本文共 2760 字，大约阅读时间需要 9 分钟。

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。

转载地址：http://twdab.baihongyu.com/