百度Apollo搭建步骤（待更新）

2022-11-04 18:00:20

百度Apollo搭建步骤

##一、安装ubuntu16.04

无需多说，安装完成打开命令行。

##二、下载Apollo镜像

git clone https://github.com/ApolloAuto/apollo

若提示未安装git，则安装git。

##三、安装docker-ce

如果你过去安装过其他版本的docker，先删掉:

sudo apt-get remove docker docker-engine docker.io

首先安装依赖:

sudo apt-get install apt-transport-https ca-certificates curl gnupg2 software-properties-common

信任 Docker 的 GPG 公钥:

curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -

对于 amd64 架构的计算机，添加软件仓库:

sudo add-apt-repository \
"deb [arch=amd64] https://mirrors.tuna.tsinghua.edu.cn/docker-ce/linux/ubuntu \
$(lsb_release -cs) \
stable"

如果你是树莓派或其它ARM架构计算机，请运行:

echo "deb [arch=armhf] https://mirrors.tuna.tsinghua.edu.cn/docker-ce/linux/ubuntu \
$(lsb_release -cs) stable" | \
sudo tee /etc/apt/sources.list.d/docker.list

最后安装

sudo apt-get update
sudo apt-get install docker-ce

把当前用户加到docker用户组中：
######添加docker用户组

sudo groupadd docker

######把自己加到docker用户组中

sudo gpasswd -a myusername docker

myusername是指你的用户名
######重启docker后台服务

sudo service docker restart

######切换当前用户到新group

newgrp - docker

######确认docker可以非sudo运行

docker ps

##四、安装ros（apollo里集成ros，就不用安装ros了）

参见：https://www.cnblogs.com/*ishou-love/p/10079922.html

##五、.安装apollo-kernel（未安装，跳过）

######（1）在Apollo github下载百度编译好的内核
https://github.com/ApolloAuto/apollo-kernel/releases

安装参见：百度无人车ApolloAuto使用入门

https://blog.csdn.net/ss910/article/details/74998172

https://github.com/ApolloAuto/apollo-kernel
为运行Apollo软件提供了kernel层面的支持。
从这里下载linux-4.4.32-apollo-1.0.0.tar.gz：
https://github.com/ApolloAuto/apollo-kernel/releases
解压安装：
tar zxvf linux-4.4.32-apollo-1.0.0.tar.gz
cd install
sudo ./install_kernel.sh
重启系统。

##六、安装apollo-platform （ubuntu14.04 ，跳过）

https://github.com/ApolloAuto/apollo-platform
相对于原版ROS，做出了如下改进：
。增强了ROS的去中心化特性；
。基于共享内存的更高效的通信；
。支持Protobuf；
下载apollo-platform并解压：
https://github.com/ApolloAuto/apollo-platform/releases

解压缩：
tar zxvf ros-indigo-apollo-1.0.0.x86_64.tar.gz

将文件夹中的ros拷贝到apollo工程中：

rsync -av ros/ ~/apollo/third_party/ros_x86_64
cd apollo
source ./third_party/ros_x86_64/setup.bash

##七、 Apollo编译

执行 service docker start 命令
######1.设置docker环境

cd apollo
bash docker/scripts/dev_start.sh -C #-C表示从中国镜像服务器下载，速度较快（很长时间5个小时）

bash docker/scripts/dev_into.sh

######2.编译Apollo

bash apollo.sh build #若提示权限不足，则sudo su （小时）

######3.启动人机交互界面（HMI）

bash scripts/bootstrap.sh

打开chrome浏览器，输入地址“localhost:8888”即可访问dreamview。

重新打开apollo,演示代码如下：

cd apollo

bash docker/scripts/dev_start.sh -C

bash docker/scripts/dev_into.sh

bash scripts/bootstrap.sh

rosbag play demo_2.0.bag --loop #--loop设置循环回放

localhost:

##八、 Apollo演示（出错）

######1.启动docker的release环境

bash docker/scripts/release_start.sh

######2.进入release环境

bash docker/scripts/release_into.sh

######3.回放rosbag

python docs/demo_guide/rosbag_helper.py demo_1.5.bag #下载rosbag

下载测试数据包demo_2.0.bag 参见：https://blog.csdn.net/SingingFisher/article/details/81536096

输入 python docs/demo_guide/rosbag_helper.py demo_2.0.bag 来下载demo_2.0.bag数据包，不过由于资源在github上，所以很大可能是下载不下来的。来这里下载吧：https://pan.baidu.com/s/1jQwavKBzTvHHVnSlwxM1ZQ 密码：1nz8

此时你还在docker环境下:root@in_dev_docker:/apollo,把下载的demo_2.0.bag复制到此处。

cd ~/apollo
bash scripts/hmi.sh
在浏览器输入http://localhost:8887后回车，在Debug中开启Dreamview，然后点击右上方的Dreamview。
在另一个终端里输入：

rosbag play demo_1.5.bag --loop #--loop设置循环回放

打开chrome浏览器，输入地址“localhost:8888”即可在dreamview中看到demo演示。

问题：

(1) 遇到一个问题，总是 build failed

这时候在docker 环境下执行命令：

bazel query //...

然后再执行 build 那一句，就正常了。

(2) Error response from daemon: Container CONTAINER_NAME is not running

Build in Visual Studio Code

Install VSCode

The easiest way to install for Debian/Ubuntu based distributions is to download from https://code.visualstudio.com and install the .deb package (64-bit) either through the graphical software center if it's available or through the command line with:

sudo dpkg -i <file>.deb

sudo apt-get install -f # Install dependencies

Start VSCode

Start VSCode with the following command:

code

Open the Apollo project in VSCode

Use the keyboard shortcut (Ctrl+K Ctrl+O) to open the Apollo project.

Build the Apollo project in VSCode

Use the keyboard shortcut (Ctrl+Shift+B) to build the Apollo project.

Run all unit tests for the Apollo project in VSCode

Select the "Tasks->Run Tasks..." menu command and click "run all unit tests for the apollo project" from a popup menu to check the code style for the Apollo project.

If you are currently developing on 16.04, you will get a build error. As seen in the image below, 2 perception tests. To avoid this build error, refer to the how to build Apollo using Ubuntu 16.

（虚拟机+ubuntu16.04+vscode 编译没有出现错误）

Run a code style check task for the Apollo project in VSCode

Select the "Tasks->Run Tasks..." menu command and click "code style check for the apollo project" from a popup menu to check the code style for the Apollo project.

Clean the Apollo project in VSCode

Select the "Tasks->Run Tasks..." menu command and click "clean the apollo project" from a popup menu to clean the Apollo project.

Change the building option

You can change the "build" option to another one such as "build_gpu" (refer to the "apollo.sh" file for details) in ".vscode/tasks.json"

Test

bash docker/scripts/release_start.sh [release tag]

The HMI will automatically start and you can control each apollo module through any web browser by inputting IP address and port number, such as localhost:8887. You can get into the release container if quick fix needed.

bash docker/scripts/release_into.sh

参见：

https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_build_and_release.md#open-the-apollo-project-in-vscode

另外参见：

ubuntu16.04 安装 apollo-kernel，apollo-platform以及apollo

http://www.51apollo.com/2018/08/21/ubuntu16-04-安装-apollo-kernel，apollo-platform以及apollo/

百度阿波罗Apollo r3.0完整安装以及常用操作教程

https://blog.csdn.net/SingingFisher/article/details/81536096