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Apollo5.0和Cybertron2的开发环境配置.cpp
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Apollo5.0和Cybertron2的开发环境配置.cpp
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//////////////////////////////////////////////////////////////
1. rancher // ubuntu & window need different environment for each other in rancher
cybertron2.0 environment
apollo: 5.0
windows: false
port:24800 // default
port: 8889
name: apollo5
2. update ubuntu16 docker on rancher
volume
apollo5_cache-data_20e43:/root/.cache // Add Volume // In apollo5-apollo-ubuntu14-1, volume: apollo5_cache-data_20e43 /root/.cache, add to ubuntu16, upgrade add volume: apollo5_cache-data_20e43 /root/.cache // Finsh update,the docekr exec need to start again
use name: root
3. Need to download Cybertron2 manually // ubuntu16 // git config --global credential.helper store // repeatedly inputs of password // sudo git clone http://git.51vr.local/51World/Cybertron.git
// Download Cybertron, copy file in Cyberstron to Cybertron2 // sudo cp -rf Cybertron/* Cybertron2/
4. rm submodule /Cybertron2/apollo
then link /apollo to /Cybertron2/apollo // root@apollo5-cybertron2-ubuntu16-1:/Cybertron2# ln -s /apollo /Cybertron2/apollo
5. build apollo in ubuntu14 docker
./apollo.sh or build_no_peception dbg (by default) or ./apollo.sh build_opt_gpu // modify the WORKSPACE.in https://gitee.com/audier0879/ad-rss-lib //root@apollo5-apollo-ubuntu14-1:/apollo# ./apollo.sh build_no_peception dbg
6. build cybertron and apollo cyber bridge
root@apollo5-cybertron2-ubuntu16-1:/Cybertron2/Modules/Foundation/Build#
sudo ./rebuild_debug.sh
root@apollo5-cybertron2-ubuntu16-1:/Cybertron2/Modules/BridgeApollo/CybertronBridgeApolloCyber# // need the built ../../../../apollo/bazel-bin/CyberBridge/libApolloCyber.so
sudo ./rebuild_debug.sh
7. data log location
root@apollo5-apollo-ubuntu14-1:/apollo/data/log
8.
root@apollo5-apollo-ubuntu14-1:/Cybertron2/Samples/Common#
vim /Cybertron2/Samples/Common/Config.sh
export CoordinatorIp=10.2.35.156
9. apollo5-apollo-ubuntu14:
apt-get install libc++-dev libc++abi-dev
10.
root@apollo5-cybertron2-ubuntu16-1:/Cybertron2/Modules/Foundation/Build/build_debug/bin# ln -s /Cybertron2/apollo/bazel-bin/CyberBridge/CybertronBridgeApollo ./CybertronBridgeApollo
root@apollo5-cybertron2-ubuntu16-1:/Cybertron2/Modules/Foundation/Build/build_debug/bin# ls -al
total 297244
drwxr-xr-x 3 root root 4096 Aug 7 08:59 .
drwxr-xr-x 29 root root 4096 Aug 7 08:39 ..
lrwxrwxrwx 1 root root 62 Aug 7 08:59 CybertronBridgeApollo -> /Cybertron2/apollo/bazel-bin/CyberBridge/CybertronBridgeApollo
11.
run apollo bridge
root@apollo5-apollo-ubuntu14-1:/Cybertron2/Samples/5_DemoSceneSingleUeEditor ./StartApolloBridgeDaemon.sh
12. run apollo and dreamview /apollo run.sh
source ./scripts/apollo_base.sh
run apollo and dreamview:windows
/apollo
kill.sh
run.sh
standalone dreamview launch:
cyber_launch start modules/dreamview/launch/dreamview.launch
////////////////////////////////////////////////////////////////////////////////////////////////////
// use preStart.py to generate sim_map and routing_map
cd /apollo/bazel-out/local-dbg/bin/CyberBridge/
python preStart.py --url= --md5= --loop=0 --scene_name=aachen
// How to debug the Bridage data:
1.
run apollo bridge
root@apollo5-apollo-ubuntu14-1:/Cybertron2/Samples/5_DemoSceneSingleUeEditor ./StartApolloBridgeDaemon.sh // make sure the daemon has sucessfully subscribe hot area
// root 576 557 3 13:08 pts/27 00:00:02 /Cybertron2/Modules/Foundation/Build/build_debug/bin/CybertronBridgeApollo --port 24750
// add_executable(CybertronBridgeApollo "") // CMakeLists.txt // Step 6
ps -ef | grep CybertronBridgeApollo
gdb
(gdb) attach 27501
(gdb) info proc
2. the binary files:
root@apollo5-apollo-ubuntu14-1:/Cybertron2/Modules/Foundation/Build/build_debug/bin
//root 576 557 3 13:08 pts/27 00:00:02 /Cybertron2/Modules/Foundation/Build/build_debug/bin/CybertronBridgeApollo --port 24750
3.
root@apollo5-apollo-ubuntu14-1:/Cybertron2/Samples/5_DemoSceneSingleUeEditor# ./StartApolloBridgeDaemon.sh
/Cybertron2/Samples/5_DemoSceneSingleUeEditor/../../Modules/Foundation/Build/build_debug/bin/CybertronDaemon ApolloBridge -f /Cybertron2/Samples/5_DemoSceneSingleUeEditor/DaemonApolloBridge.json -h 10.2.35.156 -p 4500
4. // log files
// apollo/cyber/logger/log_file_object.cc
apollo_publish_obstacles.INFO
bridge.INFO
apollo::cyber::Init("apollo_publish_obstacles");
// the Cybertron2 log files are in the log folder
apollo/CyberBridge/CyberWriterObstacles.cpp
root@apollo5-apollo-ubuntu14-1:/Cybertron2/Samples/5_DemoSceneSingleUeEditor/log#
CybertronDaemon_ApolloBridge
CybertronBridgeApolloCyber
5.
// cyber_recorder
// 录制
root@apollo5-apollo-ubuntu14-1:/apollo# cyber_recorder record -a
// 查看录制信息
root@apollo5-apollo-ubuntu14-1:/apollo# cyber_recorder info 20190819115806.record.00002
// 回放和暂停
root@apollo5-apollo-ubuntu14-1:/apollo# cyber_recorder play -f 20190819115806.record.00002
// 查看channel
root@apollo5-apollo-ubuntu14-1:/apollo# cyber_channel list
// 查看channel的内容
cyber_channel echo /apollo/planning
cyber_channel echo /apollo/perception/obstacles
// 回放和暂停
root@apollo5-apollo-ubuntu14-1:/apollo# cyber_recorder play -f 20190819115806.record.00002
6. 检查现有文件监控数目
cat /proc/sys/fs/inotify/max_user_watches
修改文件监控数目
综合考虑实际需监控文件的数目和内存消耗情况，我将新的文件监控数目设置为：81920，即原来监控数目的10倍。我使用vi对配置文件进行编辑：
sudo vi /etc/sysctl.conf
在该配置文件的最后一行加上下述语句：
fs.inotify.max_user_watches=54288
1
3. 让配置文件中的新文件监控数目生效
sudo sysctl -p
重新打开VSCode，只要当前文件夹内文件数目不超过81920个，就不会再出现警告信息了。