docker推荐19.03+,Ubuntu推荐18.04+
nvidia-docker2安装链接如下
https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker
Apollo6.0和7.0编译基本一样,这里以6.0为例。
可以下载压缩包也可以git clone源码
注意:Apollo安装很简单,但是对电脑性能要求高,内存至少16G,硬盘预留100G。
git clone https://gitee.com/ApolloAuto/apollo.git -b v7.0.0
cd apollo/
bash docker/scripts/dev_start.sh #下载镜像,创建容器脚本
bash docker/scripts/dev_into.sh #进入容器脚本
apollo.sh build_opt_gpu #在容器内编译源码脚本
1. ERROR: An error occurred during the fetch of repository 'zlib'
参考链接:https://blog.csdn.net/robinvista/article/details/124056108
2. 如果是英伟达30系显卡,还会出现 Unsupported gpu architecture ‘compute_86‘
解决办法:
修改文件:third_party/gpus/crosstool/clang/bin/crosstool_wrapper_driver_is_not_gcc.tpl
bash ./scripts/bootstrap.sh #启动dreamview的监视器
2.在浏览器中打开
http://localhost:8888/
3. 下载演示bag包
cd docs/demo_guide/
python3 record_helper.py demo_3.5.record
4.回放数据
cd /apollo
source /apollo/cyber/setup.bash
cyber_recorder play -f docs/demo_guide/demo_3.5.record -l