS ON BEHALF OF A COMPANY OR OTHER LEGAL ENTITY, YOU REPRESENT THAT YOU HAVE THE LEGAL AUTHORITY TO BIND THE LEGAL ENTITY TO THESE TERMS. IF YOU DO NOT HAVE SUCH AUTHORITY, OR IF YOU DO NOT WISH TO BE BOUND BY THE TERMS, THEN SELECT THE "DECLINE LICENSE AGREEMENT" (OR THE EQUIVALENT) BUTTON AND YOU MUST NOT USE THE SOFTWARE ON THIS SITE OR ANY OTHER MEDIA ON WHICH THE SOFTWARE IS CONTAINED.

后续的过程

You agree to the terms of all the License Agreements.
Type 'y' or 'Y' to agree to the license agreement above, or type any other key to exit:y
[INFO] Start pulling docker image registry.baidubce.com/apolloauto/apollo:standalone-x86_64-18.04-6.1-latest ...
standalone-x86_64-18.04-6.1-latest: Pulling from apolloauto/apollo
f22ccc0b8772: Pulling fs layer 
f22ccc0b8772: Pull complete 
3cf8fb62ba5f: Pull complete 
e80c964ece6a: Pull complete 
8a451ac89a87: Pull complete 
c563160b1f64: Pull complete 
596a46902202: Pull complete 
aa0805983180: Pull complete 
7f15ac1612d3: Pull complete 
c0e1a8778448: Pull complete 
fc6265246fe8: Pull complete 
a3488813e326: Pull complete 
abd79c095614: Pull complete 
60a85012506e: Pull complete 
b1e091ba5f59: Pull complete 
21bc1840d781: Pull complete 
a33f1af00acd: Pull complete 
320f68d66d01: Pull complete 
42e792f1de96: Pull complete 
6b78a0c773d8: Pull complete 
eda874e8b8da: Pull complete 
c1ae6740e306: Pull complete 
4c7134574f1a: Pull complete 
60af62e4213e: Pull complete 
0cbf0791a523: Pull complete 
9af49411d61c: Pull complete 
6b2fc09c89e6: Pull complete 
ab134a1dee9c: Pull complete 
7889c613919b: Pull complete 
6181d3bef824: Pull complete 
6f302bde1ed1: Pull complete 
4c6475e2d33f: Pull complete 
74d6490642fc: Pull complete 
d9de10a7c555: Pull complete 
8328813a554a: Pull complete 
Digest: sha256:4822d3e5c3178f8b5190742e6691da7670d4d065a0a9671e7ab972ce154fa44d
Status: Downloaded newer image for registry.baidubce.com/apolloauto/apollo:standalone-x86_64-18.04-6.1-latest
registry.baidubce.com/apolloauto/apollo:standalone-x86_64-18.04-6.1-latest

Warning: uid(1000) != gid(135) found.
Warning: user_name(xu) != group_name(docker) found.
Adding group `docker' (GID 135) ...
Done.
Adding user `xu' ...
Adding new user `xu' (1000) with group `docker' ...
Creating home directory `/home/xu' ...
Copying files from `/etc/skel' ...
[ OK ] Congratulations! You have successfully finished setting up Apollo Runtime Environment.
[ OK ] Enjoy!
To run a command as administrator (user "root"), use "sudo <command>".
See "man sudo_root" for details.

脚本执行成功后，显示以下信息，您就进入 了Apollo 的运行容器：

[xu@in-runtime-docker:/apollo]$

在容器内可以直接使用 Apollo 提供的功能，无需执行构建过程。

8启动Dreamview

运行scripts/bootstrap.sh将在启用监视模块的情况下启动Dreamview后端。

bash scripts/bootstrap.sh

出现以下结果证明启动成功！

[xu@in-runtime-docker:/apollo]$ bash scripts/bootstrap.sh
nohup: appending output to 'nohup.out'
[ OK ] Launched module monitor.
nohup: appending output to 'nohup.out'
[ OK ] Launched module dreamview.
Dreamview is running at http://localhost:8888

在浏览器访问网址

http://localhost:8888/

您应该会看到此屏幕。但是，此刻，除监视器外，没有模块在后台运行。

终于成功了，撒花庆祝！！！！

当然还有最后一步，播放事先录制好的数据

# You need to download the demo record using the following commands
wget https://apollo-system.cdn.bcebos.com/dataset/6.0_edu/demo_3.5.record


# You can now replay this demo "record" in a loop with the '-l' flag
cyber_recorder play -f demo_3.5.record --loop

[xu@in-runtime-docker:/apollo]$ wget https://apollo-system.cdn.bcebos.com/dataset/6.0_edu/demo_3.5.record
--2022-03-24 21:09:13--  https://apollo-system.cdn.bcebos.com/dataset/6.0_edu/demo_3.5.record
Resolving apollo-system.cdn.bcebos.com (apollo-system.cdn.bcebos.com)... 27.148.186.35
Connecting to apollo-system.cdn.bcebos.com (apollo-system.cdn.bcebos.com)|27.148.186.35|:443... connected.
HTTP request sent, awaiting response... 200 OK
Length: 96246211 (92M) [application/octet-stream]
Saving to: 'demo_3.5.record'

demo_3.5.record                                    100%[===============================================================================================================>]  91.79M  11.1MB/s    in 8.4s    

2022-03-24 21:09:22 (11.0 MB/s) - 'demo_3.5.record' saved [96246211/96246211]

[xu@in-runtime-docker:/apollo]$ ls
__init__.py  bazel-bin  bin  cyber  data  demo_3.5.record  docker  docs  lib  modules  nohup.out  output  scripts  syspkgs.txt
[xu@in-runtime-docker:/apollo]$ cyber_recorder play -f demo_3.5.record --loop
file: demo_3.5.record, chunk_number: 3, begin_time: 1546888377338834894 (2019-01-08-03:12:57), end_time: 1546888422886740928 (2019-01-08-03:13:42), message_number: 61615
earliest_begin_time: 1546888377338834894, latest_end_time: 1546888422886740928, total_msg_num: 61615

Please wait 3 second(s) for loading...
Hit Ctrl+C to stop, Space to pause, or 's' to step.

[RUNNING] Record Time: 1546888392.149    Progress: 14.811 / 45.548
play finished.

最后的界面

[xu@in-runtime-docker:/apollo]$ exit
exit
xu@xu-Inspiron-3881:~$ cd ~
xu@xu-Inspiron-3881:~$ cd apollo
xu@xu-Inspiron-3881:~/apollo$ ls
apollo.sh  data  modules  output  README.md  scripts
xu@xu-Inspiron-3881:~/apollo$ bash scripts/runtime_into.sh
To run a command as administrator (user "root"), use "sudo <command>".
See "man sudo_root" for details.

[xu@in-runtime-docker:/apollo]$

关闭步骤

[xu@in-runtime-docker:/apollo]$ bash scripts/bootstrap.sh stop
[cyber_launch_9972] INFO Stop cyber launch finished.
[cyber_launch_9972] INFO cyber_launch exit.
[ OK ] Successfully stopped module dreamview.
[cyber_launch_10009] INFO Stop cyber launch finished.
[cyber_launch_10009] INFO cyber_launch exit.
[ OK ] Successfully stopped module monitor.



[xu@in-runtime-docker:/apollo]$ exit
exit
xu@xu-Inspiron-3881:~/apollo$ 
xu@xu-Inspiron-3881:~/apollo$ systemctl stop docker
Warning: Stopping docker.service, but it can still be activated by:
  docker.socket
xu@xu-Inspiron-3881:~/apollo$ systemctl status docker
● docker.service - Docker Application Container Engine
     Loaded: loaded (/lib/systemd/system/docker.service; enabled; vendor preset: enabled)
     Active: inactive (dead) since Thu 2022-03-24 21:59:36 CST; 14s ago
TriggeredBy: ● docker.socket
       Docs: https://docs.docker.com
    Process: 5843 ExecStart=/usr/bin/dockerd -H fd:// --containerd=/run/containerd/containerd.sock (code=exited, status=0/SUCCESS)
   Main PID: 5843 (code=exited, status=0/SUCCESS)

 三  24 21:03:07 xu-Inspiron-3881 dockerd[5843]: time="2022-03-24T21:03:07.853746879+08:00" level=info msg="ignoring event" container=aac550c819ac326d1513e4aaacd03a71c8e09e1c775bc717f58436f11f08b3e7 mod>
 三  24 21:04:06 xu-Inspiron-3881 dockerd[5843]: time="2022-03-24T21:04:06.875302022+08:00" level=info msg="ignoring event" container=7e24449775278023e4c410e25a17dc7b477308c671e8ab7034af1b5a362427fe mod>
 三  24 21:04:38 xu-Inspiron-3881 dockerd[5843]: time="2022-03-24T21:04:38.708015299+08:00" level=info msg="ignoring event" container=05fe27976a6cd55b81753c62fdc007d31c581237bf1d8e590e90a3d6d33689e8 mod>
 三  24 21:59:35 xu-Inspiron-3881 systemd[1]: Stopping Docker Application Container Engine...
 三  24 21:59:35 xu-Inspiron-3881 dockerd[5843]: time="2022-03-24T21:59:35.448402292+08:00" level=info msg="Processing signal 'terminated'"
 三  24 21:59:35 xu-Inspiron-3881 dockerd[5843]: time="2022-03-24T21:59:35.527640467+08:00" level=info msg="ignoring event" container=c87eff3d327a552139da69cefe9c5c24cbb44a4c86c917c48d300cff9720f882 mod>
 三  24 21:59:36 xu-Inspiron-3881 dockerd[5843]: time="2022-03-24T21:59:36.149319974+08:00" level=info msg="stopping event stream following graceful shutdown" error="<nil>" module=libcontainerd namespac>
 三  24 21:59:36 xu-Inspiron-3881 dockerd[5843]: time="2022-03-24T21:59:36.150148994+08:00" level=info msg="Daemon shutdown complete"
 三  24 21:59:36 xu-Inspiron-3881 systemd[1]: docker.service: Succeeded.
 三  24 21:59:36 xu-Inspiron-3881 systemd[1]: Stopped Docker Application Container Engine.

xu@xu-Inspiron-3881:~/apollo$ 

再一次重启的方法

xu@xu-Inspiron-3881:~/apollo$ systemctl start docker
xu@xu-Inspiron-3881:~/apollo$ systemctl status docker
● docker.service - Docker Application Container Engine
     Loaded: loaded (/lib/systemd/system/docker.service; enabled; vendor preset: enabled)
     Active: active (running) since Thu 2022-03-24 22:01:00 CST; 8s ago
TriggeredBy: ● docker.socket
       Docs: https://docs.docker.com
   Main PID: 10184 (dockerd)
      Tasks: 26
     Memory: 67.7M
     CGroup: /system.slice/docker.service
             └─10184 /usr/bin/dockerd -H fd:// --containerd=/run/containerd/containerd.sock

 三  24 22:00:59 xu-Inspiron-3881 dockerd[10184]: time="2022-03-24T22:00:59.218103251+08:00" level=warning msg="Your kernel does not support CPU realtime scheduler"
 三  24 22:00:59 xu-Inspiron-3881 dockerd[10184]: time="2022-03-24T22:00:59.218166823+08:00" level=warning msg="Your kernel does not support cgroup blkio weight"
 三  24 22:00:59 xu-Inspiron-3881 dockerd[10184]: time="2022-03-24T22:00:59.218188260+08:00" level=warning msg="Your kernel does not support cgroup blkio weight_device"
 三  24 22:00:59 xu-Inspiron-3881 dockerd[10184]: time="2022-03-24T22:00:59.218554593+08:00" level=info msg="Loading containers: start."
 三  24 22:00:59 xu-Inspiron-3881 dockerd[10184]: time="2022-03-24T22:00:59.790435546+08:00" level=info msg="Default bridge (docker0) is assigned with an IP address 172.17.0.0/16. Daemon option --bip ca>
 三  24 22:00:59 xu-Inspiron-3881 dockerd[10184]: time="2022-03-24T22:00:59.987757943+08:00" level=info msg="Loading containers: done."
 三  24 22:01:00 xu-Inspiron-3881 dockerd[10184]: time="2022-03-24T22:01:00.335749763+08:00" level=info msg="Docker daemon" commit="20.10.7-0ubuntu5~20.04.2" graphdriver(s)=overlay2 version=20.10.7
 三  24 22:01:00 xu-Inspiron-3881 dockerd[10184]: time="2022-03-24T22:01:00.335795647+08:00" level=info msg="Daemon has completed initialization"
 三  24 22:01:00 xu-Inspiron-3881 systemd[1]: Started Docker Application Container Engine.
 三  24 22:01:00 xu-Inspiron-3881 dockerd[10184]: time="2022-03-24T22:01:00.546018245+08:00" level=info msg="API listen on /run/docker.sock"


xu@xu-Inspiron-3881:~/apollo$ bash scripts/runtime_start.sh
[xu@in-runtime-docker:/apollo]$ bash scripts/bootstrap.sh
nohup: appending output to 'nohup.out'
[ OK ] Launched module monitor.
nohup: appending output to 'nohup.out'
[ OK ] Launched module dreamview.
Dreamview is running at http://localhost:8888
[xu@in-runtime-docker:/apollo]$ 

遇到以下问题，可以多启动两次试一下

Done.
Adding user `xu' ...
Adding new user `xu' (1000) with group `docker' ...
Creating home directory `/home/xu' ...
Copying files from `/etc/skel' ...
[ OK ] Congratulations! You have successfully finished setting up Apollo Runtime Environment.
[ OK ] Enjoy!
To run a command as administrator (user "root"), use "sudo <command>".
See "man sudo_root" for details.

[WARNING] nvidia-smi not found. CPU will be used.
[xu@in-runtime-docker:/apollo]$ bash scripts/bootstrap.sh
[WARNING] nvidia-smi not found. CPU will be used.
[WARNING] nvidia-smi not found. CPU will be used.
[WARNING] nvidia-smi not found. CPU will be used.
[WARNING] nvidia-smi not found. CPU will be used.
nohup: appending output to 'nohup.out'
[ OK ] Launched module monitor.
[WARNING] nvidia-smi not found. CPU will be used.
[WARNING] nvidia-smi not found. CPU will be used.
nohup: appending output to 'nohup.out'
[ OK ] Launched module dreamview.
Failed to start Dreamview. Please check /apollo/data/log or /apollo/data/core for more information

感谢大家！！！欢迎大家评论和互相交流！！！