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CCF- BDCI赛事复赛系统更新

一、进入工程目录

cd application-pnc
  • 目录结构说明
  • core目录，系统依赖包，里面cyberfile.xml描述了使用
  • WORKSPACE：与bazel相关的一些配置信息，一般不需要用户关注。

检查工作目录

cat .workspace.json

参与CCF- BDCI赛事复赛，请参考如下链接更新：

1.1 pnc工程

1.1.1 进入Docker环境

# 拉取并启动docker容器
aem start
# 进入容器
aem enter

检查buildtool版本

1.1.2检查进入工作空间是否正确

检查工作目录

cat .workspace.json

1.1.3检查是否有显卡驱动

nvidia-smi

如若出现以下情况，则说明没有下载显卡驱动，退出容器（输入指令：exit），

输入指令：exit

然后再参考如下链接

https://apollo.baidu.com/community/article/1181

注意：本教程只适用于ubuntu系统，虚拟机无法安装显卡驱动，wsl请自行上网搜索

再清除容器： aem remove

重启启动容器：aem start_gpu

进入容器：aem enter

1.1.4检查buildtool版本

检查buildtool版本

检查buildtool版本

buildtool -v

如若buildtool版本与上图不一致，即以9.0.0-alpha2开头的版本，请使用以下指令更新：

sudo apt update && sudo apt install --only-upgrade apollo-neo-buildtool

1.1.5升级CCF- BDCI赛事复赛工程

方法一（推荐新手适用）

方法二（会用vim）

步骤一，打开工程目录修改.workspace.json

步骤一，打开工程目录修改.workspace.json

vim .workspace.json

步骤二，将

9.0.0-alpha2-r28

修改为（需要保存）：

9.0.0-alpha2-r31

步骤二，将

9.0.0-alpha2-r28

修改为（需要保存）：

9.0.0-alpha2-r31

检验：

cat .workspace.json

出现以下结果则表示修改成功

检验：

cat .workspace.json

出现以下结果则表示修改成功

步骤三：打开工程目录修改core/cyberfile.xml

步骤三：打开工程目录修改core/cyberfile.xml

vim core/cyberfile.xml

步骤四，删除core/cyberfile.xml内容

步骤四，删除core/cyberfile.xml内容

步骤五，粘贴如下内容至core/cyberfile.xml中，并保存

<package>
  <name>core</name>
  <version>local</version>
  <description>
      depends of apollo core
  </description>
  <maintainer email="apollo-support@baidu.com">Apollo Maintainer</maintainer>
  <type>module</type>
  <src_path>//core</src_path>
  <license>Apache License 2.0</license>
  <author>Apollo</author>
  <!-- basic -->
  <depend repo_name="common" type="binary">common</depend>
  <depend repo_name="cyber" type="binary">cyber</depend>
  <depend repo_name="common-msgs" type="binary">common-msgs</depend>
  <!-- dreamview && monitor -->
  <depend repo_name="dreamview" type="binary">dreamview</depend>
  <depend repo_name="dreamview-plus" type="binary">dreamview-plus</depend>
  <depend repo_name="monitor" type="binary">monitor</depend>
  <depend repo_name="studio-connector" type="binary">studio-connector</depend>
  <depend repo_name="sim-obstacle" type="binary">sim-obstacle</depend>
  <!-- external_command -->
  <depend repo_name="external-command-action" type="binary">external-command-action</depend>
  <depend repo_name="external-command-demo" type="binary">external-command-demo</depend>
  <depend repo_name="external-command-lane-follow" type="binary">external-command-lane-follow</depend>
  <depend repo_name="external-command-process" type="binary">external-command-process</depend>
  <depend repo_name="external-command-processor-base" type="binary">external-command-processor-base</depend>
  <depend repo_name="external-command-valet-parking" type="binary">external-command-valet-parking</depend>
  <depend repo_name="old-routing-adpter" type="binary">old-routing-adpter</depend>
  <depend repo_name="routing" type="binary">routing</depend>
  <!-- planning1 -->
  <depend repo_name="planning" type="binary">planning</depend>
  <depend repo_name="planning-scenario-bare-intersection-unprotected" type="binary">planning-scenario-bare-intersection-unprotected</depend>
  <depend repo_name="planning-scenario-emergency-pull-over" type="binary">planning-scenario-emergency-pull-over</depend>
  <depend repo_name="planning-scenario-emergency-stop" type="binary">planning-scenario-emergency-stop</depend>
  <depend repo_name="planning-scenario-lane-follow" type="binary">planning-scenario-lane-follow</depend>
  <depend repo_name="planning-scenario-park-and-go" type="binary">planning-scenario-park-and-go</depend>
  <depend repo_name="planning-lane-follow-map" type="binary">planning-lane-follow-map</depend>
  <depend repo_name="planning-scenario-pull-over" type="binary">planning-scenario-pull-over</depend>
  <depend repo_name="planning-scenario-stop-sign-unprotected" type="binary">planning-scenario-stop-sign-unprotected</depend>
  <depend repo_name="planning-scenario-traffic-light-protected" type="binary">planning-scenario-traffic-light-protected</depend>
  <depend repo_name="planning-scenario-traffic-light-unprotected-left-turn" type="binary">planning-scenario-traffic-light-unprotected-left-turn</depend>
  <depend repo_name="planning-scenario-traffic-light-unprotected-right-turn" type="binary">planning-scenario-traffic-light-unprotected-right-turn</depend>
  <depend repo_name="planning-scenario-valet-parking" type="binary">planning-scenario-valet-parking</depend>
  <depend repo_name="planning-scenario-yield-sign" type="binary">planning-scenario-yield-sign</depend>
  <depend repo_name="planning-task-fallback-path" type="binary">planning-task-fallback-path</depend>
  <depend repo_name="planning-task-lane-borrow-path" type="binary">planning-task-lane-borrow-path</depend>
  <depend repo_name="planning-task-lane-change-path" type="binary">planning-task-lane-change-path</depend>
  <depend repo_name="planning-task-lane-follow-path" type="binary">planning-task-lane-follow-path</depend>
  <depend repo_name="planning-task-open-space-fallback-decider" type="binary">planning-task-open-space-fallback-decider</depend>
  <depend repo_name="planning-task-open-space-pre-stop-decider" type="binary">planning-task-open-space-pre-stop-decider</depend>
  <depend repo_name="planning-task-open-space-roi-decider" type="binary">planning-task-open-space-roi-decider</depend>
  <depend repo_name="planning-task-open-space-trajectory-partition" type="binary">planning-task-open-space-trajectory-partition</depend>
  <depend repo_name="planning-task-open-space-trajectory-provider" type="binary">planning-task-open-space-trajectory-provider</depend>
  <depend repo_name="planning-task-path-decider" type="binary">planning-task-path-decider</depend>
  <depend repo_name="planning-task-path-reference-decider" type="binary">planning-task-path-reference-decider</depend>
  <depend repo_name="planning-task-path-time-heuristic" type="binary">planning-task-path-time-heuristic</depend>
  <depend repo_name="planning-task-piecewise-jerk-speed" type="binary">planning-task-piecewise-jerk-speed</depend>
  <depend repo_name="planning-task-piecewise-jerk-speed-nonlinear" type="binary">planning-task-piecewise-jerk-speed-nonlinear</depend>
  <depend repo_name="planning-task-pull-over-path" type="binary">planning-task-pull-over-path</depend>
  <depend repo_name="planning-task-reuse-path" type="binary">planning-task-reuse-path</depend>
  <depend repo_name="planning-task-rss-decider" type="binary">planning-task-rss-decider</depend>
  <depend repo_name="planning-task-rule-based-stop-decider" type="binary">planning-task-rule-based-stop-decider</depend>
  <depend repo_name="planning-task-speed-bounds-decider" type="binary">planning-task-speed-bounds-decider</depend>
  <depend repo_name="planning-task-speed-decider" type="binary">planning-task-speed-decider</depend>
  <depend repo_name="planning-task-st-bounds-decider" type="binary">planning-task-st-bounds-decider</depend>
  <depend repo_name="planning-traffic-rules-backside-vehicle" type="binary">planning-traffic-rules-backside-vehicle</depend>
  <depend repo_name="planning-traffic-rules-crosswalk" type="binary">planning-traffic-rules-crosswalk</depend>
  <depend repo_name="planning-traffic-rules-destination" type="binary">planning-traffic-rules-destination</depend>
  <depend repo_name="planning-traffic-rules-keepclear" type="binary">planning-traffic-rules-keepclear</depend>
  <depend repo_name="planning-traffic-rules-rerouting" type="binary">planning-traffic-rules-rerouting</depend>
  <depend repo_name="planning-traffic-rules-stop-sign" type="binary">planning-traffic-rules-stop-sign</depend>
  <depend repo_name="planning-traffic-rules-traffic-light" type="binary">planning-traffic-rules-traffic-light</depend>
  <depend repo_name="planning-traffic-rules-yield-sign" type="binary">planning-traffic-rules-yield-sign</depend>
  <depend repo_name="planning-traffic-rules-reference-line-end" type="binary">planning-traffic-rules-reference-line-end</depend>
  <!-- perception -->
  <depend repo_name="perception-camera-detection-2d" type="binary">perception-camera-detection-2d</depend>
  <depend repo_name="perception-camera-detection-3d" type="binary">perception-camera-detection-3d</depend>
  <depend repo_name="perception-camera-detection-bev" type="binary">perception-camera-detection-bev</depend>
  <depend repo_name="perception-camera-location-estimation" type="binary">perception-camera-location-estimation</depend>
  <depend repo_name="perception-camera-location-refinement" type="binary">perception-camera-location-refinement</depend>
  <depend repo_name="perception-camera-tracking" type="binary">perception-camera-tracking</depend>
  <depend repo_name="perception-data" type="binary">perception-data</depend>
  <depend repo_name="perception-lane-detection" type="binary">perception-lane-detection</depend>
  <depend repo_name="perception-lidar-detection-filter" type="binary">perception-lidar-detection-filter</depend>
  <depend repo_name="perception-lidar-detection" type="binary">perception-lidar-detection</depend>
  <depend repo_name="perception-lidar-output" type="binary">perception-lidar-output</depend>
  <depend repo_name="perception-launch" type="binary">perception-launch</depend>
  <depend repo_name="perception-lidar-tracking" type="binary">perception-lidar-tracking</depend>
  <depend repo_name="perception-motion-service" type="binary">perception-motion-service</depend>
  <depend repo_name="perception-msg-adapter" type="binary">perception-msg-adapter</depend>
  <depend repo_name="perception-multi-sensor-fusion" type="binary">perception-multi-sensor-fusion</depend>
  <depend repo_name="perception-pointcloud-ground-detection" type="binary">perception-pointcloud-ground-detection</depend>
  <depend repo_name="perception-pointcloud-map-based-roi" type="binary">perception-pointcloud-map-based-roi</depend>
  <depend repo_name="perception-pointcloud-preprocess" type="binary">perception-pointcloud-preprocess</depend>
  <depend repo_name="perception-radar-detection" type="binary">perception-radar-detection</depend>
  <depend repo_name="perception-tools" type="binary">perception-tools</depend>
  <depend repo_name="perception-traffic-light-detection" type="binary">perception-traffic-light-detection</depend>
  <depend repo_name="perception-traffic-light-recognition" type="binary">perception-traffic-light-recognition</depend>
  <depend repo_name="perception-traffic-light-region-proposal" type="binary">perception-traffic-light-region-proposal</depend>
  <depend repo_name="perception-traffic-light-tracking" type="binary">perception-traffic-light-tracking</depend>
  <!-- transform -->
  <depend repo_name="transform" type="binary">transform</depend>
  <!-- prediction -->
  <depend repo_name="prediction" type="binary">prediction</depend>
  <!-- control -->
  <depend repo_name="control-controller-demo-control-task" type="binary">control-controller-demo-control-task</depend>
  <depend repo_name="control-controller-lat-based-lqr-controller" type="binary">control-controller-lat-based-lqr-controller</depend>
  <depend repo_name="control-controller-lon-based-pid-controller" type="binary">control-controller-lon-based-pid-controller</depend>
  <depend repo_name="control-controller-mpc-controller" type="binary">control-controller-mpc-controller</depend>
  <depend repo_name="control" type="binary">control</depend>
  <!-- map -->
  <depend repo_name="map" type="binary">map</depend>
  <builder>bazel</builder>
</package>

步骤五，粘贴如下内容至core/cyberfile.xml中，并保存

<package>
  <name>core</name>
  <version>local</version>
  <description>
      depends of apollo core
  </description>
  <maintainer email="apollo-support@baidu.com">Apollo Maintainer</maintainer>
  <type>module</type>
  <src_path>//core</src_path>
  <license>Apache License 2.0</license>
  <author>Apollo</author>
  <!-- basic -->
  <depend repo_name="common" type="binary">common</depend>
  <depend repo_name="cyber" type="binary">cyber</depend>
  <depend repo_name="common-msgs" type="binary">common-msgs</depend>
  <!-- dreamview && monitor -->
  <depend repo_name="dreamview" type="binary">dreamview</depend>
  <depend repo_name="dreamview-plus" type="binary">dreamview-plus</depend>
  <depend repo_name="monitor" type="binary">monitor</depend>
  <depend repo_name="studio-connector" type="binary">studio-connector</depend>
  <depend repo_name="sim-obstacle" type="binary">sim-obstacle</depend>
  <!-- external_command -->
  <depend repo_name="external-command-action" type="binary">external-command-action</depend>
  <depend repo_name="external-command-demo" type="binary">external-command-demo</depend>
  <depend repo_name="external-command-lane-follow" type="binary">external-command-lane-follow</depend>
  <depend repo_name="external-command-process" type="binary">external-command-process</depend>
  <depend repo_name="external-command-processor-base" type="binary">external-command-processor-base</depend>
  <depend repo_name="external-command-valet-parking" type="binary">external-command-valet-parking</depend>
  <depend repo_name="old-routing-adpter" type="binary">old-routing-adpter</depend>
  <depend repo_name="routing" type="binary">routing</depend>
  <!-- planning1 -->
  <depend repo_name="planning" type="binary">planning</depend>
  <depend repo_name="planning-scenario-bare-intersection-unprotected" type="binary">planning-scenario-bare-intersection-unprotected</depend>
  <depend repo_name="planning-scenario-emergency-pull-over" type="binary">planning-scenario-emergency-pull-over</depend>
  <depend repo_name="planning-scenario-emergency-stop" type="binary">planning-scenario-emergency-stop</depend>
  <depend repo_name="planning-scenario-lane-follow" type="binary">planning-scenario-lane-follow</depend>
  <depend repo_name="planning-scenario-park-and-go" type="binary">planning-scenario-park-and-go</depend>
  <depend repo_name="planning-lane-follow-map" type="binary">planning-lane-follow-map</depend>
  <depend repo_name="planning-scenario-pull-over" type="binary">planning-scenario-pull-over</depend>
  <depend repo_name="planning-scenario-stop-sign-unprotected" type="binary">planning-scenario-stop-sign-unprotected</depend>
  <depend repo_name="planning-scenario-traffic-light-protected" type="binary">planning-scenario-traffic-light-protected</depend>
  <depend repo_name="planning-scenario-traffic-light-unprotected-left-turn" type="binary">planning-scenario-traffic-light-unprotected-left-turn</depend>
  <depend repo_name="planning-scenario-traffic-light-unprotected-right-turn" type="binary">planning-scenario-traffic-light-unprotected-right-turn</depend>
  <depend repo_name="planning-scenario-valet-parking" type="binary">planning-scenario-valet-parking</depend>
  <depend repo_name="planning-scenario-yield-sign" type="binary">planning-scenario-yield-sign</depend>
  <depend repo_name="planning-task-fallback-path" type="binary">planning-task-fallback-path</depend>
  <depend repo_name="planning-task-lane-borrow-path" type="binary">planning-task-lane-borrow-path</depend>
  <depend repo_name="planning-task-lane-change-path" type="binary">planning-task-lane-change-path</depend>
  <depend repo_name="planning-task-lane-follow-path" type="binary">planning-task-lane-follow-path</depend>
  <depend repo_name="planning-task-open-space-fallback-decider" type="binary">planning-task-open-space-fallback-decider</depend>
  <depend repo_name="planning-task-open-space-pre-stop-decider" type="binary">planning-task-open-space-pre-stop-decider</depend>
  <depend repo_name="planning-task-open-space-roi-decider" type="binary">planning-task-open-space-roi-decider</depend>
  <depend repo_name="planning-task-open-space-trajectory-partition" type="binary">planning-task-open-space-trajectory-partition</depend>
  <depend repo_name="planning-task-open-space-trajectory-provider" type="binary">planning-task-open-space-trajectory-provider</depend>
  <depend repo_name="planning-task-path-decider" type="binary">planning-task-path-decider</depend>
  <depend repo_name="planning-task-path-reference-decider" type="binary">planning-task-path-reference-decider</depend>
  <depend repo_name="planning-task-path-time-heuristic" type="binary">planning-task-path-time-heuristic</depend>
  <depend repo_name="planning-task-piecewise-jerk-speed" type="binary">planning-task-piecewise-jerk-speed</depend>
  <depend repo_name="planning-task-piecewise-jerk-speed-nonlinear" type="binary">planning-task-piecewise-jerk-speed-nonlinear</depend>
  <depend repo_name="planning-task-pull-over-path" type="binary">planning-task-pull-over-path</depend>
  <depend repo_name="planning-task-reuse-path" type="binary">planning-task-reuse-path</depend>
  <depend repo_name="planning-task-rss-decider" type="binary">planning-task-rss-decider</depend>
  <depend repo_name="planning-task-rule-based-stop-decider" type="binary">planning-task-rule-based-stop-decider</depend>
  <depend repo_name="planning-task-speed-bounds-decider" type="binary">planning-task-speed-bounds-decider</depend>
  <depend repo_name="planning-task-speed-decider" type="binary">planning-task-speed-decider</depend>
  <depend repo_name="planning-task-st-bounds-decider" type="binary">planning-task-st-bounds-decider</depend>
  <depend repo_name="planning-traffic-rules-backside-vehicle" type="binary">planning-traffic-rules-backside-vehicle</depend>
  <depend repo_name="planning-traffic-rules-crosswalk" type="binary">planning-traffic-rules-crosswalk</depend>
  <depend repo_name="planning-traffic-rules-destination" type="binary">planning-traffic-rules-destination</depend>
  <depend repo_name="planning-traffic-rules-keepclear" type="binary">planning-traffic-rules-keepclear</depend>
  <depend repo_name="planning-traffic-rules-rerouting" type="binary">planning-traffic-rules-rerouting</depend>
  <depend repo_name="planning-traffic-rules-stop-sign" type="binary">planning-traffic-rules-stop-sign</depend>
  <depend repo_name="planning-traffic-rules-traffic-light" type="binary">planning-traffic-rules-traffic-light</depend>
  <depend repo_name="planning-traffic-rules-yield-sign" type="binary">planning-traffic-rules-yield-sign</depend>
  <depend repo_name="planning-traffic-rules-reference-line-end" type="binary">planning-traffic-rules-reference-line-end</depend>
  <!-- perception -->
  <depend repo_name="perception-camera-detection-2d" type="binary">perception-camera-detection-2d</depend>
  <depend repo_name="perception-camera-detection-3d" type="binary">perception-camera-detection-3d</depend>
  <depend repo_name="perception-camera-detection-bev" type="binary">perception-camera-detection-bev</depend>
  <depend repo_name="perception-camera-location-estimation" type="binary">perception-camera-location-estimation</depend>
  <depend repo_name="perception-camera-location-refinement" type="binary">perception-camera-location-refinement</depend>
  <depend repo_name="perception-camera-tracking" type="binary">perception-camera-tracking</depend>
  <depend repo_name="perception-data" type="binary">perception-data</depend>
  <depend repo_name="perception-lane-detection" type="binary">perception-lane-detection</depend>
  <depend repo_name="perception-lidar-detection-filter" type="binary">perception-lidar-detection-filter</depend>
  <depend repo_name="perception-lidar-detection" type="binary">perception-lidar-detection</depend>
  <depend repo_name="perception-lidar-output" type="binary">perception-lidar-output</depend>
  <depend repo_name="perception-launch" type="binary">perception-launch</depend>
  <depend repo_name="perception-lidar-tracking" type="binary">perception-lidar-tracking</depend>
  <depend repo_name="perception-motion-service" type="binary">perception-motion-service</depend>
  <depend repo_name="perception-msg-adapter" type="binary">perception-msg-adapter</depend>
  <depend repo_name="perception-multi-sensor-fusion" type="binary">perception-multi-sensor-fusion</depend>
  <depend repo_name="perception-pointcloud-ground-detection" type="binary">perception-pointcloud-ground-detection</depend>
  <depend repo_name="perception-pointcloud-map-based-roi" type="binary">perception-pointcloud-map-based-roi</depend>
  <depend repo_name="perception-pointcloud-preprocess" type="binary">perception-pointcloud-preprocess</depend>
  <depend repo_name="perception-radar-detection" type="binary">perception-radar-detection</depend>
  <depend repo_name="perception-tools" type="binary">perception-tools</depend>
  <depend repo_name="perception-traffic-light-detection" type="binary">perception-traffic-light-detection</depend>
  <depend repo_name="perception-traffic-light-recognition" type="binary">perception-traffic-light-recognition</depend>
  <depend repo_name="perception-traffic-light-region-proposal" type="binary">perception-traffic-light-region-proposal</depend>
  <depend repo_name="perception-traffic-light-tracking" type="binary">perception-traffic-light-tracking</depend>
  <!-- transform -->
  <depend repo_name="transform" type="binary">transform</depend>
  <!-- prediction -->
  <depend repo_name="prediction" type="binary">prediction</depend>
  <!-- control -->
  <depend repo_name="control-controller-demo-control-task" type="binary">control-controller-demo-control-task</depend>
  <depend repo_name="control-controller-lat-based-lqr-controller" type="binary">control-controller-lat-based-lqr-controller</depend>
  <depend repo_name="control-controller-lon-based-pid-controller" type="binary">control-controller-lon-based-pid-controller</depend>
  <depend repo_name="control-controller-mpc-controller" type="binary">control-controller-mpc-controller</depend>
  <depend repo_name="control" type="binary">control</depend>
  <!-- map -->
  <depend repo_name="map" type="binary">map</depend>
  <builder>bazel</builder>
</package>

1.1.5升级aem工具

sudo apt install apollo-neo-env-manager-dev

1.2下载安装依赖包： 

# 会拉取安装core目录下的cyberfile.xml里面所有的依赖包
buildtool build  --gpu

原创声明，本文由作者授权发布于Apollo开发者社区，未经许可，不得转载。
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目录
一、进入工程目录
1.1 pnc工程
1.2下载安装依赖包：