本文主要介紹在如何使用軟件包（即 deb 包）的方式來安裝 Apollo，相對于源碼方式安裝，軟件包安裝方式不需要編譯，更加快捷。但是對環(huán)境的支持比較單一，如果在自定義環(huán)境內(nèi)安裝，請移步源碼安裝方式
步驟一：安裝基礎(chǔ)軟件
1. 安裝 Ubuntu Linux
安裝 Ubuntu 18.04+ 的步驟，參見 官方安裝指南。
完成安裝后更新相關(guān)軟件：
sudo apt-get update
sudo apt-get upgrade
注意：若要完成更新，需要保證網(wǎng)絡(luò)連接。
2. 安裝 Docker Engine
Apollo 依賴于 Docker 19.03+。安裝 Docker 引擎，您可以根據(jù)官方文檔進行安裝：
參見 Install Docker Engine on Ubuntu。
您還可以者通過 Apollo 提供的安裝腳本直接安裝：
wget http://apollo-pkg-beta.bj.bcebos.com/docker_install.sh
bash docker_install.sh
這個過程可能會運行多次腳本，根據(jù)腳本提示執(zhí)行即可，如下圖提示再執(zhí)行一次
再次執(zhí)行后輸出docker is OK即可
bash docker_install.sh
步驟二：安裝 Apollo 環(huán)境管理工具
Apollo 環(huán)境管理工具是一個幫忙管理和啟動 Apollo 環(huán)境容器的命令行工具。
1. 添加 apt 源
添加源和 key：
sudo bash -c "echo 'deb https://apollo-pkg-beta.cdn.bcebos.com/neo/beta bionic main' >> /etc/apt/sources.list"
wget -O - https://apollo-pkg-beta.cdn.bcebos.com/neo/beta/key/deb.gpg.key | sudo apt-key add -
sudo apt update
2. 安裝 apollo-neo-env-manager
執(zhí)行以下命令安裝：
sudo apt install apollo-neo-env-manager-dev
成功安裝后即可使用
aem -h
如果您對 aem 工具的功能感興趣，可以查閱 aem - Apollo 環(huán)境管理工具。
步驟三（可選）：獲取 GPU 支持
Apollo某些模塊需要GPU的支持才能夠編譯、運行（例如感知模塊），如果您需要使用此類模塊，需要安裝Nvidia顯卡驅(qū)動以及Nvidia container toolkit以獲取GPU支持。
1. 安裝顯卡驅(qū)動
超詳細(xì)ubuntu20.04/22.04安裝nvidia驅(qū)動/CUDA/cudnn
安裝完畢后，您可以通過nvidia-smi指令來檢查驅(qū)動是否安裝成功，如果一切正常，您可以看到類似以下的提示：
2. 安裝 Nvidia container toolkit
為了在容器內(nèi)獲得 GPU 支持，在安裝完 docker 后需要安裝 NVIDIA Container Toolkit。 運行以下指令安裝 NVIDIA Container Toolkit：
distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -
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 -y update
sudo apt-get install -y nvidia-docker2
安裝完畢后，需要手動重啟下docker：
sudo systemctl restart docker
步驟四：創(chuàng)建和進入 Apollo 環(huán)境容器
1. 創(chuàng)建工作空間
創(chuàng)建并進入目錄
mkdir application-demo
cd application-demo
2. 啟動 apollo 環(huán)境容器
aem start
注意：默認(rèn)的環(huán)境鏡像已經(jīng)包含 gpu 相關(guān)的依賴庫，如您想以 gpu 模式啟動容器可以使用start_gpu子命令。在使用start_gpu命令前，請務(wù)必確保已正確安裝Nvidia顯卡驅(qū)動以及Nvidia container toolkit
第一次執(zhí)行該命令時會拉取docker鏡像，并安裝相關(guān)庫文件
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[INFO] Determine whether host GPU is available ...
[INFO] USE_GPU_HOST: 1
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Status: Downloaded newer image for registry.baidubce.com/apollo/apollo-env-gpu:latest
registry.baidubce.com/apollo/apollo-env-gpu:latest
[INFO] Remove existing Apollo Development container ...
/home/gnsf/.apollo
[WARNING] No device named /dev/nvidia-uvm
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[INFO] Starting Docker container "apollo_neo_dev_gnsf" ...
+ docker run -itd --privileged --name apollo_neo_dev_gnsf -e DISPLAY=:1 -e DOCKER_USER=gnsf -e USER=gnsf -e DOCKER_USER_ID=1000 -e HISTFILE=/apollo_workspace/.cache/.bash_history -e DOCKER_GRP=gnsf -e DOCKER_GRP_ID=1000 -e DOCKER_IMG=registry.baidubce.com/apollo/apollo-env-gpu:latest -e USE_GPU_HOST=1 -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=compute,video,graphics,utility -v /dev:/dev -v /media:/media -v /tmp/.X11-unix:/tmp/.X11-unix:rw -v /etc/localtime:/etc/localtime:ro -v /usr/src:/usr/src -v /lib/modules:/lib/modules --net host -w /apollo_workspace --add-host in-dev-docker:127.0.0.1 --add-host gnsf:127.0.0.1 --hostname in-dev-docker --shm-size 2G --pid=host -v /home/gnsf/apollo/application-demo:/apollo_workspace -v /home/gnsf/apollo/application-demo/data:/apollo/data -v /home/gnsf/apollo/application-demo/output:/apollo/output -v /home/gnsf/apollo/application-demo/data/log:/opt/apollo/neo/data/log -v /home/gnsf/apollo/application-demo/data/calibration_data:/apollo/modules/calibration/data -v /home/gnsf/apollo/application-demo/data/map_data:/apollo/modules/map/data -v /opt/apollo/neo/packages/env-manager-dev/1.0.0.5:/opt/apollo/neo/packages/env-manager-dev/1.0.0.5 -v /dev/null:/dev/raw1394 registry.baidubce.com/apollo/apollo-env-gpu:latest /bin/bash
aeae41f11c60d96db2dd9b711e33972b8e7b86418ecb8d5ba9c9c0eb51bb6e9a
+ '[' 0 -ne 0 ']'
+ set +x
Adding group `gnsf' (GID 1000) ...
Done.
Adding user `gnsf' ...
Adding new user `gnsf' (1000) with group `gnsf' ...
Creating home directory `/home/gnsf' ...
Copying files from `/etc/skel' ...
mkdir: created directory '/opt/apollo/neo/etc'
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Fetched 14.7 MB in 6s (2619 kB/s)
Reading package lists...
Building dependency tree...
Reading state information...
63 packages can be upgraded. Run 'apt list --upgradable' to see them.
Reading package lists...
Building dependency tree...
Reading state information...
apollo-neo-common-msgs-dev is already the newest version (1.0.0.1).
The following additional packages will be installed:
libtinyxml2-6 libtinyxml2-dev
The following NEW packages will be installed:
libtinyxml2-6 libtinyxml2-dev
The following packages will be upgraded:
apollo-neo-buildtool-dev apollo-neo-common-dev apollo-neo-cyber-dev
3 upgraded, 2 newly installed, 0 to remove and 60 not upgraded.
Need to get 26.1 MB of archives.
After this operation, 196 kB of additional disk space will be used.
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debconf: unable to initialize frontend: Dialog
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debconf: falling back to frontend: Teletype
dpkg-preconfigure: unable to re-open stdin:
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(Reading database ... 38458 files and directories currently installed.)
Preparing to unpack .../apollo-neo-buildtool-dev_1.0.0.8_amd64.deb ...
Unpacking apollo-neo-buildtool-dev (1.0.0.8) over (1.0.0.3) ...
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Unpacking libtinyxml2-6:amd64 (6.0.0+dfsg-1) ...
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Unpacking apollo-neo-common-dev (1.0.0.2) over (1.0.0.1) ...
Setting up libtinyxml2-6:amd64 (6.0.0+dfsg-1) ...
Setting up libtinyxml2-dev:amd64 (6.0.0+dfsg-1) ...
Setting up apollo-neo-cyber-dev (1.0.0.3) ...
[INFO] start to create symbolic links of cyber-dev
[WARN] the links of pre-version will be overwrited!
sending incremental file list
./
cyber/
cyber/proto/
cyber/proto/choreography_conf_pb2.py 9,671 100% 0.00kB/s 0:00:00 (xfr#1, to-chk=31/36)
cyber/proto/classic_conf_pb2.py 8,687 100% 8.28MB/s 0:00:00 (xfr#2, to-chk=30/36)
cyber/proto/clock_pb2.py 2,017 100% 1.92MB/s 0:00:00 (xfr#3, to-chk=29/36)
cyber/proto/component_conf_pb2.py 9,232 100% 8.80MB/s 0:00:00 (xfr#4, to-chk=28/36)
cyber/proto/cyber_conf_pb2.py 4,877 100% 4.65MB/s 0:00:00 (xfr#5, to-chk=27/36)
cyber/proto/dag_conf_pb2.py 8,845 100% 8.44MB/s 0:00:00 (xfr#6, to-chk=26/36)
cyber/proto/parameter_pb2.py 13,222 100% 12.61MB/s 0:00:00 (xfr#7, to-chk=25/36)
cyber/proto/perf_conf_pb2.py 4,021 100% 3.83MB/s 0:00:00 (xfr#8, to-chk=24/36)
cyber/proto/proto_desc_pb2.py 2,664 100% 2.54MB/s 0:00:00 (xfr#9, to-chk=23/36)
cyber/proto/qos_profile_pb2.py 8,467 100% 8.07MB/s 0:00:00 (xfr#10, to-chk=22/36)
cyber/proto/record_pb2.py 36,848 100% 35.14MB/s 0:00:00 (xfr#11, to-chk=21/36)
cyber/proto/role_attributes_pb2.py 10,464 100% 9.98MB/s 0:00:00 (xfr#12, to-chk=20/36)
cyber/proto/run_mode_conf_pb2.py 4,729 100% 4.51MB/s 0:00:00 (xfr#13, to-chk=19/36)
cyber/proto/scheduler_conf_pb2.py 8,545 100% 8.15MB/s 0:00:00 (xfr#14, to-chk=18/36)
cyber/proto/simple_pb2.py 4,939 100% 4.71MB/s 0:00:00 (xfr#15, to-chk=17/36)
cyber/proto/topology_change_pb2.py 8,932 100% 8.52MB/s 0:00:00 (xfr#16, to-chk=16/36)
cyber/proto/transport_conf_pb2.py 16,536 100% 15.77MB/s 0:00:00 (xfr#17, to-chk=15/36)
cyber/proto/unit_test_pb2.py 7,408 100% 7.06MB/s 0:00:00 (xfr#18, to-chk=14/36)
cyber/python/
cyber/python/cyber_py3/
cyber/python/cyber_py3/__init__.py 1,003 100% 979.49kB/s 0:00:00 (xfr#19, to-chk=11/36)
cyber/python/cyber_py3/cyber.py 13,654 100% 13.02MB/s 0:00:00 (xfr#20, to-chk=10/36)
cyber/python/cyber_py3/cyber_py3.BUILD 999 100% 975.59kB/s 0:00:00 (xfr#21, to-chk=9/36)
cyber/python/cyber_py3/cyber_time.py 7,052 100% 6.73MB/s 0:00:00 (xfr#22, to-chk=8/36)
cyber/python/cyber_py3/cyber_timer.py 2,895 100% 2.76MB/s 0:00:00 (xfr#23, to-chk=7/36)
cyber/python/cyber_py3/parameter.py 5,496 100% 5.24MB/s 0:00:00 (xfr#24, to-chk=6/36)
cyber/python/cyber_py3/record.py 7,813 100% 7.45MB/s 0:00:00 (xfr#25, to-chk=5/36)
cyber/python/internal/
cyber/python/internal/_cyber_parameter_wrapper.so 2,773,312 100% 661.21MB/s 0:00:00 (xfr#26, to-chk=4/36)
cyber/python/internal/_cyber_record_wrapper.so 2,773,248 100% 377.83MB/s 0:00:00 (xfr#27, to-chk=3/36)
cyber/python/internal/_cyber_time_wrapper.so 2,764,928 100% 239.71MB/s 0:00:00 (xfr#28, to-chk=2/36)
cyber/python/internal/_cyber_timer_wrapper.so 2,752,320 100% 187.49MB/s 0:00:00 (xfr#29, to-chk=1/36)
cyber/python/internal/_cyber_wrapper.so 3,531,808 100% 187.12MB/s 0:00:00 (xfr#30, to-chk=0/36)
sent 14,810,388 bytes received 621 bytes 29,622,018.00 bytes/sec
total size is 14,804,632 speedup is 1.00
Requirement already satisfied: protobuf==3.14.0 in /usr/local/lib/python3.6/dist-packages (3.14.0)
Requirement already satisfied: six>=1.9 in /usr/lib/python3/dist-packages (from protobuf==3.14.0) (1.11.0)
Requirement already satisfied: psutil in /usr/local/lib/python3.6/dist-packages (5.9.4)
[INFO] symbolic links of cyber-dev created.
Setting up apollo-neo-common-dev (1.0.0.2) ...
[INFO] start to create symbolic links of common-dev
[WARN] the links of pre-version will be overwrited!
sending incremental file list
modules/
modules/common/
modules/common/adapter/
modules/common/adapter/proto/
modules/common/adapter/proto/adapter_config_pb2.py 24,759 100% 0.00kB/s 0:00:00 (xfr#1, to-chk=8/18)
modules/common/latency_recorder/
modules/common/latency_recorder/proto/
modules/common/latency_recorder/proto/latency_record_pb2.py 15,018 100% 14.32MB/s 0:00:00 (xfr#2, to-chk=6/18)
modules/common/util/
modules/common/util/testdata/
modules/common/util/testdata/simple_pb2.py 5,074 100% 4.84MB/s 0:00:00 (xfr#3, to-chk=4/18)
modules/common/vehicle_model/
modules/common/vehicle_model/proto/
modules/common/vehicle_model/proto/vehicle_model_config_pb2.py 10,169 100% 9.70MB/s 0:00:00 (xfr#4, to-chk=2/18)
modules/common/vehicle_state/
modules/common/vehicle_state/proto/
modules/common/vehicle_state/proto/vehicle_state_pb2.py 10,207 100% 9.73MB/s 0:00:00 (xfr#5, to-chk=0/18)
sent 66,096 bytes received 167 bytes 132,526.00 bytes/sec
total size is 65,227 speedup is 0.98
[INFO] symbolic links of common-dev created.
Setting up apollo-neo-buildtool-dev (1.0.0.8) ...
[INFO] start to create symbolic links of buildtool-dev
[WARN] the links of pre-version will be overwrited!
Looking in indexes: https://mirror.baidu.com/pypi/simple/
Requirement already satisfied: requests in /usr/local/lib/python3.6/dist-packages (2.27.1)
Requirement already satisfied: charset-normalizer~=2.0.0 in /usr/local/lib/python3.6/dist-packages (from requests) (2.0.12)
Requirement already satisfied: certifi>=2017.4.17 in /usr/local/lib/python3.6/dist-packages (from requests) (2022.12.7)
Requirement already satisfied: idna<4,>=2.5 in /usr/lib/python3/dist-packages (from requests) (2.6)
Requirement already satisfied: urllib3<1.27,>=1.21.1 in /usr/local/lib/python3.6/dist-packages (from requests) (1.26.13)
[INFO] symbolic links of buildtool-dev created.
Processing triggers for libc-bin (2.27-3ubuntu1.6) ...
[ OK ] Congratulations! You have successfully finished setting up Apollo Dev Environment.
[ OK ] To login into the newly created apollo_neo_dev_gnsf container, please run the following command:
[ OK ] aem enter
[ OK ] Enjoy!
如果一切正常，將會見到類似下圖的提示：
3. 進入 apollo 環(huán)境容器
aem enter
腳本執(zhí)行成功后，將顯示以下信息，您將進入 Apollo 的運行容器：
user_name@in-dev-docker:/apollo_workspace#
工作空間文件夾將被掛載到容器的 /apollo_workspace 中。
4. 初始化工作空間
aem init
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至此 Apollo 環(huán)境管理工具及容器已經(jīng)安裝完成，接下來請跟著 QuickStart 文檔根據(jù)不同的使用場景按需安裝不同的模塊。文章來源地址http://www.zghlxwxcb.cn/news/detail-448187.html
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