Apollo 笔记（01）— 下载、编译、安装、启动、运行官方demo

• 官方 Github
• 官方使用文档

1. 安装前提

1.1 安装 Ubuntu 系统

要求安装 Ubuntu（18.04+）以上版本系统。

1.2 安装 NVIDIA GPU 驱动

NVIDIA GPU Driver版本 > 455， cuda > 11.1。

1.3 安装 Docker

Docker 版本要求 19.03+。

1. Update the apt package index and install packages to allow apt to use a repository over HTTPS:

sudo apt-get update
sudo apt-get install ca-certificates 
curl gnupg lsb-release

2. Add Docker’s official GPG key

curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg

3. Use the following command to set up the stable repository

echo \
  "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/ubuntu \
  $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
  

4. Install Docker Engine

sudo apt-get update
sudo apt-get install docker-ce docker-ce-cli containerd.io

5. Create the docker group and add your user

sudo groupadd docker
sudo usermod -aG docker $USER

6. Log out and log back in, then verify

docker run hello-world

1.4 安装 NVIDIA Container Toolkit

1. Setup the stable repository and the GPG key

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
 

2. updating the package listing and install

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

3. Restart the Docker daemon to complete the installation

sudo systemctl restart docker

4. verify

nvidia-docker version

或者

dpkg -l | grep nvidia-docker

2. 安装 Apollo

2.1 下载源码

# Using SSH
git clone git@github.com:ApolloAuto/apollo.git

# Using HTTPS
git clone https://github.com/ApolloAuto/apollo.git

2.2 切换到 master 分支

通过 git branch 查看如果已经是 master 分支则忽略该步骤。

cd apollo
git checkout master

2.3 添加环境变量

为方便起见，你可以设置环境变量 APOLLO_ROOT_DIR，执行下面命令前确保 pwd 已经是 apollo 目录下

echo "export APOLLO_ROOT_DIR=$(pwd)" >> ~/.bashrc  && source ~/.bashrc

2.4 运行 Apollo 开发容器

进入到下载的 apollo 目录下，执行命令：

bash docker/scripts/dev_start.sh

执行成功后会有下面的输出：

[ OK ] Congratulations! You have successfully finished setting up Apollo Dev Environment.
[ OK ] To login into the newly created apollo_dev_michael container, please run the following command:
[ OK ]   bash docker/scripts/dev_into.sh
[ OK ] Enjoy!

2.5 执行命令进入容器

bash docker/scripts/dev_into.sh

2.6 在容器内进行编译

在容器内的 /apollo 目录下执行

./apollo.sh build

进行整体编译，或者

./apollo.sh build_opt

进行部分选项编译，编译成功后输出

(01:10:49) INFO: Elapsed time: 287.913s, Critical Path: 160.75s
(01:10:49) INFO: 25369 processes: 6857 remote cache hit, 17424 internal, 1088 local.
(01:10:49) INFO: Build completed successfully, 25369 total actions
==============================================
[ OK ] Done building apollo. Enjoy!
==============================================

如果编译过程中报错：

x86_64-linux-gnu-gcc-7: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-7/README.Bugs> for instructions.
(00:52:42) INFO: Elapsed time: 1826.018s, Critical Path: 566.76s
(00:52:42) INFO: 17253 processes: 12 remote cache hit, 10163 internal, 7078 local.
(00:52:42) FAILED: Build did NOT complete successfully

可能是内存不够导致，按照下面方法设置交换内存后再重新编译

# 1. 创建分区文件，建立 16G 交换内存
sudo dd if=/dev/zero of=/swapfile bs=1k count=16384000
# 2.生成swap文件系统
sudo mkswap /swapfile
# 3. 激活swap文件
sudo swapon /swapfile


# 打开系统文件
vi /etc/fstab
 
# 添加如下行，让系统重启时能够自动挂载交换分区
/swapfile  swap  swap    defaults 0 0

检查交换内存是否设置成功

$ free -h
              total        used        free      shared  buff/cache   available
Mem:            15G        2.8G        7.6G         92M        5.1G         12G
Swap:           16G        2.4G         14G

参考：
https://blog.csdn.net/zangba9624/article/details/118678416
https://blog.csdn.net/qq_36558538/article/details/88394318

3. 运行

3.1 编译 GPU 版本

参考：https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_launch_and_run_apollo.md
进入容器内执行命令

./scripts/apollo_clean.sh -a
./apollo.sh build_opt_gpu

编译成功后输出：

(01:36:03) INFO: Elapsed time: 1236.815s, Critical Path: 178.36s
(01:36:03) INFO: 30719 processes: 7275 remote cache hit, 18777 internal, 4667 local.
(01:36:03) INFO: Build completed successfully, 30719 total actions
==============================================
[ OK ] Done building apollo. Enjoy!
==============================================

3.2 运行

运行 ./scripts/bootstrap.sh将在启用监控模块后启动 Dreamview 后台。

# Startup modules monitor and dreamview, the default option is start.
./scripts/bootstrap.sh [start | stop | restart]

输出如下：

$ ./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

在浏览器中打开 http://localhost:8888，如下。但目前除监视器外没有其他模块在后台运行。

选择驾驶模式和地图

下载官方自带的 demo，同样是在容器内执行：

cd docs/demo_guide/
python3 record_helper.py demo_3.5.record

加载环境变量

source cyber/setup.bash

否则会报错 cyber_recorder: command not found

然后循环播放 demo（不想循环播放的话去掉 -l 就行）：

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

总结运行的整体步骤：

cd apollo/ 
sudo bash docker/scripts/dev_into.sh  # 进入 apollo 的 docker 容器内
./scripts/bootstrap.sh  # 启动检测模块和dreamview

# 运行 demo  的命令，或者执行其它命令
cyber_recorder play -f docs/demo_guide/demo_3.5.record -l # 循环播放 demo
# 如果报错 cyber_recorder: command not found 执行下面语句
source cyber/setup.bash