百度自动驾驶框架 Apollo 安装调试笔记

github https://github.com/ApolloAuto/apollo

执行编译命令时出如下错误。

bash apollo.sh build 

ERROR: /home/endler/.cache/bazel/_bazel_root/b7f360582ec6dbe2ec241ba71c25765a/external/com_google_protobuf/BUILD:441:1: Traceback (most recent call last):
 File "/home/endler/.cache/bazel/_bazel_root/b7f360582ec6dbe2ec241ba71c25765a/external/com_google_protobuf/BUILD", line 441
 cc_proto_library(name = "cc_test_protos", srcs = (L...), <4 more arguments>)
 File "/home/endler/.cache/bazel/_bazel_root/b7f360582ec6dbe2ec241ba71c25765a/external/com_google_protobuf/protobuf.bzl", line 247, in cc_proto_library
 cc_libs += [default_runtime]
trying to mutate a frozen object
ERROR: /home/endler/.cache/bazel/_bazel_root/b7f360582ec6dbe2ec241ba71c25765a/external/com_google_protobuf/BUILD:742:1: Traceback (most recent call last):
 File "/home/endler/.cache/bazel/_bazel_root/b7f360582ec6dbe2ec241ba71c25765a/external/com_google_protobuf/BUILD", line 742
 py_proto_library(name = "python_specific_test_pro...", <6 more arguments>)
 File "/home/endler/.cache/bazel/_bazel_root/b7f360582ec6dbe2ec241ba71c25765a/external/com_google_protobuf/protobuf.bzl", line 373, in py_proto_library
 py_libs += [default_runtime]
trying to mutate a frozen object

执行下面命令时访问不了， 导致 protobuf 安装失败

bash docker/scripts/install_docker.sh
# logout and login the computer to make sure to run docker command without sudo
docker ps  # to verify docker works without sudo
# in case you forgot to logout and login back, do so, remove ~/.docker/config.json
# and check again with `docker ps`
bash docker/scripts/dev_start.sh
bash docker/scripts/dev_into.sh

手动安装

wget  https://github.com/google/protobuf/releases/download/v3.3.0/protobuf-cpp-3.3.0.tar.gz

tar -zxf protobuf-cpp-3.3.0.tar.gz

#mkdir /usr/local/protobuf-3.3.0

#cd /usr/local/protobuf-3.3.0

#~/protobuf-3.3.0/configure -prefix=/usr/local/protobuf-3.3.0

#sudo make -j8

#sudo make check

#sudo make install

bash docker/scripts/dev_into.sh  时提示

unable to find user endler: no matching entries in passwd file

在  docker 创建时出错，删了重新安装

docker stop $(docker ps -a -q)

docker rm $(docker ps -a -q)

从最初跑一遍程序，build 正常了。

启动成功，但是报：

Please send car initial position and map data.

原因是没装完。

# in a different terminal, in the apollo directory
bash docker/scripts/dev_into.sh # jump into the docker container
bash ./docs/demo_guide/rosbag_helper.sh download # download rosbag
rosbag play -l ./docs/demo_guide/demo_1.5.np.bag

rosbag play -l ./docs/demo_guide/demo.bag  #另一个demo

 

安装好各种依赖

sudo apt install python-genmsg

sudo apt install python-rosgraph-msgs

sudo apt install python-genpy