Apollo 9.0
安装&编译方法
# 拉取源码
git clone git@github.com:ApolloAuto/apollo.git
git checkout v9.0.0# 启动docker
bash docker/scripts/dev_start.sh
bash docker/scripts/dev_into.sh# 编译project
./apollo.sh build
默认启动方式
- default mode
wget https://apollo-system.cdn.bcebos.com/dataset/6.0_edu/demo_3.5.record -P $HOME/.apollo/resources/records/bash scripts/bootstrap.sh start_plus
cyber_recorder play -f ~/.apollo/resources/records/demo_3.5.record -l
可以看到播放的这个包是回放的一个包含：运行着自动驾驶的定位、感知（障碍物感知，信号灯检测）、预测、规划、控制和Canbus消息的数据包
| 命令 | 功能说明 |
|---|---|
| cyber_launch | 启动和关闭module使用 |
| cyber_recorder | recorder播放和展示info信息的 |
| cyber_monitor | monitor message的功能 |
wget -O - https://apollo-pkg-beta.cdn.bcebos.com/neo/beta/key/deb.gpg.key | sudo apt-key add -sudo apt-get install -y ca-certificates curl gnupg && sudo install -m 0755 -d /etc/apt/keyrings && curl -fsSL https://apollo-pkg-beta.cdn.bcebos.com/neo/beta/key/deb.gpg.key | sudo gpg --dearmor -o /etc/apt/keyrings/apolloauto.gpg && sudo chmod a+r /etc/apt/keyrings/apolloauto.gpgsudo apt update -y && sudo apt install --only-upgrade apollo-neo-buildtoosudo apt install --reinstall apollo-neo-buildtool-devcyber_launch start modules/perception/launch/perception_lidar.launch(NotFound) Cannot open file /apollo/modules/perception/data/models/center_point_paddle/centerpoint.pdmodel, please confirm whether the file is normal.
