Apollo lidar调试笔记

1. 安装
   –Installing Ubuntu Linux 18.04

–Installing NVIDIA GPU Driver 455
sudo apt-get update
sudo apt-add-repository multiverse
sudo apt-get update
sudo apt-get install nvidia-driver-455

nvidia-smi 验证GPU是否工作正常

–Installing Docker Engine 19.03
curl https://get.docker.com | sh
sudo systemctl start docker && sudo systemctl enable docker
安装docker后，需要配置docker的权限，因为docker需要绑定一个Unix Socket端口，这需要root权限；同时还需要配置docker开机自启动
https://docs.docker.com/engine/install/linux-postinstall/

–Installing NVIDIA Container Toolkit
distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -
curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
sudo apt-get -y update
sudo apt-get install -y nvidia-docker2
sudo systemctl restart docker

2. 编译
   cd /path/to/apollo
   ./docker/script/dev_start.sh
   ./docker/script/dev_into.sh
   ./apollo.sh build_dbg 或者 ./apollo.sh build_opt_gpu

3. 运行
   vscode 安装docker c/c++ remote-ssh Container
   vscode连接容器并把apollo 工程源码导入 vscode
   apollo/.vscode放置以下两个配置文件