本文主要介绍在如何使用软件包（即 deb 包）的方式来安装 Apollo，相对于源码方式安装，软件包安装方式不需要编译，更加快捷。但是对环境的支持比较单一，如果在自定义环境内安装，请移步源码安装方式
步骤一：安装基础软件
1. 安装 Ubuntu Linux
安装 Ubuntu 18.04+ 的步骤，参见 官方安装指南。
完成安装后更新相关软件：
sudo apt-get update
sudo apt-get upgrade
注意：若要完成更新，需要保证网络连接。
2. 安装 Docker Engine
Apollo 依赖于 Docker 19.03+。安装 Docker 引擎，您可以根据官方文档进行安装：
参见 Install Docker Engine on Ubuntu。
您还可以者通过 Apollo 提供的安装脚本直接安装：
wget http://apollo-pkg-beta.bj.bcebos.com/docker_install.sh
bash docker_install.sh
这个过程可能会运行多次脚本，根据脚本提示执行即可，如下图提示再执行一次
再次执行后输出docker is OK即可
bash docker_install.sh
步骤二：安装 Apollo 环境管理工具
Apollo 环境管理工具是一个帮忙管理和启动 Apollo 环境容器的命令行工具。
1. 添加 apt 源
添加源和 key：
sudo bash -c "echo 'deb https://apollo-pkg-beta.cdn.bcebos.com/neo/beta bionic main' >> /etc/apt/sources.list"
wget -O - https://apollo-pkg-beta.cdn.bcebos.com/neo/beta/key/deb.gpg.key | sudo apt-key add -
sudo apt update
2. 安装 apollo-neo-env-manager
执行以下命令安装：
sudo apt install apollo-neo-env-manager-dev
成功安装后即可使用
aem -h
如果您对 aem 工具的功能感兴趣，可以查阅 aem - Apollo 环境管理工具。
步骤三（可选）：获取 GPU 支持
Apollo某些模块需要GPU的支持才能够编译、运行（例如感知模块），如果您需要使用此类模块，需要安装Nvidia显卡驱动以及Nvidia container toolkit以获取GPU支持。
1. 安装显卡驱动
超详细ubuntu20.04/22.04安装nvidia驱动/CUDA/cudnn
安装完毕后，您可以通过nvidia-smi指令来检查驱动是否安装成功，如果一切正常，您可以看到类似以下的提示：
2. 安装 Nvidia container toolkit
为了在容器内获得 GPU 支持，在安装完 docker 后需要安装 NVIDIA Container Toolkit。 运行以下指令安装 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-docker2
安装完毕后，需要手动重启下docker：
sudo systemctl restart docker
步骤四：创建和进入 Apollo 环境容器
1. 创建工作空间
创建并进入目录
mkdir application-demo
cd application-demo
2. 启动 apollo 环境容器
aem start
注意：默认的环境镜像已经包含 gpu 相关的依赖库，如您想以 gpu 模式启动容器可以使用start_gpu子命令。在使用start_gpu命令前，请务必确保已正确安装Nvidia显卡驱动以及Nvidia container toolkit
第一次执行该命令时会拉取docker镜像，并安装相关库文件
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[INFO] Determine whether host GPU is available ...
[INFO] USE_GPU_HOST: 1
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Status: Downloaded newer image for registry.baidubce.com/apollo/apollo-env-gpu:latest
registry.baidubce.com/apollo/apollo-env-gpu:latest
[INFO] Remove existing Apollo Development container ...
/home/gnsf/.apollo
[WARNING] No device named /dev/nvidia-uvm
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[INFO] Starting Docker container "apollo_neo_dev_gnsf" ...
+ docker run -itd --privileged --name apollo_neo_dev_gnsf -e DISPLAY=:1 -e DOCKER_USER=gnsf -e USER=gnsf -e DOCKER_USER_ID=1000 -e HISTFILE=/apollo_workspace/.cache/.bash_history -e DOCKER_GRP=gnsf -e DOCKER_GRP_ID=1000 -e DOCKER_IMG=registry.baidubce.com/apollo/apollo-env-gpu:latest -e USE_GPU_HOST=1 -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=compute,video,graphics,utility -v /dev:/dev -v /media:/media -v /tmp/.X11-unix:/tmp/.X11-unix:rw -v /etc/localtime:/etc/localtime:ro -v /usr/src:/usr/src -v /lib/modules:/lib/modules --net host -w /apollo_workspace --add-host in-dev-docker:127.0.0.1 --add-host gnsf:127.0.0.1 --hostname in-dev-docker --shm-size 2G --pid=host -v /home/gnsf/apollo/application-demo:/apollo_workspace -v /home/gnsf/apollo/application-demo/data:/apollo/data -v /home/gnsf/apollo/application-demo/output:/apollo/output -v /home/gnsf/apollo/application-demo/data/log:/opt/apollo/neo/data/log -v /home/gnsf/apollo/application-demo/data/calibration_data:/apollo/modules/calibration/data -v /home/gnsf/apollo/application-demo/data/map_data:/apollo/modules/map/data -v /opt/apollo/neo/packages/env-manager-dev/1.0.0.5:/opt/apollo/neo/packages/env-manager-dev/1.0.0.5 -v /dev/null:/dev/raw1394 registry.baidubce.com/apollo/apollo-env-gpu:latest /bin/bash
aeae41f11c60d96db2dd9b711e33972b8e7b86418ecb8d5ba9c9c0eb51bb6e9a
+ '[' 0 -ne 0 ']'
+ set +x
Adding group `gnsf' (GID 1000) ...
Done.
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Adding new user `gnsf' (1000) with group `gnsf' ...
Creating home directory `/home/gnsf' ...
Copying files from `/etc/skel' ...
mkdir: created directory '/opt/apollo/neo/etc'
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Fetched 14.7 MB in 6s (2619 kB/s)
Reading package lists...
Building dependency tree...
Reading state information...
63 packages can be upgraded. Run 'apt list --upgradable' to see them.
Reading package lists...
Building dependency tree...
Reading state information...
apollo-neo-common-msgs-dev is already the newest version (1.0.0.1).
The following additional packages will be installed:
libtinyxml2-6 libtinyxml2-dev
The following NEW packages will be installed:
libtinyxml2-6 libtinyxml2-dev
The following packages will be upgraded:
apollo-neo-buildtool-dev apollo-neo-common-dev apollo-neo-cyber-dev
3 upgraded, 2 newly installed, 0 to remove and 60 not upgraded.
Need to get 26.1 MB of archives.
After this operation, 196 kB of additional disk space will be used.
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debconf: unable to initialize frontend: Dialog
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(Reading database ... 38458 files and directories currently installed.)
Preparing to unpack .../apollo-neo-buildtool-dev_1.0.0.8_amd64.deb ...
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Setting up apollo-neo-cyber-dev (1.0.0.3) ...
[INFO] start to create symbolic links of cyber-dev
[WARN] the links of pre-version will be overwrited!
sending incremental file list
./
cyber/
cyber/proto/
cyber/proto/choreography_conf_pb2.py 9,671 100% 0.00kB/s 0:00:00 (xfr#1, to-chk=31/36)
cyber/proto/classic_conf_pb2.py 8,687 100% 8.28MB/s 0:00:00 (xfr#2, to-chk=30/36)
cyber/proto/clock_pb2.py 2,017 100% 1.92MB/s 0:00:00 (xfr#3, to-chk=29/36)
cyber/proto/component_conf_pb2.py 9,232 100% 8.80MB/s 0:00:00 (xfr#4, to-chk=28/36)
cyber/proto/cyber_conf_pb2.py 4,877 100% 4.65MB/s 0:00:00 (xfr#5, to-chk=27/36)
cyber/proto/dag_conf_pb2.py 8,845 100% 8.44MB/s 0:00:00 (xfr#6, to-chk=26/36)
cyber/proto/parameter_pb2.py 13,222 100% 12.61MB/s 0:00:00 (xfr#7, to-chk=25/36)
cyber/proto/perf_conf_pb2.py 4,021 100% 3.83MB/s 0:00:00 (xfr#8, to-chk=24/36)
cyber/proto/proto_desc_pb2.py 2,664 100% 2.54MB/s 0:00:00 (xfr#9, to-chk=23/36)
cyber/proto/qos_profile_pb2.py 8,467 100% 8.07MB/s 0:00:00 (xfr#10, to-chk=22/36)
cyber/proto/record_pb2.py 36,848 100% 35.14MB/s 0:00:00 (xfr#11, to-chk=21/36)
cyber/proto/role_attributes_pb2.py 10,464 100% 9.98MB/s 0:00:00 (xfr#12, to-chk=20/36)
cyber/proto/run_mode_conf_pb2.py 4,729 100% 4.51MB/s 0:00:00 (xfr#13, to-chk=19/36)
cyber/proto/scheduler_conf_pb2.py 8,545 100% 8.15MB/s 0:00:00 (xfr#14, to-chk=18/36)
cyber/proto/simple_pb2.py 4,939 100% 4.71MB/s 0:00:00 (xfr#15, to-chk=17/36)
cyber/proto/topology_change_pb2.py 8,932 100% 8.52MB/s 0:00:00 (xfr#16, to-chk=16/36)
cyber/proto/transport_conf_pb2.py 16,536 100% 15.77MB/s 0:00:00 (xfr#17, to-chk=15/36)
cyber/proto/unit_test_pb2.py 7,408 100% 7.06MB/s 0:00:00 (xfr#18, to-chk=14/36)
cyber/python/
cyber/python/cyber_py3/
cyber/python/cyber_py3/__init__.py 1,003 100% 979.49kB/s 0:00:00 (xfr#19, to-chk=11/36)
cyber/python/cyber_py3/cyber.py 13,654 100% 13.02MB/s 0:00:00 (xfr#20, to-chk=10/36)
cyber/python/cyber_py3/cyber_py3.BUILD 999 100% 975.59kB/s 0:00:00 (xfr#21, to-chk=9/36)
cyber/python/cyber_py3/cyber_time.py 7,052 100% 6.73MB/s 0:00:00 (xfr#22, to-chk=8/36)
cyber/python/cyber_py3/cyber_timer.py 2,895 100% 2.76MB/s 0:00:00 (xfr#23, to-chk=7/36)
cyber/python/cyber_py3/parameter.py 5,496 100% 5.24MB/s 0:00:00 (xfr#24, to-chk=6/36)
cyber/python/cyber_py3/record.py 7,813 100% 7.45MB/s 0:00:00 (xfr#25, to-chk=5/36)
cyber/python/internal/
cyber/python/internal/_cyber_parameter_wrapper.so 2,773,312 100% 661.21MB/s 0:00:00 (xfr#26, to-chk=4/36)
cyber/python/internal/_cyber_record_wrapper.so 2,773,248 100% 377.83MB/s 0:00:00 (xfr#27, to-chk=3/36)
cyber/python/internal/_cyber_time_wrapper.so 2,764,928 100% 239.71MB/s 0:00:00 (xfr#28, to-chk=2/36)
cyber/python/internal/_cyber_timer_wrapper.so 2,752,320 100% 187.49MB/s 0:00:00 (xfr#29, to-chk=1/36)
cyber/python/internal/_cyber_wrapper.so 3,531,808 100% 187.12MB/s 0:00:00 (xfr#30, to-chk=0/36)
sent 14,810,388 bytes received 621 bytes 29,622,018.00 bytes/sec
total size is 14,804,632 speedup is 1.00
Requirement already satisfied: protobuf==3.14.0 in /usr/local/lib/python3.6/dist-packages (3.14.0)
Requirement already satisfied: six>=1.9 in /usr/lib/python3/dist-packages (from protobuf==3.14.0) (1.11.0)
Requirement already satisfied: psutil in /usr/local/lib/python3.6/dist-packages (5.9.4)
[INFO] symbolic links of cyber-dev created.
Setting up apollo-neo-common-dev (1.0.0.2) ...
[INFO] start to create symbolic links of common-dev
[WARN] the links of pre-version will be overwrited!
sending incremental file list
modules/
modules/common/
modules/common/adapter/
modules/common/adapter/proto/
modules/common/adapter/proto/adapter_config_pb2.py 24,759 100% 0.00kB/s 0:00:00 (xfr#1, to-chk=8/18)
modules/common/latency_recorder/
modules/common/latency_recorder/proto/
modules/common/latency_recorder/proto/latency_record_pb2.py 15,018 100% 14.32MB/s 0:00:00 (xfr#2, to-chk=6/18)
modules/common/util/
modules/common/util/testdata/
modules/common/util/testdata/simple_pb2.py 5,074 100% 4.84MB/s 0:00:00 (xfr#3, to-chk=4/18)
modules/common/vehicle_model/
modules/common/vehicle_model/proto/
modules/common/vehicle_model/proto/vehicle_model_config_pb2.py 10,169 100% 9.70MB/s 0:00:00 (xfr#4, to-chk=2/18)
modules/common/vehicle_state/
modules/common/vehicle_state/proto/
modules/common/vehicle_state/proto/vehicle_state_pb2.py 10,207 100% 9.73MB/s 0:00:00 (xfr#5, to-chk=0/18)
sent 66,096 bytes received 167 bytes 132,526.00 bytes/sec
total size is 65,227 speedup is 0.98
[INFO] symbolic links of common-dev created.
Setting up apollo-neo-buildtool-dev (1.0.0.8) ...
[INFO] start to create symbolic links of buildtool-dev
[WARN] the links of pre-version will be overwrited!
Looking in indexes: https://mirror.baidu.com/pypi/simple/
Requirement already satisfied: requests in /usr/local/lib/python3.6/dist-packages (2.27.1)
Requirement already satisfied: charset-normalizer~=2.0.0 in /usr/local/lib/python3.6/dist-packages (from requests) (2.0.12)
Requirement already satisfied: certifi>=2017.4.17 in /usr/local/lib/python3.6/dist-packages (from requests) (2022.12.7)
Requirement already satisfied: idna<4,>=2.5 in /usr/lib/python3/dist-packages (from requests) (2.6)
Requirement already satisfied: urllib3<1.27,>=1.21.1 in /usr/local/lib/python3.6/dist-packages (from requests) (1.26.13)
[INFO] symbolic links of buildtool-dev created.
Processing triggers for libc-bin (2.27-3ubuntu1.6) ...
[ OK ] Congratulations! You have successfully finished setting up Apollo Dev Environment.
[ OK ] To login into the newly created apollo_neo_dev_gnsf container, please run the following command:
[ OK ] aem enter
[ OK ] Enjoy!
如果一切正常，将会见到类似下图的提示：
3. 进入 apollo 环境容器
aem enter
脚本执行成功后，将显示以下信息，您将进入 Apollo 的运行容器：
user_name@in-dev-docker:/apollo_workspace#
工作空间文件夹将被挂载到容器的 /apollo_workspace 中。
4. 初始化工作空间
aem init
至此 Apollo 环境管理工具及容器已经安装完成，接下来请跟着 QuickStart 文档根据不同的使用场景按需安装不同的模块。
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