在vmware上跑apollo 6.0

主要是参考官网的教程:，但是我自己目前是在vmware上跑而且GPU不能直连，所以安装教程里的GPU部分都跳过

1. 先装好Ubuntu 18.04和Docker

虚拟机不支持GPU那就先别装nvidia相关的（否则出错，还需要卸载nvdia相关的）
https://github.com/ApolloAuto/apollo/blob/master/docs/specs/prerequisite_software_installation_guide.md

Ubuntu链接 https://releases.ubuntu.com/18.04.5/

1 2	sudo apt-get update sudo apt-get upgrade

使用bash来装 docker

There is also a dedicated bash script Apollo provides to ease Docker installation, which works both for X86_64 and AArch64 platforms.

1	https://github.com/ApolloAuto/apollo/blob/master/docker/setup_host/install_docker.sh

运行保存的sh文件

1 2	chmod a+x install_docker.sh #给install_docker.sh可执行权限 ./install_docker.sh

1	sudo systemctl restart docker

2. 下载Apollo 源

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git clone https://github.com/ApolloAuto/apollo.git
cd apollo
git checkout master

3. 启动阿波罗开发Docker容器

1	bash docker/scripts/dev_start.sh

（有些人可能前面无意中安装了NVIDIA相关的报错：[ERROR] Failed to start docker container “apollo_dev” based on image: apolloauto/apollo:dev-x86_64-20180906_2002。Error: Could not load UVM kernel module. Is nvidia-modprobe installed?，可以采用sudo apt purge nvidia* 卸载所有NVIDIA。然后重新bash docker/scripts/dev_start.sh）

1 2	bash docker/scripts/dev_into.sh ./apollo.sh build

4. 构建Apollo

1 2	./apollo.sh clean ./apollo.sh build_opt

Note:
Please run ./apollo.sh build_fe before ./apollo.sh build_opt if you made any modifications to the Dreamview frontend.

5. 运行

1	./scripts/bootstrap.sh

打开浏览器输入 http://localhost:8888
选择驾驶模式和地图：From the dropdown box of Mode Setup, select “Mkz Standard Debug” mode. From the dropdown box of Map, select “Sunnyvale with Two Offices”.

重放demo记录：

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cd docs/demo_guide/
python3 record_helper.py demo_3.5.record
cyber_recorder play -f demo_3.5.record -l

（这个可能遇到cyber_record
命令无法找到，需要到apollo/cyber目录下运行 . setup.bash，然后>>echo $PATH
路径应包含/ apollo / bazel-bin / cyber / tools / cyber_recorder / 再回到docs/demo_guide/下去）
就可以看到运行的了：

结束deamview

1 2	cd ../.. root@in-dev-docker:/apollo# ./scripts/bootstrap.sh stop

退出docker Ctrl-D

要重新进的话

cd apollo
bash docker/scripts/dev_start.sh
bash docker/scripts/dev_into.sh
运行：  ./scripts/bootstrap.sh
......