Apollo supported computing unit!

[daohu527]

GPU

• NVIDIA
  • GeForce RTX 20 Series
  • GeForce RTX 30 Series
  • GeForce RTX 40 Series ref

[daohu527]

4090 card support

Nvidia driver version >=520.61.05. If the driver is smaller than the above version, it needs to be upgraded.

Replace docker image

Modify VERSION_X86_64 image version in docker/scripts/dev_start.sh

VERSION_X86_64="dev-x86_64-18.04-20231128_2222"

Start docker and enter docker

bash docker/scripts/dev_start.sh
bash docker/scripts/dev_into.sh

Modify third-party library download link

Modify third_party/centerpoint_infer_op/workspace.bzl as below

"""Loads the paddlelite library"""

# Sanitize a dependency so that it works correctly from code that includes
# Apollo as a submodule.
load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")

def clean_dep(dep):
    return str(Label(dep))

def repo():
    http_archive(
        name = "centerpoint_infer_op-x86_64",
        sha256 = "038470fc2e741ebc43aefe365fc23400bc162c1b4cbb74d8c8019f84f2498190",
        strip_prefix = "centerpoint_infer_op",
        urls = ["https://apollo-pkg-beta.bj.bcebos.com/archive/centerpoint_infer_op_cu118.tar.gz"],
    )

    http_archive(
        name = "centerpoint_infer_op-aarch64",
        sha256 = "e7c933db4237399980c5217fa6a81dff622b00e3a23f0a1deb859743f7977fc1",
        strip_prefix = "centerpoint_infer_op",
        urls = ["https://apollo-pkg-beta.bj.bcebos.com/archive/centerpoint_infer_op-linux-aarch64-1.0.0.tar.gz"],
    )

Modify third_party/paddleinference/workspace.bzl as below

"""Loads the paddlelite library"""

# Sanitize a dependency so that it works correctly from code that includes
# Apollo as a submodule.
load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")

def clean_dep(dep):
    return str(Label(dep))

def repo():
    http_archive(
        name = "paddleinference-x86_64",
        sha256 = "7498df1f9bbaf5580c289a67920eea1a975311764c4b12a62c93b33a081e7520",
        strip_prefix = "paddleinference",
        urls = ["https://apollo-pkg-beta.cdn.bcebos.com/archive/paddleinference-cu118-x86.tar.gz"],
    )

    http_archive(
        name = "paddleinference-aarch64",
        sha256 = "048d1d7799ffdd7bd8876e33bc68f28c3af911ff923c10b362340bd83ded04b3",
        strip_prefix = "paddleinference",
        urls = ["https://apollo-pkg-beta.bj.bcebos.com/archive/paddleinference-linux-aarch64-1.0.0.tar.gz"],
    )

compile

First check whether the .apollo.bazelrc file exists in the workspace. If it exists, delete it first.

Disable the macro in modules/perception/common/inference/tensorrt/rt_legacy.h

// #ifdef __aarch64__

// #endif

build perception module

./apollo.sh build_opt_gpu perception

[CesarLiu]

jetson tx2 support: https://github.com/CesarLiu/apollo/blob/9.x_alpha/docker/build/dev.aarch64.tx2.dockerfile, in development...