Java教程

Autoware开发

本文主要是介绍Autoware开发，对大家解决编程问题具有一定的参考价值，需要的程序猿们随着小编来一起学习吧！

目录

/etc/udev/rules.d

50-usbcan.rules

55-usbserial.rules 

xrdp

docker

install

Ubuntu 下非 root 用户运行 docker

将用户加入该 group 内

重启服务 

 重进终端

pkg

/etc/apt/sources.list.d/nvidia-container-runtime.list

/etc/apt/sources.list.d/nvidia-docker.list

portainer

安装portainer

管理员登录

registry 

/etc/docker/daemon.json

docker push

docker pull

auth

autoware

Docker

克隆Autoware-AI/docker

修改run.sh

创建容器

安装软件

编译

images

build from Dockerfile

 Source

autoware.ai.repos

/etc/udev/rules.d

50-usbcan.rules

SUBSYSTEMS=="usb", ATTRS{idVendor}=="0471", ATTRS{idProduct}=="1200", GROUP="autoware", MODE="0666"

55-usbserial.rules 

SUBSYSTEMS=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", GROUP="ygzhang", MODE="0666"

xrdp

sudo vi /etc/apt/sources.list
sudo apt-get update
apt-get source xorgxrdp

Reading package lists... Done
Picking 'xrdp' as source package instead of 'xorgxrdp'
NOTICE: 'xrdp' packaging is maintained in the 'Git' version control system at:
https://anonscm.debian.org/git/pkg-remote/xrdp.git
Please use:
git clone https://anonscm.debian.org/git/pkg-remote/xrdp.git
to retrieve the latest (possibly unreleased) updates to the package.
Need to get 3575 kB of source archives.
Get:1 http://archive.ubuntu.com/ubuntu bionic/universe xrdp 0.9.5-2 (dsc) [2749 B]
Get:2 http://archive.ubuntu.com/ubuntu bionic/universe xrdp 0.9.5-2 (tar) [464 kB]
Get:3 http://archive.ubuntu.com/ubuntu bionic/universe xrdp 0.9.5-2 (tar) [3083 kB]
Get:4 http://archive.ubuntu.com/ubuntu bionic/universe xrdp 0.9.5-2 (diff) [25.7 kB]
Fetched 3575 kB in 5s (738 kB/s)
dpkg-source: info: extracting xrdp in xrdp-0.9.5
dpkg-source: info: unpacking xrdp_0.9.5.orig.tar.gz
dpkg-source: info: unpacking xrdp_0.9.5.orig-xorgxrdp.tar.gz
dpkg-source: info: unpacking xrdp_0.9.5-2.debian.tar.xz
dpkg-source: info: applying make-fixes.diff
dpkg-source: info: applying config.diff
dpkg-source: info: applying misc-fixes.diff
dpkg-source: info: applying fix_perms.diff
dpkg-source: info: applying shutup-daemon.diff
dpkg-source: info: applying systemd.diff
dpkg-source: info: applying lfs.diff
dpkg-source: info: applying pulse-debian.patch

xrdp_0.9.5-2.debian.tar.xz

xrdp_0.9.5.orig.tar.gz 

xrdp_0.9.5.orig-xorgxrdp.tar.gz

xorgxrdp_nvidia https://github.com/jsorg71/xorgxrdp.git

xorgxrdp 0.2.13 requires xrdp v0.9.13 or later -> nvidia_hack
xorgxrdp 0.2.14 requires xrdp v0.9.14

 

xrdp

xorgxrdp

Ubuntu 18.04

0.9.5

0.2.5

nvidia_hack

 

0.2.13

docker

install

https://github.com/Autoware-AI/autoware.ai/wiki/docker-installation

https://docs.docker.com/engine/install/ubuntu/

Ubuntu 下非 root 用户运行 docker

将用户加入该 group 内

sudo usermod -aG docker $USER

重启服务 

sudo service docker restart
# 或者
sudo /etc/init.d/docker restart

 重进终端

 

Ubuntu

docker-ce

nvidia-container-runtime

nvidia-container-toolkit

nvidia-docker2

18.04.5

20.10.5

3.4.2-1

1.4.2-1

2.5.0-1

16.04.4

19.03.4

 

 

 

pkg

pkg

version

bin or lib

libnvidia-container-tools

1.3.3-1

nvidia-container-cli

libnvidia-container1:amd64

1.3.3-1

libnvidia-container.so.1.3.3

nvidia-container-runtime

3.4.2-1

nvidia-container-runtime

nvidia-container-toolkit

1.4.2-1

nvidia-container-toolkit

/etc/apt/sources.list.d/nvidia-container-runtime.list

     1  #deb https://nvidia.github.io/libnvidia-container/stable/ubuntu18.04/$(ARCH) /
     2  # deb https://nvidia.github.io/libnvidia-container/experimental/ubuntu18.04/$(ARCH) /
     3  #deb https://nvidia.github.io/nvidia-container-runtime/stable/ubuntu18.04/$(ARCH) /
     4  # deb https://nvidia.github.io/nvidia-container-runtime/experimental/ubuntu18.04/$(ARCH) /

/etc/apt/sources.list.d/nvidia-docker.list

     1  deb https://nvidia.github.io/libnvidia-container/stable/ubuntu18.04/$(ARCH) /
     2  #deb https://nvidia.github.io/libnvidia-container/experimental/ubuntu18.04/$(ARCH) /
     3  deb https://nvidia.github.io/nvidia-container-runtime/stable/ubuntu18.04/$(ARCH) /
     4  #deb https://nvidia.github.io/nvidia-container-runtime/experimental/ubuntu18.04/$(ARCH) /
     5  deb https://nvidia.github.io/nvidia-docker/ubuntu18.04/$(ARCH) /

portainer

安装portainer

opensesame@Ubuntu:~$ docker search portainer|head -n 3
NAME                             DESCRIPTION                                     STARS               OFFICIAL            AUTOMATED
portainer/portainer              This Repo is now deprecated, use portainer/p…   2072
portainer/portainer-ce           Portainer CE - Making Docker and Kubernetes …   507
opensesame@Ubuntu:~$ docker pull portainer/portainer:1.24.1
1.24.1: Pulling from portainer/portainer
d1e017099d17: Pull complete
717377b83d5c: Pull complete
Digest: sha256:f8c2b0a9ca640edf508a8a0830cf1963a1e0d2fd9936a64104b3f658e120b868
Status: Downloaded newer image for portainer/portainer:1.24.1
docker.io/portainer/portainer:1.24.1
opensesame@Ubuntu:~$ docker run -d -p 9000:9000 --restart=always -v /var/run/docker.sock:/var/run/docker.sock --name portainer portainer/portainer:1.24.1
251649eb0c6f341c66627ab8acddafdec0b979699c64acd7da22d2ff08b975df

管理员登录

浏览器访问http://localhost:9000，本机访问使用localhost，其他机器访问使用portainer所在机器的ip地址，例如：portainer所在机器的ip地址为192.168.5.10，浏览器访问http://192.168.5.10:9000。看到如下界面，输入2次相同的密码，点击“Create User”创建管理员用户。 

选择Local、点击“Connect”

进入主界面。至此可以通过Web界面进行容器的相关操作。

registry 

docker search registry
sudo vi /etc/docker/daemon.json
{"registry-mirrors":["https://6kx4zyno.mirror.aliyuncs.com"]}
sudo service docker restart
docker run -d -p 5000:5000 --name registry --restart=always -v /opt/registry:/var/lib/registry registry

/etc/docker/daemon.json

{
"registry-mirrors":["https://6kx4zyno.mirror.aliyuncs.com"],
"insecure-registries":["20.21.5.12:5000"]
}

 

docker push

sudo vi /etc/docker/daemon.json
sudo service docker restart
docker tag autoware/autoware:1.14.0-melodic-cuda 20.21.5.12:5000/ourautoware:1.14.0-melodic-cuda
docker push 20.21.5.12:5000/ourautoware:1.14.0-melodic-cuda

docker pull

sudo vi /etc/docker/daemon.json
sudo service docker restart
docker pull 20.21.5.12:5000/ourautoware:1.14.0-melodic-cuda

auth

sudo apt install httpd-tools
mkdir /opt/registry-auth
htpasswd -Bbn autoware autoware@2021 > /opt/registry-auth/htpasswd
docker run -d -p 5000:5000 --restart=always \
-v /opt/registry-auth/:/auth/ \
-v /opt/registry:/var/lib/registry --name registry-auth -e "REGISTRY_AUTH=htpasswd" \
-e "REGISTRY_AUTH_HTPASSWD_REALM=Registry Realm" \
-e "REGISTRY_AUTH_HTPASSWD_PATH=/auth/htpasswd" registry

 

autoware

GitHub - Autoware-AI/autoware.ai: Open-source software for self-driving vehicles

https://github.com/Autoware-AI/autoware.ai

https://github.com/vkrit/Autoware

Docker

https://github.com/Autoware-AI/autoware.ai/wiki/Docker

https://github.com/Autoware-AI/autoware.ai/wiki/Generic-x86-Docker

克隆Autoware-AI/docker

git clone https://github.com/Autoware-AI/docker.git
Cloning into 'docker'...
remote: Enumerating objects: 36, done.
remote: Counting objects: 100% (36/36), done.
remote: Compressing objects: 100% (28/28), done.
remote: Total 712 (delta 16), reused 15 (delta 7), pack-reused 676
Receiving objects: 100% (712/712), 964.36 KiB | 1.12 MiB/s, done.
Resolving deltas: 100% (393/393), done.

修改run.sh

--- a/generic/run.sh
+++ b/generic/run.sh
@@ -11,6 +11,7 @@ BASE_ONLY="false"
 PRE_RELEASE="off"
 AUTOWARE_HOST_DIR=""
 USER_ID="$(id -u)"
+DISPLAY=:0

 function usage() {
     echo "Usage: $0 [OPTIONS]"
@@ -157,12 +158,16 @@ IMAGE=$IMAGE_NAME:$TAG_PREFIX-$ROS_DISTRO$SUFFIX
 echo "Launching $IMAGE"

 docker run \
-    -it --rm \
+    -it \
+    --name ourautoware \
+    -p 12322:22 \
+    -p 13389:3389 \
+    -p 9090:9090 \
+    -p 11311:11311 \
     $VOLUMES \
     --env="XAUTHORITY=${XAUTH}" \
     --env="DISPLAY=${DISPLAY}" \
     --env="USER_ID=$USER_ID" \
     --privileged \
-    --net=host \
+    --net=bridge \
     $RUNTIME \
     $IMAGE

 命令行参数

 

 

 

-i, --interactive

Keep STDIN open even if not attached

 

-t, --tty

Allocate a pseudo-TTY

 

-rm

Automatically remove the container when it exits

 

-v, --volume list

Bind mount a volume

 

-e, --env list

Set environment variables

 

--privileged

Give extended privileges to this container

 

--network network

Connect a container to a network

 

--gpus gpu-request

GPU devices to add to the container ('all' to pass all GPUs)

<19.03 && !nvidia-docker

--runtime

Runtime to use for this container

 

 

创建容器

cd docker/generic
./run.sh -t 1.14.0
Using options:
ROS distro: melodic
Image name: autoware/autoware
Tag prefix: 1.14.0
Cuda support: on
Pre-release version: off
UID: <1002>
Launching autoware/autoware:1.14.0-melodic
Changing autoware user ID to match your host's user ID (1002).
This operation can take a while...
To run a command as administrator (user "root"), use "sudo <command>".
See "man sudo_root" for details.
autoware@autoware:/home/autoware$

安装软件

docker exec -it ourautoware /tmp/entrypoint.sh
sudo apt update
sudo apt install -y vim sudo net-tools tzdata ssh xrdp xfce4 xfce4-terminal

编译

AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

images

 

1.14.0-melodic 20-05-27_09:36

1.14.0-melodic-cuda 20-07-25_02:41

 

6.6G

10.1G

Autoware

3.3G

3.2G

dependencies

1.4G

1.4G

libcudnn

 

1.3G

cuda-libraries

 

1.2G

cuda-libraries

 

820.6M

ros-melodic-ros-core

802.2M

759.9M

apt install

637.8M

640.5M

 

apt update 37M
apt install -y vim sudo net-tools tzdata ssh xrdp xfce4 xfce4-terminal 283.5M
colcon build 4.1G
rm -rf build log install 283.5M

build from Dockerfile

build.sh

OPTIONS

default

 

-b,--base-only

false

 

-c,--cuda <on|off>

on

容器CUDA支持与否

-h,--help

 

 

-i,--image <name>

autoware/autoware

dokcer镜像名

-r,--ros-distro <name>

melodic

ROS发布版本

-t,--tag-prefix <tag>

local

 

-v,--version <version>

 

指定autoware版本，重载--tag-prefix

--tag $IMAGE_NAME:$TAG_PREFIX-$ROS_DISTRO$CUDA_SUFFIX

 

IMAGE_NAME

TAG_PREFIX

ROS_DISTRO

CUDA_SUFFIX

default

autoware/autoware

local

melodic

-cuda

options

 

-v,--version

-r,--ros-distro

-c,--cuda

 

* 先根据ROS版本构建基本镜像
* 从基本镜像构建支持CUDA镜像(由-c选项控制)
* 从CUDA镜像构建最终镜像，或者从基本镜像构建最终镜像。

./build.sh (不指定autoware版本，默认使用master)
Dockerfile.base -> autoware/autoware:local-melodic-base
Dockerfile.cuda.melodic -> autoware/autoware:local-melodic-base-cuda
Dockerfile -> autoware/autoware:local-melodic-cuda

./build.sh -v 1.14.0 (指定autoware版本)
Dockerfile.base -> autoware/autoware:1.14.0-melodic-base
Dockerfile.cuda.melodic -> autoware/autoware:1.14.0-melodic-base-cuda
Dockerfile -> autoware/autoware:1.14.0-melodic-cuda

./build.sh -c off(不指定autoware版本，默认使用master，不支持CUDA)
Dockerfile.base -> autoware/autoware:local-melodic-base
Dockerfile -> autoware/autoware:local-melodic

版本1.11.*使用Dockerfile.legacy.colcon，版本1.[6-10].*使用Dockerfile.legacy.catkin，其他使用Dockerfile。

 Source

Source Build · Autoware-AI/autoware.ai Wiki · GitHub

autoware.ai.repos

git repo

URL

 

common

https://github.com/Autoware-AI/common.git

Autoware-AI

core_perception

https://github.com/Autoware-AI/core_perception.git

Autoware-AI

core_planning

https://github.com/Autoware-AI/core_planning.git

Autoware-AI

documentation

https://github.com/Autoware-AI/documentation.git

Autoware-AI

messages

https://github.com/Autoware-AI/messages.git

Autoware-AI

simulation

https://github.com/Autoware-AI/simulation.git

Autoware-AI

utilities

https://github.com/Autoware-AI/utilities.git

Autoware-AI

visualization

https://github.com/Autoware-AI/visualization.git

Autoware-AI

drivers

https://github.com/Autoware-AI/drivers.git

Autoware-AI

osrf_citysim

https://github.com/CPFL/osrf_citysim.git

CPFL

car_demo

https://github.com/CPFL/car_demo.git

CPFL

ds4

https://github.com/tier4/ds4.git

tier4

* CPFL: Computing Platforms Federated Labratory

 

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