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sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install ros-indigo-desktop-full
等安装完成运行:
sudo rosdep init
rosdep update
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc
tar zxvf linux-4.4.32-apollo-1.5.0.tar.gz
cd install
sudo ./install_kernel.sh
完成后重启进入新内核
https://github.com/ApolloAuto/apollo-platform/releases/download/1.5.1/ros-indigo-apollo-1.5.1-x86_64.tar.gz
rsync -av ros/ ~/apollo/third_party/ros_x86_64
cd apollo目录下执行:
source ./third_party/ros_x86_64/setup.bash
至此,apollo部署完毕,接下来进行测试。
git clone https://github.com/ApolloAuto/apollo.git
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
bash docker/scripts/dev_start.sh
bash docker/scripts/dev_into.sh
bash apollo.sh build
(如果没有进入docker环境,先进入docker)
cd ~/apollo
bash docker/scripts/dev_start.sh
bash docker/scripts/dev_into.sh
source ./third_party/ros_x86_64/setup.bash //执行后可以在docker下使用ros
sh scripts/hmi.sh //进入交互环境
在浏览器输入http://localhost:8887
后回车,出现以下界面开启Dreamview,然后点击右上方的Dreamview。
新开一个终端里输入:
rosbag play -l ./docs/demo_guide/demo.bag
然后就可以看到界面播放demo.bag数据啦:
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