Apollo v9.0.0-rc-r10 基础测试

一、参考链接

• Apollo 9.0 在线文档
• 解决本地docker环境启动的dreamview无法连接apollo studio下载场景集的问题
• 车端登录
• 9.0源码下如何安装Dreamview+插件

二、踩坑记录

• 用./apollo.sh build_opt编译会出现Eigen段错误的问题,需换成./apollo.sh build_opt_gpu
• 用cyber_monitor发现apollo/perception/obstacles通道有数据,但dreamview_plus不显示,换成dreamview就可以了

三、操作步骤

3.1 测试环境

3.2 源码下载、编译、资源下载、查看

• 拉取源码

cd /data1/dev
git clone https://github.com/ApolloAuto/apollo.git
cd apollo
git checkout v9.0.0-rc-r10

• 修改点

  • 1.编译错误:apollo/modules/control/controllers/lat_based_lqr_controller/lat_controller_test.cc

  

  • 2.支持多用户【非必须】:apollo/docker/scripts/dev_start.sh

  

• 创建docker容器

bash docker/scripts/dev_start.sh 

• 进入容器

bash docker/scripts/dev_into.sh

• 清理

./apollo.sh clean -a

• 开始编译

./apollo.sh build_opt_gpu

• 安装模型管理工具amodel

cd /apollo/modules/tools/amodel
python3 setup.py install
cd -

• 从 apollo/docs/应用实践/开发调试教程/Apollo感知实践/感知模块综述.md 获取模型下载链接、下载安装模型

echo y | amodel  install https://apollo-pkg-beta.cdn.bcebos.com/perception_model/petrv1.zip
echo y | amodel  install https://apollo-pkg-beta.cdn.bcebos.com/perception_model/horizontal_torch.zip
echo y | amodel  install https://apollo-pkg-beta.cdn.bcebos.com/perception_model/quadrate_torch.zip
echo y | amodel  install https://apollo-pkg-beta.cdn.bcebos.com/perception_model/vertical_torch.zip
echo y | amodel  install https://apollo-pkg-beta.cdn.bcebos.com/perception_model/horizontal_caffe.zip
echo y | amodel  install https://apollo-pkg-beta.cdn.bcebos.com/perception_model/quadrate_caffe.zip
echo y | amodel  install https://apollo-pkg-beta.cdn.bcebos.com/perception_model/vertical_caffe.zip
echo y | amodel  install https://apollo-pkg-beta.cdn.bcebos.com/perception_model/tl_detection_caffe.zip
echo y | amodel  install https://apollo-pkg-beta.cdn.bcebos.com/perception_model/denseline_caffe.zip
echo y | amodel  install https://apollo-pkg-beta.cdn.bcebos.com/perception_model/darkSCNN_caffe.zip
echo y | amodel  install https://apollo-pkg-beta.cdn.bcebos.com/perception_model/cnnseg16_caffe.zip
echo y | amodel  install https://apollo-pkg-beta.cdn.bcebos.com/perception_model/cnnseg64_caffe.zip
echo y | amodel  install https://apollo-pkg-beta.cdn.bcebos.com/perception_model/cnnseg128_caffe.zip
echo y | amodel  install https://apollo-pkg-beta.cdn.bcebos.com/perception_model/center_point_paddle.zip
echo y | amodel  install https://apollo-pkg-beta.cdn.bcebos.com/perception_model/mask_pillars_torch_v2.zip
echo y | amodel  install https://apollo-pkg-beta.cdn.bcebos.com/perception_model/point_pillars_torch_v2.zip
echo y | amodel  install https://apollo-pkg-beta.cdn.bcebos.com/perception_model/yolox3d_onnx.zip
echo y | amodel  install https://apollo-pkg-beta.cdn.bcebos.com/perception_model/caddn_paddle.zip
echo y | amodel  install https://apollo-pkg-beta.cdn.bcebos.com/perception_model/3d-r4-half_caffe.zip
echo y | amodel  install https://apollo-pkg-beta.cdn.bcebos.com/perception_model/point_pillars_radar4d_torch.zip
echo y