apollo和lgsvl安装使用

1.驱动安装

sudo apt-get update

sudo apt-add-repository multiverse

sudo apt-get update

sudo apt-get install nvidia-driver-460

显示显卡内容相关界面

nvidia-smi

2.安装docker

sudo apt install docker.io

验证版本

docker –version

运行docker看是否正常

docker run hello-world

如果不能正常运行，添加用户组

sudo groupadd docker

sudo usermod -aG docker $USER

newgrp docker

3.安装NVIDIA Container Toolkit

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 apt-get -y update

sudo apt-get install -y nvidia-docker2

如果报错E: Unable to locate package nvidia-docker2

https://www.cnblogs.com/l-hh/p/13451639.html

如果显示这个，就按要求操作

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.

完成后重新启动docker

sudo systemctl restart docker

4.安装apollo

git clone GitHub - ApolloAuto/apollo: An open autonomous driving platform

如果报错报错GnuTLS recv error (-54): Error in the pull function，原因：网络问题

采用gitee安装

https://gitee.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_clone_apollo_repo_from_china.md

或使用下载好的压缩包

5.启动docker容器

进入apollo文件夹

sudo bash docker/scripts/dev_start.sh

进入docker

bash docker/scripts/dev_into.sh

报错container is not running

原因：加了sudo去dev_start.sh启动了不同的容器，解决办法：关闭容器，不加sudo去start

6.编译apollo

./apollo.sh clean

./apollo.sh build_opt_gpu

如果报错ERROR: An error occurred during the fetch of repository 'zlib'

打开vscode修改.cache/bazel/540135163923dd7d5820f3ee4b306b32/external/rules_proto/proto/private里的dependencies.bzl

将zlib的部分改为

"zlib": {

"sha256": "629380c90a77b964d896ed37163f5c3a34f6e6d897311f1df2a7016355c45eff",

"build_file": "@com_google_protobuf//:third_party/zlib.BUILD",

"strip_prefix": "zlib-1.2.11",

"urls": [

"https://github.com/madler/zlib/archive/v1.2.11.tar.gz",

],

}

7.LGSVL安装编译

下载打开simulator

点击clusters，点击右上角add new创建新的cluster

点击simulation，点击右上角add new新建

在test case中vehicle选择apollo6.0

8.与apollo联合仿真

进如apollodocker容器

/scripts/bootstrap.sh启动dreamviewer

浏览器打开http://localhost:8888/

连接apollo和lgsvl

bash ./scripts/bootstrap_lgsvl.sh

bash ./scripts/bridge.sh

两者启动连接成功后，也可能通过本地LGSVL模拟器查验，点击左下方Bridge按钮，查看Bridge Status，显示为Connected则连接成功

连接成功后，打开apollo的Dreamview界面，最上面一栏选择LGSVL中对应的模式、车辆、地图。在下方的Dump Message中选择Sim Control选项

在左边route editing中能规划移动的目标点，点击地图选择好后点击sendSend Routing Request