Macbook pro 13" compile Apollo 2.5

Posted 2020-11-08 andrew-wang

STEPS:

 

0. Install Homebrew

1.  Install ‘Docker for Mac 18.03+‘，配置CPUs (n个CPUs，Bazel开n个线程编译), Memory (>2G，编译最小内存，推荐4G), Swap (>2G，推荐2G)

2. git clone ... apollo ...

3. 进入apollo目录，pull docker image for apollo (首次运行会pull 5G 的images)

./docker/scripts/dev_start.sh

*注意 这里的dev_start.sh需要修改下来适配Docker for Mac特性, 需要改成手动配置端口映射：

Replace
--net host \

with bellow, both 8887 and 8888 works.
-p 8887:8887 -p 8888:8888 \

4. 进入apollo container by using

./docker/scripts/dev_into.sh

5. Docker for mac 的实现基于轻量虚拟机技术，网络和文件系统共享完善。

在container中的/apollo文件夹直接映射host中的工作文件夹./apollo

6. 编译

./apollo.sh build

(or)

./apollo.sh build_no_perception dbg

由于macbook 13" 性能不佳或者网络不好（编译中可能会下载一个小文件），编译可能中断。

直接退出后重启docker, 清空container，重启apollo container进入接着编译

Bazel会自动跳过已编译过的项目。

整个编译过程大概要~1h，需要约10G硬盘空间。

7. 编译成功后运行

./scripts/bootstrap.sh

启动

[email protected]_dev_docker:/apollo$ ./scripts/bootstrap.sh  

Started supervisord with dev conf

Start roscore...

voice_detector: started

dreamview: started

Dreamview is running at http://localhost:8888

8. 在host mac上打开chrome输入地址 localhost:8888

进入dreamview前端界面

From the dropdown box selet "Navigation" mode.

9.  Replay demo rosbag

To see if the system works, use the demo ‘bag‘ which feeds the system.

　下载演示数据集 demo_2.5.bag （~约3G）

# get rosbag note that the command download is required
python ./docs/demo_guide/rosbag_helper.py demo_2.5.bag

运行演示数据集 demo_2.5.bag

# You can now replay this demo "bag" in a loop with the ‘-l‘ flag
rosbag play -l demo_2.5.bag

Dreamview should show a running vehicle now.

 

Comments：

1. Docker for mac的支持已经很好, mac可以用做代码编写和编译环境、模拟演示

2. 整个编译运行空间，大约需要50G +，mac ssd!，macbook 13"编译时间长