Apollo安装

阅读目录

• Pre-requisites
• Download Apollo Sources
• Start Apollo Development Docker Container
• Enter Apollo Development Docker Container
• Build Apollo inside Container
• Launch and Run Apollo
• (Optional) Support a new Vehicle in DreamView

Apollo Software Installation Guide

This document describes the steps required to install Apollo on Ubuntu 18.04.5 LTS (Bionic Beaver), the recommended Ubuntu release for Apollo 6.0.

Pre-requisites

Before getting started, please make sure all the pre-requisite steps were finished as described in the Pre-requisite Software Installation Guide.

Please also make sure Docker is running. Type systemctl status docker to check the running status of Docker daemon, and type systemctl start docker to start Docker if needed.

Download Apollo Sources

Run the following commands to clone Apollo's GitHub Repo.

# Using SSH
git clone git@github.com:ApolloAuto/apollo.git

# Using HTTPS
git clone https://github.com/ApolloAuto/apollo.git

And checkout the latest branch:

cd apollo
git checkout master

For CN users, please refer to How to Clone Apollo Repository from China if your have difficulty cloning from GitHub.

(Optional) For convenience, you can set up environment variable APOLLO_ROOT_DIR to refer to Apollo root directory by running:

echo "export APOLLO_ROOT_DIR=$(pwd)" >> ~/.bashrc  && source ~/.bashrc

 In the following sections, we will refer to Apollo root directory as $APOLLO_ROOT_DIR

Start Apollo Development Docker Container

From the ${APOLLO_ROOT_DIR} directory, type

bash docker/scripts/dev_start.sh

to start Apollo development Docker container.

If successful, you will see the following messages at the bottom of your screen:

[ OK ] Congratulations! You have successfully finished setting up Apollo Dev Environment.
[ OK ] To login into the newly created apollo_dev_michael container, please run the following command:
[ OK ]   bash docker/scripts/dev_into.sh
[ OK ] Enjoy!

Enter Apollo Development Docker Container

Run the following command to login into the newly started container:

bash docker/scripts/dev_into.sh

Build Apollo inside Container

From the /apollo directory inside Apollo Docker container, type:

./apollo.sh build

to build the whole Apollo project.

Or type

./apollo.sh build_opt

for an optimized build.

You can refer to Apollo Build and Test Explained for a thorough understanding of Apollo builds and tests.

Launch and Run Apollo

Please refer to the Run Apollo section of How to Launch And Run Apollo.

(Optional) Support a new Vehicle in DreamView

In order to support a new vehicle in DreamView, please follow the steps below:

1. Create a new folder for your vehicle under modules/calibration/data

2. There is already a sample file in the modules/calibration/data folder named mkz_example. Refer to this structure and include all necessary configuration files in the same file structure as “mkz_example”. Remember to update the configuration files with your own parameters if needed.

3. Restart DreamView and you will be able to see your new vehicle (name is the same as your newly created folder) in the selected vehicle.

 

原文：https://gitee.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_software_installation_guide.md