无人驾驶笔记系列（0）：Apollo第一次上手

写在最前面：这个系列的笔记并不是按照顺序写的，基本上忽然想起来写一些。前后顺序可能有点问题，并且文章后续还得多次补充。

无人驾驶笔记系列（0）：Apollo第一次上手

docker 环境加载

你必须先清空之前内存中的所有环境

docker images

REPOSITORY          TAG                                            IMAGE ID            CREATED             SIZE
apolloauto/apollo   dev-x86_64-20181210_1500                       9fd3ca05f0a7        2 months ago        13.4GB
apolloauto/apollo   map_volume-sunnyvale_with_two_offices-latest   c57193dfbb94        14 months ago       373MB
apolloauto/apollo   localization_volume-x86_64-latest              5486a0d71a97        16 months ago       5.43MB
apolloauto/apollo   yolo3d_volume-x86_64-latest                    6a9cbf71163e        19 months ago       275MB
apolloauto/apollo   map_volume-sunnyvale_big_loop-latest           3eb7011c5a63        22 months ago       994MB
apolloauto/apollo   map_volume-sunnyvale_loop-latest               36dc0d1c2551        2 years ago         906MB

docker ps -a

CONTAINER ID        IMAGE                                                            COMMAND             CREATED             STATUS              PORTS               NAMES
db0a95cf5120        apolloauto/apollo:dev-x86_64-20181210_1500                       "/bin/bash"         3 weeks ago         Up 3 weeks                              apollo_dev_xavier
14d7d71bcc0b        apolloauto/apollo:yolo3d_volume-x86_64-latest                    "/bin/sh"           3 weeks ago         Up 3 weeks                              apollo_yolo3d_volume_xavier
4cef3d9b3d55        apolloauto/apollo:localization_volume-x86_64-latest              "/bin/sh"           3 weeks ago         Up 3 weeks                              apollo_localization_volume_xavier
a0d3402f8763        apolloauto/apollo:map_volume-sunnyvale_with_two_offices-latest   "/bin/sh"           3 weeks ago         Up 3 weeks                              apollo_map_volume-sunnyvale_with_two_offices_xavier
5909cb8a5b37        apolloauto/apollo:map_volume-sunnyvale_loop-latest               "/bin/bash"         3 weeks ago         Up 3 weeks                              apollo_map_volume-sunnyvale_loop_xavier
eccbcef993c6        apolloauto/apollo:map_volume-sunnyvale_big_loop-latest           "/bin/sh"           3 weeks ago         Up 3 weeks                              apollo_map_volume-sunnyvale_big_loop_xavier

docker rm -f db0a95cf5120

docker rmi -f  镜像名称

进入docker 环境

bash docker/scripts/dev_start.sh

Linux
curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash
sudo apt-get install git-lfs
git lfs install

...
[ OK ] Finished setting up Apollo docker environment. Now you can enter with: 
bash docker/scripts/dev_into.sh
[ OK ] Enjoy!

CONTAINER ID        IMAGE                                                            COMMAND             CREATED              STATUS              PORTS               NAMES
a6ab03181f4f        apolloauto/apollo:dev-x86_64-20181210_1500                       "/bin/bash"         About a minute ago   Up About a minute                       apollo_dev_xavier
8b7452a232d3        apolloauto/apollo:yolo3d_volume-x86_64-latest                    "/bin/sh"           About a minute ago   Up About a minute                       apollo_yolo3d_volume_xavier
0de9d3bf8559        apolloauto/apollo:localization_volume-x86_64-latest              "/bin/sh"           About a minute ago   Up About a minute                       apollo_localization_volume_xavier
d0d269a04a31        apolloauto/apollo:map_volume-sunnyvale_with_two_offices-latest   "/bin/sh"           About a minute ago   Up About a minute                       apollo_map_volume-sunnyvale_with_two_offices_xavier
3138b0d2840e        apolloauto/apollo:map_volume-sunnyvale_loop-latest               "/bin/bash"         About a minute ago   Up About a minute                       apollo_map_volume-sunnyvale_loop_xavier
e234d13bb4f0        apolloauto/apollo:map_volume-sunnyvale_big_loop-latest           "/bin/sh"           About a minute ago   Up About a minute                       apollo_map_volume-sunnyvale_big_loop_xavier

bash docker/scripts/dev_into.sh

编译apollo

第一次运行，必须要编译

bash apollo.sh build

但是，有很大的可能性，你编译成功不了

主要错误有：

• no such package '@ad_rss_lib，原因是要从github上下载一个库，但是速度太慢，很容易失败。
• /usr/lib/qt5/bin/uic: No such file or directory 没有安装qt5

解决方案
（１）从https://github.com/intel/ad-rss-lib把源码下载下来，放到apollo的文件目录内，修改WORKSPACE.in

一定是WORKSPACE.in而不是WORKSPACE，因为apollo.sh中通过脚本将文件进行了覆盖，WORKSPACE在编译的时候会自动生成。

#ad-rss-lib
# 注释掉原来的在线下载方式
# new_git_repository(
#     name = "ad_rss_lib",
#     build_file = "third_party/rss_lib.BUILD",
#     tag = "v1.1.0",
#     remote = "https://github.com/intel/ad-rss-lib",
# )
# 采用下载好的文件进行编译
new_local_repository(
    name = "ad_rss_lib",
    build_file = "third_party/rss_lib.BUILD",
    path = "/home/tmp/ad-rss-lib-1.1.0",
)

（２）在编译前安装下qt5

sudo apt-get update
sudo apt-get install qt5-default qtcreator

修改这个两个问题时候，你会发现缓存有时候不会清理。你需要一下两条命令

./apollo.sh clean

在docker 环境外

rm -rf ~/.cache/bazel/*

重新执行

bash apollo.sh build

大约十分钟可以编译成功了

启动下dreamview

这是网页版的控制器

# 启动
 bash scripts/bootstrap.sh
# 停止
 bash scripts/bootstrap.sh stop

当然也可以运行下，Node的节点观察下，见系列笔记三
无人驾驶笔记系列（三）