AutowareAuto初探－－未完成

Autoware越来越精细化，引入了AutowareAuto，将部分功能模块精化和重构

1. 安装说明：

https://autowareauto.gitlab.io/AutowareAuto/installation-and-development.html

安装之前需要注意的有

1)使用了docker来进行环境和编译，

在安装之前首先需安装docker:

sudo apt-get install docker.io

2)gitlab的username 和token准备好，步骤很简单如下图：

 

 

 

2.　安装过程问题

1)Token是只显示一次(很奇怪，下次登录就找不到了)，下次登录如果没保存下来对应token只能废弃并重新生成

2)权限：

Got permission denied while trying to connect to the Docker daemon socket at unix:///var/run/docker.sock: Get http://%2Fvar%2Frun%2Fdocker.sock/v1.39/containers/registry.gitlab.com/autowareauto/autowareauto/ade:master/json: dial unix /var/run/docker.sock: connect: permission denied

使用sudo ade start

3)认证

 sudo ade start
Starting ade with the following images:
Error: No such object: registry.gitlab.com/autowareauto/autowareauto/ade:master
ade          | n/a     | master | registry.gitlab.com/autowareauto/autowareauto/ade:master
ade-atom     | v1.35.0 | latest | registry.gitlab.com/apexai/ade-atom:latest              
autowareauto |         | master | registry.gitlab.com/autowareauto/autowareauto:master    
ade_registry.gitlab.com_apexai_ade-atom_latest
ade_registry.gitlab.com_autowareauto_autowareauto_master
Error response from daemon: Get https://registry.gitlab.com/v2/autowareauto/autowareauto/ade/manifests/master: unauthorized: HTTP Basic: Access denied
Error response from daemon: Get https://registry.gitlab.com/v2/: unauthorized: HTTP Basic: Access denied
ERROR: Command return non-zero exit code (see above): 1
  docker login --username ××××××× --password-stdin registry.gitlab.com

需要在registry.gitlab.com上对用户进行认证

sudo docker login registry.gitlab.com

需要输入username 和token

sudo docker login registry.gitlab.com
[sudo] password for dashboard: 
Authenticating with existing credentials...
Login did not succeed, error: Error response from daemon: Get https://registry.gitlab.com/v2/: unauthorized: HTTP Basic: Access denied
Username (baozeng): usrname
Password: 
WARNING! Your password will be stored unencrypted in /home/dashboard/.docker/config.json.
Configure a credential helper to remove this warning. See
https://docs.docker.com/engine/reference/commandline/login/#credentials-store

Login Succeeded

gitlab和docker之间有集成关系

下载完成是如下：

 sudo ade start
Starting ade with the following images:
Error: No such object: registry.gitlab.com/autowareauto/autowareauto/ade:master
ade          | n/a     | master | registry.gitlab.com/autowareauto/autowareauto/ade:master
ade-atom     | v1.35.0 | latest | registry.gitlab.com/apexai/ade-atom:latest              
autowareauto |         | master | registry.gitlab.com/autowareauto/autowareauto:master    
ade_registry.gitlab.com_apexai_ade-atom_latest
ade_registry.gitlab.com_autowareauto_autowareauto_master
master: Pulling from autowareauto/autowareauto/ade
6abc03819f3e: Pull complete 
05731e63f211: Pull complete 
0bd67c50d6be: Pull complete 
d04ea25188bb: Pull complete 
38d719729a40: Pull complete 
19c1d8b597bf: Pull complete 
4a1cd42337d5: Pull complete 
7e034ca0ab40: Pull complete 
8f9942bd4571: Pull complete 
15a09b65fd47: Downloading 
aca80f13e504: Download complete 
87f8991862ff: Download complete 
07bffca7a113: Download complete 
95c7c52eeba2: Download complete 
e0fe9b52982e: Download complete 
8174b220d2e6: Download complete 
555d4a5f72d6: Download complete 
59206cecf49e: Download complete 
275ba6a06fe2: Download complete 
4d9e07c79db1: Download complete 
17bd2f06c60f: Download complete 
5d8bcb82b845: Download complete 
3c562183634a: Download complete 
ca55de4fa865: Download complete 
ae1cf0a39b02: Download complete 
0dda882cd5cc: Download complete 
7621c26faca5: Download complete 
a296738dbfad: Download complete 
4c7ff5a582dc: Retrying in 1 second 
1dac0c2c2a00: Download complete 
0e841208eaf4: Download complete 
ddbd4325e38a: Download complete 
ca83ed5b7d46: Download complete 
7b7b0659bc3e: Download complete 
bd0196be8a8c: Download complete 

4)访问被拒－－未解

read tcp 192.168.10.146:48042->172.217.24.48:443: read: connection reset by peer
Error response from daemon: Get https://registry.gitlab.com/v2/: unauthorized: HTTP Basic: Access denied
ERROR: Command return non-zero exit code (see above): 1
  docker login --username ×××××××××--password-stdin registry.gitlab.com

7b7b0659bc3e: Pull complete 
bd0196be8a8c: Pull complete 
Digest: sha256:5a99798b2b5d100e2b2f7829bc3112d04a38efa311d7133e1c85bfd247e6158a
Status: Downloaded newer image for registry.gitlab.com/autowareauto/autowareauto/ade:master

Current default time zone: 'Asia/Shanghai'
Local time is now:      Tue Jun 11 17:17:00 CST 2019.
Universal Time is now:  Tue Jun 11 09:17:00 UTC 2019.

groupadd: group 'root' already exists
ERROR: Failed to start ade. Re-run with --debug to get more information.

5)以上的错误信息是nuc机器报错的，但是在我自己的ubuntu16.04遇到的错误如下：

train@train-SYS:~/disk/usr/adehome/AutowareAuto$ proxychains4 sudo ade start
[proxychains] config file found: /etc/proxychains.conf
[proxychains] preloading /usr/local/lib/libproxychains4.so
Starting ade with the following images:
Error: No such object: registry.gitlab.com/autowareauto/autowareauto/ade:master
ade          | n/a     | master | registry.gitlab.com/autowareauto/autowareauto/ade:master
ade-atom     | v1.35.0 | latest | registry.gitlab.com/apexai/ade-atom:latest              
autowareauto |         | master | registry.gitlab.com/autowareauto/autowareauto:master    
ade_registry.gitlab.com_apexai_ade-atom_latest
ade_registry.gitlab.com_autowareauto_autowareauto_master
Traceback (most recent call last):
  File "/usr/local/bin/ade", line 10, in <module>
    sys.exit(cli())
  File "/usr/local/lib/python3.5/dist-packages/ade_cli/cli.py", line 181, in cli
    ade(auto_envvar_prefix='ADE')  # pylint: disable=unexpected-keyword-arg
  File "/usr/local/lib/python3.5/dist-packages/click/core.py", line 764, in __call__
    return self.main(*args, **kwargs)
  File "/usr/local/lib/python3.5/dist-packages/click/core.py", line 717, in main
    rv = self.invoke(ctx)
  File "/usr/local/lib/python3.5/dist-packages/click/core.py", line 1137, in invoke
    return _process_result(sub_ctx.command.invoke(sub_ctx))
  File "/usr/local/lib/python3.5/dist-packages/click/core.py", line 956, in invoke
    return ctx.invoke(self.callback, **ctx.params)
  File "/usr/local/lib/python3.5/dist-packages/click/core.py", line 555, in invoke
    return callback(*args, **kwargs)
  File "/usr/local/lib/python3.5/dist-packages/ade_cli/utils.py", line 28, in new_func
    return func(loop, *args, **kw)
  File "/usr/local/lib/python3.5/dist-packages/ade_cli/cli.py", line 150, in ade_start
    disable_nvidia_docker=CFG.disable_nvidia_docker)
  File "/usr/local/lib/python3.5/dist-packages/ade_cli/docker.py", line 114, in docker_run
    nvidia_docker_args = shellout('curl -s http://localhost:3476/docker/cli').split()
  File "/usr/local/lib/python3.5/dist-packages/ade_cli/utils.py", line 113, in shellout
    return shell(*args, **kw, stdout=PIPE).stdout.decode('utf-8')
  File "/usr/local/lib/python3.5/dist-packages/ade_cli/utils.py", line 108, in shell
    return run(cmd, *args, shell=True, check=check, **kw)
  File "/usr/local/lib/python3.5/dist-packages/ade_cli/utils.py", line 96, in run
    cp = _run(cmdargs, *args, check=check, **kw)
  File "/usr/lib/python3.5/subprocess.py", line 708, in run
    output=stdout, stderr=stderr)
subprocess.CalledProcessError: Command 'curl -s http://localhost:3476/docker/cli' returned non-zero exit status 7

错误原因，在~/.local/lib/python3.5/site-packages/cli.py里面加log发现，是因为CFG中 CFG.disable_nvidia_docker　默认为False导致。所以要求我们要装nvidia的docker先......当然可以直接在.aderc里面增加配置export ADE_DISABLE_NVIDIA_DOCKER=True，这样ade start的下载镜像就可以继续了，或者安装nvidia-docker/docker2，这个问题也可以解决

但是随之而来了如下编译问题：

sudo docker login registry.gitlab.com

同事初步推测是kernel版本过低导致，未有定论