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This article describes all the pre-requisite steps needed before installing Apollo.
Working knowledge of Linux is assumed for successful software installation in this guide.
Although other Linux distributions may be OK, we have only tested Apollo on Ubuntu systems. To be specific, Ubuntu 18.04.5 LTS (Bionic Beaver). So we would recommend using Ubuntu 18.04.5+ (including Ubuntu 20.04) as the host system.
The steps required to install Ubuntu 18.04+ are available at Tutorial from ubuntu.com on How to Install Ubuntu. Please follow the guide there for a successful Ubuntu installation.
Don't forget to perform software updates after the installation is done:
sudo apt-get update
sudo apt-get upgrade
Internet access is needed for successful software updates. Make sure either WiFi or Ethernet cable is connected to a network with Internet access. You might need to configure the network for your host if the connected network is not using the Dynamic Host Configuration Protocol (DHCP).
The Apollo runtime in the vehicle requires NVIDIA GPU Driver.
According to
How to Install NVIDIA Driver,
the recommended way for Ubuntu is to use the apt-get
commands, or use an
official "runfile" from
www.nvidia.com/en-us/drivers/unix/
For Ubuntu 18.04+, you can simply run:
sudo apt-get update
sudo apt-add-repository multiverse
sudo apt-get update
sudo apt-get install nvidia-driver-440
You can type nvidia-smi
to check if NVIDIA GPU works fine on your host. (You
may restart your host for the changes to take effect.) On success, the following
message will be shown.
Prompt> nvidia-smi
Thu Sep 3 16:01:19 2020
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 440.33.01 Driver Version: 440.33.01 CUDA Version: 10.2 |
|-------------------------------+----------------------+----------------------+
| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |
|===============================+======================+======================|
| 0 GeForce GTX 1070 On | 00000000:01:00.0 On | N/A |
| 26% 38C P8 11W / 151W | 890MiB / 8114MiB | 0% Default |
+-------------------------------+----------------------+----------------------+
+-----------------------------------------------------------------------------+
| Processes: GPU Memory |
| GPU PID Type Process name Usage |
|=============================================================================|
| 0 1290 G /usr/lib/xorg/Xorg 40MiB |
| 0 1426 G /usr/bin/gnome-shell 51MiB |
| 0 2411 G /usr/lib/xorg/Xorg 293MiB |
| 0 2571 G /usr/bin/gnome-shell 227MiB |
| 0 7071 G ...AAAAAAAAAAAACAAAAAAAAAA= --shared-files 272MiB |
+-----------------------------------------------------------------------------+
Apollo 6.0+ requires Docker 19.03+ to work properly. Just follow the Install Docker Engine on Ubuntu doc to install docker engine.
Docker-CE on Ubuntu can also be setup using Docker’s official convenience script:
curl https://get.docker.com | sh
sudo systemctl start docker && sudo systemctl enable docker
You can choose whichever method you would prefer. Just don't forget the Post-installation Actions for Linux, esp. the section on Manage Docker as Non-root User and Configure Docker to Start on Boot.
There is also a dedicated bash script Apollo provides to ease Docker installation, which works both for X86_64 and AArch64 platforms.
The NVIDIA Container Toolkit for Docker is required to run Apollo's CUDA based Docker images.
You can run the following to install 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-container-toolkit
Don't forget to restart the Docker daemon for the changes above to take effect.
sudo systemctl restart docker
Refer to NVIDIA Container Toolkit Installation Guide for more.
With successful installation of the pre-requisites above, you can now move to "Git Clone Apollo Repo" section now.
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