人驾驶自动驾驶百度无人车ApolloAuto

1.安装原版ubuntu 14.04

http://www.ubuntu.org.cn/download/alternative-downloads

2.安装对应ubuntu 14.04的indigo版ROS

http://wiki.ros.org/indigo/Installation/Ubuntu

3.安装Apollo Kernel

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

为运行Apollo软件提供了kernel层面的支持。

从这里下载linux-4.4.32-apollo-1.0.0.tar.gz：
https://github.com/ApolloAuto/apollo-kernel/releases
解压安装：

tar zxvf linux-4.4.32-apollo-1.0.0.tar.gz

cd install

sudo ./install_kernel.sh

重启系统。

4.安装Apollo本体

https://github.com/ApolloAuto/apollo

下载资源：

git clone https://github.com/ApolloAuto/apollo.git
安装docker环境：

cd ~/apollo

bash docker/scripts/install_docker.sh

先注销再重新登录，然后测试一下docker是否安装成功：

docker ps

设置环境：

bash docker/scripts/dev_start.sh

bash docker/scripts/dev_into.sh

编译：

bash apollo.sh build

5.安装Apollo ROS支持

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

相对于原版ROS，做出了如下改进：

。增强了ROS的去中心化特性；

。基于共享内存的更高效的通信；

。支持Protobuf；

从这里下载ros-indigo-apollo-1.0.0.x86_64.tar.gz：
https://github.com/ApolloAuto/apollo-platform/releases
解压缩：

tar zxvf ros-indigo-apollo-1.0.0.x86_64.tar.gz

将解压后的文件夹ros拷贝到apollo工程中：

rsync -av ros/ ~/apollo/third_party/ros_x86_64

source ~/apollo/third_party/ros_x86_64/setup.bash

6.运行Apollo

cd ~/apollo

bash scripts/hmi.sh

在浏览器输入http://localhost:8887后回车，在Debug中开启Dreamview，然后点击右上方的Dreamview。

在另一个终端里输入：

rosbag play -l ./docs/demo_guide/demo.bag

然后就可以看到界面播放demo.bag数据啦：



当然，这只是播放录像而已，要搭建一个真实的无人车所需要的硬件诸如工业电脑IPC、GPS、IMU、CANBUS卡等，在~/apollo/docs/quickstart/中有介绍：

# Key Hardware Components

The key hardware components to install include:

- Onboard computer system ─ Neousys Nuvo-5095GC

- Controller Area Network (CAN) Card ─ ESD CAN-PCIe/402-1

- General Positioning System (GPS) and Inertial Measurement Unit (IMU) ─

You can select one of the following options:

- NovAtel SPN-IGM-A1

- NovAtel SPAN® ProPak6™ and NovAtel IMU-IGM-A1

## Additional Components Required

You need to provide these additional components for the Additional Tasks Required:

- A 4G router for Internet access

- A monitor, keyboard, and mouse for debugging at the car onsite

- Cables: Video Graphics Array (VGA) connector, a Digital Visual Interface (DVI) cable (optional)

- Apple iPad Pro: 9.7-inch, Wi-Fi (optional)

The features of the key hardware components are presented in the subsequent sections.

## Onboard Computer System - IPC

The onboard computer system is an industrial PC (IPC) for the autonomous vehicle and uses the **NeousysNuvo-5095GC** that is powered by a sixth-generation Intel Skylake core i7-6700 CPU.

The Neousys Nuvo-5095GC is the central unit of the autonomous driving system (ADS).

### IPC Configuration

Configure the IPC as follows:

- 32GB DDR4 RAM

- MezIO-V20-EP module (with ignition control for in-vehicle usage)

- PO-160W-OW 160W AC/DC power adapter

- CSM2 module (x16 PCIe expansion Gen3 8-lane cassette)

当然，首先你要有个车。