从零开始学Apollo自动驾驶：跑起来第一个Demo
程序员文章站
2022-04-15 14:44:45
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围绕着百度开源的Apollo自动驾驶项目展开，重点分析整个项目的框架，核心的计算机视觉感知模块。
- 下载项目代码
项目主页：https://github.com/ApolloAuto/apollo
git clone https://github.com/ApolloAuto/apollo.git或者直接Download Zip 然后再解压，这样会快一点。
- Demo
我们没有实际的硬件，只能跑模拟，
参考下面的手册
https://github.com/ApolloAuto/apollo/tree/master/docs/demo_guide
首先要保证大家的机器上已经成功的安装的docker相关的工具。
具体步骤如下：
- Start the docker release environment
bash docker/scripts/dev_start.sh这一步会首先下载docker 镜像，非常耗费时间，而且还不支持断点续传，timeout中断了，之前的下载就没有了，还得重新下，博主搞了一天才下载成功。估计也跟大家的网速有关。
过程如下：
dev-x86_64-20180830_2013: Pulling from apolloauto/apollo
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e25b244b2c11: Waiting完成之后，会提示下一步如何继续。
- Enter the docker release environment
bash docker/scripts/dev_into.sh- Build Apollo in the Container:
bash apollo.sh buildNote: If you do not have a GPU, you can use the following script instead
bash apollo.sh build_cpu- Bootstrap to start ros call and Monitor module and Dreamview
bash scripts/bootstrap.sh- play the rosbag
sudo python docs/demo_guide/rosbag_helper.py demo_2.0.bag #download rosbag
rosbag play demo_2.0.bag --loop #The --loop option enables rosbag to keep playing the bag in a loop playback mode.博主在启动rosbag时遇到的rosbag命令找不到问题(rosbag: command not found)
解决方法：
source /apollo/bazel-apollo/external/ros/setup.bash
https://github.com/ApolloAuto/apollo/issues/80
正常跑起来之后效果如下：
- Open Chrome and go to localhost:8888 to access Apollo Dreamview, which opens the screen below
网页上一直提示：Please send car initial position and map data
解决方法：
不使用远程连接，博主刚开始使用另外一台机器上的浏览器打开的demo网页，有问题。直接使用host上的chrome，不建议使用其他浏览器，需要装的插件太多，不方便。
run起来之后，效果如下：
总体感觉还是很方便的，这都得归功于docker技术的发展啊。