carla_apollo_bridge

参考：https://github.com/guardstrikelab/carla_apollo_bridge/blob/master/docs/GettingStarted.md

Prerequisites

• docker

sudo apt-get install docker.io

• NVIDIA Container Toolkit

curl https://get.docker.com | sh \
&& sudo systemctl --now enable docker

distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \
    && curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
    && curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list | \
          sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
          sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list

sudo apt-get update

sudo apt-get install -y nvidia-docker2

sudo systemctl restart docker

• docker-compose

     sudo curl -L "https://github.com/docker/compose/releases/download/v2.0.1/docker-compose-$(uname -s)-$(uname -m)" -o /usr/local/bin/docker-compose

• 更改文件权限

sudo chmod +x /usr/local/bin/docker-compose 

Build And Run Apollo

依据Apollo下载安装

在Apollo-7.0.0文件夹下打开终端：
进入仓库：

sudo ./docker/scripts/dev_start.sh

进入容器：

sudo ./docker/scripts/dev_into.sh

Build Apollo

./apollo.sh build_opt_gpu 

若出现报错，参考：Build Apollo中的报错解决
成功后显示：

==============================================
[ OK ] Done building apollo. Enjoy!
==============================================

在容器内输入：

./scripts/bootstrap.sh

然后，在浏览器中打开网址http://localhost:8888/

Run Carla

在Apollo容器外克隆carla_apollo_bridge project ：‘

# Using SSH
git clone git@github.com:guardstrikelab/carla_apollo_bridge.git

#Using HTTPS
git clone https://github.com/guardstrikelab/carla_apollo_bridge.git

Pull carla image and run，此处官方文档中为：

cd carla_apollo_bridge
./scripts/docker_run_carla.sh

但实际克隆的carla_apollp_bridge中没有scripts文件夹，而是carla_scripts，故使用以下方法成功：

cd carla_apollo_bridge/carla_scripts
./docker_run_carla.sh

会打开CarlaUE4:

然后参考carla_apollo_bridge运行carla_apollo_bridge

在/carla_apollo_bridge文件夹内打开终端，将src文件夹复制到apollo/carla_bridge容器中

docker cp carla_bridge apollo_dev_用户名:/apollo/modules/carla_bridge

安装carla_bridge
进入apollo容器并运行：

cd /apollo/modules/carla_bridge
chmod +x install.sh
./install.sh
source ~/.bashrc

然后开启bridge:

python main.py

但是出现报错：


执行下述命令：

ulimit -s unlimited

再运行python文件，仍然报错：

网上查到下载matplotlib：

pip install matplotlib

但没用，还是报错段错误
退出conda环境后运行：

python3 main.py

报错：

Traceback (most recent call last):
File “main.py”, line 13, in
from cyber.proto.clock_pb2 import Clock
ModuleNotFoundError: No module named ‘cyber’

查找后，根据ggithub上carla_apollo_bridge/issues/#155

source /apollo/cyber/setup.bash

仍报错：

Traceback (most recent call last):
File “main.py”, line 13, in
from cyber.proto.clock_pb2 import Clock
ModuleNotFoundError: No module named ‘cyber’

然后发现，要进入容器里面run carla_apollo_bridge
！！！！一定要进入容器

进入apollo容器并运行：

cd /apollo/modules/carla_bridge
chmod +x install.sh
./install.sh
source ~/.bashrc

然后开启bridge:

python main.py

终于！！！成功了！！！一首《终于等到你》送给大家！（/90度鞠躬）