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参考 https://github.com/lgsvl/apollo-3.5

容器内部python运行

  1. 在apollo目录下
source cyber/setup.bash
  1. 执行
python cyber/python/examples/listener.py
python cyber/python/examples/talker.py

容器外部执行

  1. python 环境变量
export PYTHONPATH=$PYTHONPATH:/media/data/k8s/apollo
export PYTHONPATH=$PYTHONPATH:/media/data/k8s/apollo/bazel-bin/cyber/py_wrapper

  1. 环境变量 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib

  2. 安装Fast-RTPS 直接拷贝so也可以 /usr/local/fast-rtps/lib/libfastcdr.so.1 /usr/local/fast-rtps/lib/libfastrtps.so.1

  3. 拷贝so 在容器里面 cp /usr/local/lib/libglog.so.0 . cp /usr/local/lib/libgflags.so.2.2 . cp /usr/lib/libprotobuf.so.17 . cp /usr/lib/libPocoFoundation.so.9 .

拷贝到另外的机器

  1. 设置机器IP A机器 在setup.bash中设置 export CYBER_IP=192.168.1.101 B机器 在setup.bash中设置 export CYBER_IP=192.168.1.102

  2. 拷贝文件和依赖库 192.168.1.101 在目录 /home/k8s/apollo/PythonClient

  3. 设置环境变量 source setup.bash

export PYTHONPATH=$PYTHONPATH:/home/k8s/apollo/bazel-bin/cyber/py_wrapper export PYTHONPATH=$PYTHONPATH:/home/k8s/apollo/py_proto

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/k8s/apollo/bazel-bin

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/k8s/apollo/third_party/tf2/lib/

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/k8s/apollo/bazel-bin/cyber/py_wrapper/_cyber_init.so.runfiles/apollo/_solib_k8/ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/k8s/apollo/bazel-bin/cyber/py_wrapper/_cyber_node.so.runfiles/apollo/_solib_k8

export PYTHONPATH=$PYTHONPATH:/home/k8s/apollo/third_party

sudo pip install protobuf

运行并且测试

A机器

python client_example.py --host 192.168.1.102

B机器

  1. 启动carla ./CarlaUE4.sh -carla-server
  2. 容器内部执行 python listener.py

TODO

适配carla和apollo的参数，并且对接发布出去。

dreamview

  1. bag转record
source /your-path-to-apollo-install-dir/cyber/setup.bash
rosbag_to_record input.bag output.record

参考

  1. record播放
./bazel-bin/modules/dreamview/backend/simulation_command/sim_cmd
cyber_recorder play -f out.record -s 10 -c /apollo/canbus/chassis /apollo/localization/pose /apollo/sensor/gnss/odometry
  1. HMI status HMI status一直保存在内存中？