在Ubuntu18.04下安装Apollo6.0

参考文章
在Ubuntu16.04下安装Apollo5.0

1 docker install

安装docker

sudo apt-get update

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

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

sudo apt-key fingerprint 0EBFCD88
验证输出(9DC8 5822 9FC7 DD38 854A E2D8 8D81 803C 0EBF CD88)

sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"

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

sudo docker run hello-world

2 Apollo Software Installation Guide

官方文档Apollo Software Installation Guide

github终端clone不下来，修改hosts之后也很慢，直接用国内gitee下载了，速度很快。

问题1

(base) [email protected]:~/Desktop/apollo$ bash docker/scripts/dev_start.sh
[INFO] Use default GeoLocation settings
[INFO] Start pulling docker image apolloauto/apollo:dev-x86_64-18.04-20210204_2153 ...
Got permission denied while trying to connect to the Docker daemon socket at unix:///var/run/docker.sock: Post http://%2Fvar%2Frun%2Fdocker.sock/v1.24/images/create?fromImage=apolloauto%2Fapollo&tag=dev-x86_64-18.04-20210204_2153: dial unix /var/run/docker.sock: connect: permission denied
[ERROR] Failed to pull docker image : apolloauto/apollo:dev-x86_64-18.04-20210204_2153

加上sudo即可；或者更改docker权限，可以去掉每次要输入sudo

sudo bash docker/scripts/dev_start.sh

问题2

遇到traffic_light模块编译失败，用的./apollo.sh build_opt
使用./apollo.sh build编译就没问题了

问题3

sudo bash docker/scripts/dev_start.sh时遇到读取不了nvidia-smi，显卡驱动等
安装nvidia-docker
Setting up 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 tee /etc/apt/sources.list.d/nvidia-docker.list

sudo apt-get update
sudo apt-get install -y nvidia-docker2
sudo systemctl restart docker

3 How to Launch and Run Apollo

官方文档How to Launch and Run Apollo

编译完之后可以正常运行，打开网页端口显示Dreamview界面

问题1

github下载demo_3.5.record很慢，因为我chrome带了插件，直接网页下下来了。或者gitee。或者修改hosts。或者终端翻q

问题2

bash: cyber_recorder: command not found

运行

source cyber/setup.bash

cyber_recorder: command not found