0.虛擬機Vmware Machine
1.安裝ubuntu 14.04
2.在Ubuntu14.04中安裝ros
3.下載 https://github.com/ApolloAuto/apollo-kernel/releases 實時內核補丁 百度對linux內核修改
linux-4.4.32-apollo-1.5.0.tar.gz
tar zxvf linux-4.4.32-apollo-1.5.0.tar.gz # 解壓
cd install
sudo ./install_kernel.sh # 安裝 重啓生效
4.下載 https://github.com/ApolloAuto/apollo-platform/releases 百度對ros修改 使其達到實時 共享內存通信
ros-indigo-apollo-2.1.2-x86_64.tar.gz 解壓出來
rsync -av ros/ ~/apollo/third_party/ros_x86_64 #這個會把ros的所有文件拷貝到apollo/third_party/ros_x86_64/目錄下
apollo目錄下執行:
source ./third_party/ros_x86_64/setup.bash
5.安裝docker 環境(各種失敗報錯)
參考 http://wiki.jikexueyuan.com/project/docker-technology-and-combat/ubunt.html博客
最後安裝docker
cd ~/apollo
bash docker/scripts/install_docker.sh
重啓機器檢查docker是否安裝好
docker ps
設置環境 這裏會花很長時間
bash docker/scripts/dev_start.sh
bash docker/scripts/dev_into.sh
6.編譯 花很長時間
bash apollo.sh build
7跑數據測試Apollo
cd ~/apollo
bash docker/scripts/dev_start.sh -C
bash docker/scripts/dev_into.sh
source ./third_party/ros_x86_64/setup.bash //執行後可以在docker下使用ros
sh scripts/hmi.sh //進入交互環境
在瀏覽器輸入http://localhost:8887後回車,出現以下界面開啓Dreamview,然後點擊右上方的Dreamview代開一個終端 回放數據
rosbag play -l ./docs/demo_guide/demo.bag
然後就可以看到界面播放demo.bag數據啦:
參考文章:
1 百度無人車ApolloAuto使用入門http://blog.csdn.net/ss910/article/details/74998172
2 Ros的安裝-小鳥上校
http://blog.csdn.net/xiaocainiaoshangxiao/article/details/13288515
https://blog.csdn.net/ZHB1029/article/details/78375762