從零開始學Apollo自動駕駛：跑起來第一個Demo
阿新 • • 發佈：2019-02-17
圍繞著百度開源的Apollo自動駕駛專案展開，重點分析整個專案的框架，核心的計算機視覺感知模組。
- 下載專案程式碼
專案主頁：https://github.com/ApolloAuto/apollo
git clone https://github.com/ApolloAuto/apollo.git或者直接Download Zip 然後再解壓，這樣會快一點。
- Demo
我們沒有實際的硬體，只能跑模擬，
參考下面的手冊
https://github.com/ApolloAuto/apollo/tree/master/docs/demo_guide
首先要保證大家的機器上已經成功的安裝的docker相關的工具。
具體步驟如下：
- Start the docker release environment
bash docker/scripts/dev_start.sh這一步會首先下載docker 映象，非常耗費時間，而且還不支援斷點續傳，timeout中斷了，之前的下載就沒有了，還得重新下，博主搞了一天才下載成功。估計也跟大家的網速有關。
過程如下：
dev-x86_64-20180830_2013: Pulling from apolloauto/apollo 8284e13a281d: Pulling fs layer 26e1916a9297: Pulling fs layer 4102fc66d4ab: Pulling fs layer 1cf2b01777b2: Waiting 7f7a2d5e04ed: Waiting 4485a4546668: Waiting f2dedab118af: Waiting 00b281226c49: Waiting bc0c7226b8c9: Pulling fs layer 420c13db0d6e: Waiting 611bf0d7fdcd: Pulling fs layer e7ede7815bfa: Waiting ec6bc81a3ae3: Pulling fs layer 1b7ca71086fe: Pulling fs layer a84b136e0420: Waiting 9776f2f2c600: Waiting 1f7d71d6db20: Waiting 2b7341fa9271: Waiting 98bb19ed3b9e: Waiting 678810c01101: Waiting 046a32619f11: Waiting 16a4ab4986c3: Waiting b66091f7d4e0: Waiting 6664b38a18b0: Pulling fs layer 5fb13f702c51: Waiting 40458a51cf99: Waiting 13c3bf762416: Waiting 9c6e6397a99f: Waiting dfab65a5e83e: Waiting de3dc9874976: Pulling fs layer a3eabc0e4e9b: Waiting 05a645a29c64: Waiting a9618d6f75fd: Waiting 28d5e23561a3: Waiting 11446b750f54: Pulling fs layer a16df225cf4c: Waiting c2a2a76c4640: Waiting 438384cd8f58: Pulling fs layer 1853decde09b: Waiting 357f26991e99: Pulling fs layer 1bbc865bf1bf: Waiting 1020899a3cd3: Waiting d2c4df1eb7df: Waiting 0861f117c914: Pulling fs layer ab803ba43537: Waiting 32f09862d356: Waiting 25ada1f7a5d6: Waiting 0c8804d36113: Waiting a5c29467e795: Waiting 4a60fa819100: Pulling fs layer 79bb7f3c9506: Waiting 856674461db7: Waiting 7bcf048c04b0: Waiting d60759c45819: Waiting 0c3fecf85985: Waiting 8284e13a281d: Downloading [=======> ] 9.641MB/67.13MB 698b8ad5c1c0: Waiting 075a67385b8c: Waiting 8470ee4790d1: Waiting c6ea292867aa: Waiting 5ad590b0dae3: Waiting c5fc9aff58c5: Waiting 5bc88c8d017e: Pulling fs layer 4091b316cd7d: Waiting f36affe90df2: Pulling fs layer 09aef22d490c: Waiting 829af1cc2608: Pulling fs layer fb0431ed1abe: Waiting 5c20ca2836e4: Waiting 7bb1c6c76de7: Waiting b4f28c4d6daa: Waiting 50b700cb32cb: Waiting 499fece8b42f: Pulling fs layer e76c9579e5e1: Waiting e229dc37631a: Waiting 030389befc20: Waiting a46505c8fdc1: Waiting fcde79242efc: Waiting ad1a337fdd17: Waiting 639ea2ef6100: Waiting e0a524a2bd8c: Waiting 78bfbaeb3cc0: Waiting 32f179c6f0b0: Waiting b504af63cce8: Waiting b0c8847b48c0: Waiting 2e6c8af4b7ca: Pulling fs layer 2e0af7e1089d: Waiting 5f47d652f117: Waiting bce0151e9ea7: Waiting 165e31452c4b: Pulling fs layer 7de1132beb2d: Waiting 1e4a75d8aa52: Waiting 5492a8455e49: Pulling fs layer 40125f250958: Pulling fs layer b95e84b65ef1: Waiting 035583ef139f: Pulling fs layer a8b2ff565076: Pulling fs layer b294beb81f19: Waiting 6caa1b2bee2d: Waiting 4cb527115954: Waiting bf4a53a46841: Pulling fs layer e25b244b2c11: Waiting
完成之後，會提示下一步如何繼續。
- Enter the docker release environment
bash docker/scripts/dev_into.sh- Build Apollo in the Container:
bash apollo.sh buildNote: If you do not have a GPU, you can use the following script instead
bash apollo.sh build_cpu- Bootstrap to start ros call and Monitor module and Dreamview
bash scripts/bootstrap.sh- play the rosbag
sudo python docs/demo_guide/rosbag_helper.py demo_2.0.bag #download rosbag
rosbag play demo_2.0.bag --loop #The --loop option enables rosbag to keep playing the bag in a loop playback mode.博主在啟動rosbag時遇到的rosbag命令找不到問題(rosbag: command not found)
解決方法：
source /apollo/bazel-apollo/external/ros/setup.bash
https://github.com/ApolloAuto/apollo/issues/80
正常跑起來之後效果如下：
- Open Chrome and go to localhost:8888 to access Apollo Dreamview, which opens the screen below
網頁上一直提示：Please send car initial position and map data
解決方法：
不使用遠端連線，博主剛開始使用另外一臺機器上的瀏覽器開啟的demo網頁，有問題。直接使用host上的chrome，不建議使用其他瀏覽器，需要裝的外掛太多，不方便。
run起來之後，效果如下：
總體感覺還是很方便的，這都得歸功於docker技術的發展啊。