自动驾驶apollo9.0 Dreamview Debug方法

Apollo 9.0

安装&编译方法

# 拉取源码
git clone [email protected]:ApolloAuto/apollo.git
git checkout v9.0.0

# 启动docker
bash docker/scripts/dev_start.sh
bash docker/scripts/dev_into.sh

# 编译project
./apollo.sh build

默认启动方式

• default mode
  

wget https://apollo-system.cdn.bcebos.com/dataset/6.0_edu/demo_3.5.record -P $HOME/.apollo/resources/records/

bash scripts/bootstrap.sh start_plus
cyber_recorder play -f ~/.apollo/resources/records/demo_3.5.record -l

可以看到播放的这个包是回放的一个包含：运行着自动驾驶的定位、感知（障碍物感知，信号灯检测）、预测、规划、控制和Canbus消息的数据包

命令	功能说明
cyber_launch	启动和关闭module使用
cyber_recorder	recorder播放和展示info信息的
cyber_monitor	monitor message的功能

wget -O - https://apollo-pkg-beta.cdn.bcebos.com/neo/beta/key/deb.gpg.key | sudo apt-key add -

sudo apt-get install -y ca-certificates curl gnupg && sudo install -m 0755 -d /etc/apt/keyrings &&     curl -fsSL https://apollo-pkg-beta.cdn.bcebos.com/neo/beta/key/deb.gpg.key | sudo gpg --dearmor -o /etc/apt/keyrings/apolloauto.gpg &&     sudo chmod a+r /etc/apt/keyrings/apolloauto.gpg

sudo apt update -y && sudo apt install --only-upgrade apollo-neo-buildtoo

sudo apt install --reinstall apollo-neo-buildtool-dev

cyber_launch start  modules/perception/launch/perception_lidar.launch

 (NotFound) Cannot open file /apollo/modules/perception/data/models/center_point_paddle/centerpoint.pdmodel, please confirm whether the file is normal.