40系列显卡新镜像支持_Apollo开发者社区

前置条件：驱动版本>=520.61.05，驱动若小于前述版本需升级。

修改镜像TAG

拉取github源码后，修改docker/scripts/dev_start.sh中的VERSION_X86_64镜像版本

VERSION_X86_64="dev-x86_64-18.04-20231128_2222"

启动容器

bash docker/scripts/dev_start.sh

进入容器

bash docker/scripts/dev_into.sh

修改第三方库下载链接

将third_party/centerpoint_infer_op/workspace.bzl修改为下述内容

"""Loads the paddlelite library"""
# Sanitize a dependency so that it works correctly from code that includes
# Apollo as a submodule.
load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
def clean_dep(dep):
    return str(Label(dep))
def repo():
    http_archive(
        name = "centerpoint_infer_op-x86_64",
        sha256 = "038470fc2e741ebc43aefe365fc23400bc162c1b4cbb74d8c8019f84f2498190",
        strip_prefix = "centerpoint_infer_op",
        urls = ["https://apollo-pkg-beta.bj.bcebos.com/archive/centerpoint_infer_op_cu118.tar.gz"],
    )
    http_archive(
        name = "centerpoint_infer_op-aarch64",
        sha256 = "e7c933db4237399980c5217fa6a81dff622b00e3a23f0a1deb859743f7977fc1",
        strip_prefix = "centerpoint_infer_op",
        urls = ["https://apollo-pkg-beta.bj.bcebos.com/archive/centerpoint_infer_op-linux-aarch64-1.0.0.tar.gz"],
    )

将third_party/paddleinference/workspace.bzl修改为

"""Loads the paddlelite library"""
# Sanitize a dependency so that it works correctly from code that includes
# Apollo as a submodule.
load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
def clean_dep(dep):
    return str(Label(dep))
def repo():
    http_archive(
        name = "paddleinference-x86_64",
        sha256 = "7498df1f9bbaf5580c289a67920eea1a975311764c4b12a62c93b33a081e7520",
        strip_prefix = "paddleinference",
        urls = ["https://apollo-pkg-beta.cdn.bcebos.com/archive/paddleinference-cu118-x86.tar.gz"],
    )
    http_archive(
        name = "paddleinference-aarch64",
        sha256 = "048d1d7799ffdd7bd8876e33bc68f28c3af911ff923c10b362340bd83ded04b3",
        strip_prefix = "paddleinference",
        urls = ["https://apollo-pkg-beta.bj.bcebos.com/archive/paddleinference-linux-aarch64-1.0.0.tar.gz"],
    )

编译

首先检查工作空间是否存在.apollo.bazelrc文件，如果存在先删除

将modules/perception/common/inference/tensorrt/rt_legacy.h中的宏注释掉

// #ifdef __aarch64__
// #endif

根据需要自行编译，例如感知模块编译

./apollo.sh build_opt_gpu perception