{"id":743,"date":"2025-09-22T09:43:03","date_gmt":"2025-09-22T01:43:03","guid":{"rendered":"https:\/\/cennum.top\/?p=743"},"modified":"2025-09-22T09:47:19","modified_gmt":"2025-09-22T01:47:19","slug":"%e5%9c%a8jetson%e4%b8%8a%e4%bd%bf%e7%94%a8docker%e8%bf%90%e8%a1%8cautoware","status":"publish","type":"post","link":"https:\/\/cennum.top\/index.php\/2025\/09\/22\/%e5%9c%a8jetson%e4%b8%8a%e4%bd%bf%e7%94%a8docker%e8%bf%90%e8%a1%8cautoware\/","title":{"rendered":"\u5728jetson\u4e0a\u4f7f\u7528docker\u8fd0\u884cautoware"},"content":{"rendered":"\n
\"\"<\/figure>\n\n\n\n

\u53c2\u8003\u94fe\u63a5https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/installation\/autoware\/docker-installation\/<\/a><\/p>\n\n\n\n

1.\u514b\u9686 autowarefoundation\/autoware \u5e76\u79fb\u52a8\u5230\u8be5\u76ee\u5f55\u3002<\/strong><\/p>\n\n\n\n

git clone https:\/\/github.com\/autowarefoundation\/autoware.git\ncd autoware<\/code><\/pre>\n\n\n\n
2.\u8bbe\u7f6e\u811a\u672c\u5c06\u4f7f\u7528\u4ee5\u4e0b\u65b9\u5f0f\u5b89\u88c5\u6240\u6709\u5fc5\u9700\u7684\u4f9d\u8d56\u9879\uff1a<\/strong>
.\/setup-dev-env.sh -y docker<\/code><\/p>\n\n\n\n
3.\u4e0b\u8f7d\u5730\u56fe\u548c\u5de5\u4ef6<\/strong>
3.1 \u4e0b\u8f7d\u5e76\u89e3\u538b\u793a\u4f8b\u5730\u56fe<\/strong><\/p>\n\n\n\n
gdown -O ~\/autoware_map\/ 'https:\/\/docs.google.com\/uc?export=download&id=1A-8BvYRX3DhSzkAnOcGWFw5T30xTlwZI'\nunzip -d ~\/autoware_map\/ ~\/autoware_map\/sample-map-rosbag.zip<\/code><\/pre>\n\n\n\n

3.2 \u4e0b\u8f7d\u793a\u4f8b rosbag \u6587\u4ef6<\/strong><\/p>\n\n\n\n
gdown -O ~\/autoware_map\/ 'https:\/\/docs.google.com\/uc?export=download&id=1sU5wbxlXAfHIksuHjP3PyI2UVED8lZkP'\nunzip -d ~\/autoware_map\/ ~\/autoware_map\/sample-rosbag.zip<\/code><\/pre>\n\n\n\n
\u4e0b\u8f7d\u7684\u5730\u56fe\u6587\u4ef6\u548crosbag\u4f1a\u653e\u5230$HOME\/autoware_map\u76ee\u5f55\u4e0b<\/p>\n\n\n\n
3.3 \u4e0b\u8f7d\u5de5\u4ef6\uff08\u53c2\u6570\u6587\u4ef6\uff09<\/strong>
cd ~\/autoware # The root directory of the cloned repository
ansible-galaxy collection install -f -r “ansible-galaxy-requirements.yaml”
ansible-playbook autoware.dev_env.download_artifacts -e “data_dir=$HOME\/autoware_data” –ask-become-pass
\u4e0b\u8f7d\u7684\u5de5\u4ef6\u4f1a\u653e\u5230$HOME\/autoware_data\u76ee\u5f55\u4e0b\uff0c\u8fd9\u4e2a\u662f\u542f\u52a8antowate\u7684\u53c2\u6570\u6587\u4ef6_<\/p>\n\n\n\n
3.4 \u4f7f\u7528ansible-playbook\u9047\u5230\u4ee5\u4e0b\u95ee\u9898<\/strong><\/p>\n\n\n\n
    \n
  1. \u5728ansible-playbook\u811a\u672c\u4e2d\u627e\u5230\u9519\u8bef\u7684\u4efb\u52a1\u540d\uff0c\u6bd4\u5982Download tensorrt_rtmdet_onnx_models.tar.gz\uff0c\u5c31\u662f\u4e0b\u8f7d tensorrt_rtmdet_onnx_models.tar.gz\u6587\u4ef6\u5931\u8d25<\/li>\n\n\n\n
  2. \u5728autoware\u6e90\u7801\u4e2d\u641c\u7d22\u8be5\u6587\u4ef6\u540d
    grep -r “tensorrt_rtmdet_onn” \/autoware<\/li>\n\n\n\n
  3. \u627e\u5230\/autowaredata\/\u6587\u4ef6\u5939\u4e0b\u4e0e\u8be5\u540d\u79f0\u7c7b\u4f3c\u7684\u540d\u5b57\uff0c\u6216\u8005\u53bb\u95eeai\u5e94\u8be5\u653e\u54ea
    #\u4f7f\u7528wget\u547d\u4ee4\u4e0b\u8f7d
    wget -c “\u4e0b\u8f7d\u5730\u5740”<\/li>\n\n\n\n
  4. \u518d\u6b21\u6267\u884c
    ansible-playbook autoware.dev_env.download_artifacts -e “data_dir=$HOME\/autoware_data” –ask-become-pass<\/li>\n<\/ol>\n\n\n\n
    3.5 \u4fee\u6539\u6e90\u7801\u4ee5\u9002\u914djetson<\/strong><\/p>\n\n\n\n
    \u5728jetson\u4e0a\u4f7f\u7528docker\/run.sh \u811a\u672c\u542f\u52a8\u9700\u8981\u4fee\u6539\u6e90\u7801\u4e0b\u7684docker\/run.sh\u6587\u4ef6
    GPU_FLAG=\"--runtime nvidia\"_<\/code>
    \u5982\u679c\u4f60\u662fx86\u8fd0\u884c\u5219\u4e0d\u9700\u8981\u4fee\u6539<\/p>\n\n\n\n
    \u542f\u52a8rosbag\u56de\u653e\u4eff\u771f<\/strong><\/p>\n\n\n\n
    .\/docker\/run.sh --map-path ~\/autoware_map\/sample-map-rosbag --data-path ~\/autoware_data ros2 launch autoware_launch planning_simulator.launch.xml map_path:=\/autoware_map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit<\/code><\/pre>\n\n\n\n
    \u5982\u679c\u60f3\u53ea\u542f\u52a8\u5bb9\u5668\uff0c\u4e0d\u8fd0\u884cautoware\uff0c\u53ef\u4ee5\u7f16\u8f91.\/docker\/run.sh\u6765\u5b9e\u73b0<\/p>\n\n\n\n
    \u53ea\u542f\u52a8\u5bb9\u5668\n.\/docker\/run.sh --map-path ~\/autoware_map --data-path ~\/autoware_data<\/code><\/pre>\n\n\n\n
    \u6253\u5f00\u65b0\u7684\u5bb9\u5668\u7ec8\u7aef\uff08\u5df2\u7ecf\u5b58\u5728\u7684\u5bb9\u5668\uff09
    docker exec -it \u540d\u5b57\u6216\u8005id \/bin\/bash<\/p>\n","protected":false},"excerpt":{"rendered":"
    \u53c2\u8003\u94fe\u63a5https:\/\/autowarefound …<\/p>\n","protected":false},"author":1,"featured_media":746,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[2,30,32],"tags":[],"class_list":["post-743","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-linux","category-ros2","category-32"],"_links":{"self":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/743","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/comments?post=743"}],"version-history":[{"count":2,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/743\/revisions"}],"predecessor-version":[{"id":747,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/743\/revisions\/747"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/media\/746"}],"wp:attachment":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/media?parent=743"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/categories?post=743"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/tags?post=743"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}