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Apollo_3.5_51VR_configuration.cpp
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Apollo_3.5_51VR_configuration.cpp
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1. Apollo官方:
git lfs clone [email protected]:mirrors/apolloauto.git -b r3.5.0
df -hl #Ubuntu 查看磁盘空间大小命令
2. SSH public key
解决办法通过 ssh-add
eval "$(ssh-agent -s)"
ssh-add
3. Github 加速 in Ubuntu & the same in Docker
sudo vim /etc/hosts
用浏览器访问 IPAddress.com 使用 IP Lookup 工具获得这个域名的ip地址，该网站可能需要梯子，输入上述域名后，分别获得github.com和github.global.ssl.fastly.net对应的ip，比如192.168.xx.xx和185.31.17.xx。准备工作做完之后，在vi打开的hosts文件中添加如下格式：
192.168.xx.xx github.com
185.31.17.xx github.global.ssl.fastly.net
然后esc退出编辑模式，输入wq，保存hosts文件，修改hosts结束。此时，如果直接访问github可能不会立即生效，因为有DNS缓存，并没有按照最新的修改配置访问。
最后，我们在命令行中输入sudo dscacheutil -flushcache，更新DNS缓存。
127.0.0.1 localhost
127.0.1.1 zy
10.2.35.202 docker.51vr.local
151.101.185.194 github.global.ssl.fastly.net
140.82.113.4 github.com
最暴力的方法刷dns，重启网络：
sudo /etc/init.d/networking restart
重启网络服务:
/etc/init.d/networking restart
The folder contains source code
zy@zy:/home/apollo_offical/apollo_r.5.0/apolloauto$
1.
GPU version:
sudo ./apollo.sh build_gpu
CPU version:
./apollo.sh build_cpu
Easy version:
bash apollo.sh build -j 8
The source code:
zy@zy:/home/apollo-r3.5.0$
apollo 3.5 official image:
https://github.com/ApolloAuto/apollo/tree/r3.5.0
Apollo 3.5的构建方法:
https://blog.csdn.net/davidhopper/article/details/85097502
# Start the docker.
bash docker/scripts/dev_start.sh
# Step into the docker.
bash docker/scripts/dev_into.sh
# Build the apollo project in the docker.
# -j 8 depends on the number of CPU cores on your machine.
bash apollo.sh build -j 8
bash scripts/bootstrap.sh
http://localhost:8888/
Restart Dreamview:
bash scripts/bootstrap.sh stop
bash scripts/bootstrap.sh start
Dreamview 用gdb调试:
$ gdb --args /apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/dreamview/conf/dreamview.conf
// SimOne.exe
D:\Cybertron\UnrealEngine\Output\Development\WindowsNoEditor\SimOne\Binaries\Win64
1. Rancher
Image: docker.51vr.local:6000/apolloauto/apollo:dev5
2. IN Ubuntu terminal: docker ps -a
docker exec -it 1c10ae5c4777 bash
bash scripts/bootstrap.sh
source /apollo/scripts/apolo_base.sh
cyber_recorder play -f docs/demo_guide/demo_3.5.record --loop
run.sh & kill.sh
The maps located in: root@apollo5-apollo-ubuntu14-1:/Cybertron2/apollo/modules/map/data
3. The GitLab
http://git.51vr.local/51World/apollo/tree/a3.5/docker
6. only CyberBridge bazel build:
root@apollo5-apollo-ubuntu14-1:/apollo# bazel build //CyberBridge:libApolloCyber.so
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Apollo官方:
1.
GPU version:
sudo ./apollo.sh build_gpu
CPU version:
./apollo.sh build_cpu
Easy version:
bash apollo.sh build -j 8
apollo 3.5 official image:
https://github.com/ApolloAuto/apollo/tree/r3.5.0
Apollo 3.5的构建方法:
https://blog.csdn.net/davidhopper/article/details/85097502
# Start the docker.
bash docker/scripts/dev_start.sh
# Step into the docker.
bash docker/scripts/dev_into.sh
# Build the apollo project in the docker.
# -j 8 depends on the number of CPU cores on your machine.
bash apollo.sh build -j 8
bash scripts/bootstrap.sh
http://localhost:8888/
查看Bazel依赖图:
bazel query --nohost_deps --noimplicit_deps 'deps(//modules/dreamview:dreamview)'
2. 51VR
without perception
apollo5-apollo-ubuntu14-1
docker exec -it 1c10ae5c4777 bash
root@apollo5-apollo-ubuntu14-1:/apollo# ./apollo.sh
Start the dreamview:
bash scripts/bootstrap.sh
3. 错误
./apollo.sh build_cpu
INFO: (07-23 01:17:44.831) Found 3742 targets...
ERROR: (07-23 01:17:46.748) /apollo/modules/perception/lidar/lib/segmentation/cnnseg/BUILD:84:1: Linking of rule '//modules/perception/lidar/lib/segmentation/cnnseg:cnn_segmentation_test' failed (Exit 1).
/usr/bin/ld: warning: libmkldnn.so.0, needed by bazel-out/local-dbg/bin/_solib_k8/_U@paddlepaddle_S_S_Cpaddlepaddle___Uexternal_Spaddlepaddle_Slib/libpaddle_fluid.so, not found (try using -rpath or -rpath-link)
cd
need to mount the volume: paddlepaddle_volume-x86_64-1.0.0
4. only CyberBridge bazel build:
root@apollo5-apollo-ubuntu14-1:/apollo# bazel build //CyberBridge:libApolloCyber.so
5. // How to Run Perception Module on Your Local Computer
Build Apollo: ./apollo.sh build_opt_gpu
查看显卡名称以及驱动版本: nvidia-smi
// install nvidia-docker // https://www.jianshu.com/p/f25ccedb996e //https://www.dongliwu.com/archives/61/
# If you have nvidia-docker 1.0 installed: we need to remove it and all existing GPU containers
docker volume ls -q -f driver=nvidia-docker | xargs -r -I{} -n1 docker ps -q -a -f volume={} | xargs -r docker rm -f
sudo apt-get purge -y nvidia-docker
# Add the package repositories
curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
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
# Install nvidia-docker2 and reload the Docker daemon configuration
sudo apt-get install -y nvidia-docker2
sudo pkill -SIGHUP dockerd
# Test nvidia-smi with the latest official CUDA image
docker run --runtime=nvidia --rm nvidia/cuda:9.0-base nvidia-smi
// 配置daemon的默认运行时
在安装完成nvidia-docker2之后，nvidia-docker2已经默认在/etc/docker/daemon.json文件中写入了以下内容：
{
"default-runtime": "nvidia",
"runtimes": {
"nvidia": {
"path": "/usr/bin/nvidia-container-runtime",
"runtimeArgs": [],
"registry-mirrors": ["https://gemfield.mirror.aliyuncs.com"]
}
}
}
我们所做的工作其实就是在第一行加上了"default-runtime": "nvidia",
重启docker服务: sudo systemctl restart docker
再次检查状态: systemctl status docker
/////////////////////////////////////////////////////////////
6. Hello, what is the output frequency of apollo 3.5 "/apollo/perception/obstacles"? I only input the data of lidar64 (not including lidar128/16, camera and radar), run the perception module, monitor with cyber_monitor, The frequency of "/apollo/perception/obstacles" is about 0.88 ~ 1. Why is it so low?
Channels FrameRatio
/apollo/localization/pose 100.05
/apollo/perception/obstacles 0.91
/apollo/sensor/camera/front_12mm/image 0.00
/apollo/sensor/camera/front_6mm/image 0.00
/apollo/sensor/velodyne64/compensator/PointCloud2 9.87
/perception/camera_debug 0.00
/perception/obstacles 0.00
/tf 100.00
/tf_static 0.00