{"id":35076,"date":"2022-12-11T08:13:52","date_gmt":"2023-07-03T15:48:18","guid":{"rendered":"https:\/\/www.silicloud.com\/zh\/blog\/2023%e5%b9%b4%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6ai%e6%8c%91%e6%88%98%e8%b5%9b%e7%9a%84%e6%a8%a1%e6%8b%9f%e5%a4%a7%e8%b5%9b%e7%8e%af%e5%a2%83%e5%bb%ba%e8%ae%be%ef%bc%88%e4%bd%bf%e7%94%a8%e5%9b%be\/"},"modified":"2024-04-29T04:42:37","modified_gmt":"2024-04-28T20:42:37","slug":"2023%e5%b9%b4%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6ai%e6%8c%91%e6%88%98%e8%b5%9b%e7%9a%84%e6%a8%a1%e6%8b%9f%e5%a4%a7%e8%b5%9b%e7%8e%af%e5%a2%83%e5%bb%ba%e8%ae%be%ef%bc%88%e4%bd%bf%e7%94%a8%e5%9b%be","status":"publish","type":"post","link":"https:\/\/www.silicloud.com\/zh\/blog\/2023%e5%b9%b4%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6ai%e6%8c%91%e6%88%98%e8%b5%9b%e7%9a%84%e6%a8%a1%e6%8b%9f%e5%a4%a7%e8%b5%9b%e7%8e%af%e5%a2%83%e5%bb%ba%e8%ae%be%ef%bc%88%e4%bd%bf%e7%94%a8%e5%9b%be\/","title":{"rendered":"2023\u5e74\u81ea\u52a8\u9a7e\u9a76AI\u6311\u6218\u8d5b\u7684\u6a21\u62df\u5927\u8d5b\u73af\u5883\u5efa\u8bbe\uff08\u4f7f\u7528\u56fe\u5f62\u5904\u7406\u5668\uff09"},"content":{"rendered":"

\u9996\u5148<\/h1>\n

\u7531\u4e8e\u6211\u5df2\u7ecf\u57282023\u5e74\u81ea\u52a8\u9a7e\u9a76AI\u6311\u6218\u8d5b\u7684\u6a21\u62df\u5927\u4f1a\u4e0a\u6ce8\u518c\u53c2\u52a0\uff0c\u6240\u4ee5\u6211\u5c06\u6574\u7406\u81ea\u5df1\u5728\u7b14\u8bb0\u672c\u7535\u8111\u4e0a\u642d\u5efaAWSIM\u548cAutoware\u73af\u5883\u7684\u6b65\u9aa4\u3002<\/p>\n

\u57fa\u672c\u4e0a\uff0c\u6309\u7167\u6b64\u8bbe\u7f6e\u624b\u518c\u4e2d\u7684\u6b65\u9aa4\u8fdb\u884c\u3002<\/p>\n

 <\/p>\n

\u751f\u614b<\/h1>\n
\n
\u9805\u76ee\u5024CPUIntel\u00ae Core\u2122 i7-12700HGPUGeForce RTX 3050 Ti MobileUbuntu22.04Kernel6.2.0-36-genericdocker24.0.6docker composev2.21.0<\/div>\n<\/div>\n

\u73af\u5883\u5efa\u8bbe<\/h1>\n

AWSIM\u548cAutoware\u90fd\u5728Docker\u4e0a\u8fdb\u884c\u73af\u5883\u642d\u5efa\uff0c\u5e76\u5728\u540c\u4e00\u4e2aDocker\u5bb9\u5668\u4e2d\u8fd0\u884c\u3002<\/p>\n

\u5b89\u88c5NVIDIA\u9a71\u52a8\u7a0b\u5e8f<\/h2>\n

\u7531\u4e8e\u6211\u7684\u7535\u8111\u65e0\u6cd5\u901a\u8fc7apt\u6b63\u786e\u8fd0\u884c\u5b89\u88c5\uff0c\u6211\u603b\u662f\u4ece\u5b98\u65b9\u7f51\u7ad9\u4e0b\u8f7d.run\u6587\u4ef6\u5e76\u8fdb\u884c\u5b89\u88c5\u3002
\n\u6709\u5173\u4ece.run\u6587\u4ef6\u8fdb\u884c\u5b89\u88c5\u7684\u6b65\u9aa4\uff0c\u8bf7\u53c2\u8003\u4ee5\u4e0b\u6587\u7ae0\u3002<\/p>\n

 <\/p>\n

\u5b89\u88c5docker\u3001rocker\u548cgitlfs\u3002<\/h2>\n
    Docker\u7684\u5b89\u88c5<\/ol>\n
    sudo <\/span>apt-get update\r\nsudo <\/span>apt-get install<\/span> \\<\/span>\r\n    ca-certificates \\<\/span>\r\n    curl \\<\/span>\r\n    gnupg \\<\/span>\r\n    lsb-release\r\n<\/code><\/pre>\n
    sudo mkdir<\/span> -p<\/span> \/etc\/apt\/keyrings\r\ncurl -fsSL<\/span> https:\/\/download.docker.com\/linux\/ubuntu\/gpg | sudo <\/span>gpg --dearmor<\/span> -o<\/span> \/etc\/apt\/keyrings\/docker.gpg\r\necho<\/span> \\<\/span>\r\n  \"deb [arch=<\/span>$(<\/span>dpkg --print-architecture<\/span>)<\/span> signed-by=\/etc\/apt\/keyrings\/docker.gpg] https:\/\/download.docker.com\/linux\/ubuntu <\/span>\\<\/span>\r\n  $(<\/span>lsb_release -cs<\/span>)<\/span> stable\"<\/span> | sudo tee<\/span> \/etc\/apt\/sources.list.d\/docker.list ><\/span> \/dev\/null\r\nsudo <\/span>apt-get update\r\nsudo <\/span>apt-get install <\/span>docker-ce docker-ce-cli containerd.io docker-compose-plugin\r\n<\/code><\/pre>\n
      sudo\u3092\u3064\u3051\u306a\u304f\u3066\u3082docker\u30b3\u30de\u30f3\u30c9\u4f7f\u3048\u308b\u3088\u3046\u306b\u3059\u308b<\/ul>\n
      getent group | grep <\/span>docker\r\nsudo <\/span>usermod -aG<\/span> docker $USER<\/span>\r\ngetent group | grep <\/span>docker\r\n<\/code><\/pre>\n
      \u786e\u8ba4\u884c\u52a8<\/p>\n
      docker run hello-world\r\n<\/code><\/pre>\n
        \u5b89\u88c5Rocker<\/ol>\n
        sudo <\/span>apt-get install <\/span>python3-rocker\r\n<\/code><\/pre>\n
          \u5b89\u88c5Git LFS\u3002<\/ol>\n
          curl -s<\/span> https:\/\/packagecloud.io\/install\/repositories\/github\/git-lfs\/script.deb.sh | sudo <\/span>bash\r\nsudo <\/span>apt-get install <\/span>git-lfs\r\ngit lfs install<\/span>\r\n<\/code><\/pre>\n
          \u5b89\u88c5nvidia-docker2<\/h2>\n
          curl -s<\/span> -L<\/span> https:\/\/nvidia.github.io\/nvidia-docker\/gpgkey | sudo <\/span>apt-key add -\r\ndistribution<\/span>=<\/span>$(<\/span>.<\/span> \/etc\/os-release;<\/span>echo<\/span> $ID$VERSION_ID<\/span>)<\/span>\r\ncurl -s<\/span> -L<\/span> https:\/\/nvidia.github.io\/nvidia-docker\/$distribution<\/span>\/nvidia-docker.list | sudo tee<\/span> \/etc\/apt\/sources.list.d\/nvidia-docker.list\r\nsudo <\/span>apt-get update\r\nsudo <\/span>apt-get install <\/span>nvidia-docker2\r\nsudo <\/span>systemctl restart docker.service\r\n<\/code><\/pre>\n
            \u52d5\u4f5c\u78ba\u8a8d<\/ul>\n
            docker run --rm<\/span> --runtime<\/span>=<\/span>nvidia --gpus<\/span> all nvidia\/cuda:11.6.2-base-ubuntu20.04 nvidia-smi\r\n\r\n#\u6700\u5f8c\u306e\u30b3\u30de\u30f3\u30c9\u3067\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u51fa\u529b\u304c\u51fa\u308c\u3070\u6210\u529f\u3067\u3059\u3002<\/span>\r\n#\uff08\u4e0b\u8a18\u306fNVIDIA\u30a6\u30a7\u30d6\u30b5\u30a4\u30c8\u304b\u3089\u306e\u30b3\u30d4\u30da\u3067\u3059\uff09<\/span>\r\n\r\n\r\n# +-----------------------------------------------------------------------------+<\/span>\r\n# | NVIDIA-SMI 450.51.06    Driver Version: 450.51.06    CUDA Version: 11.0     |<\/span>\r\n# |-------------------------------+----------------------+----------------------+<\/span>\r\n# | GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |<\/span>\r\n# | Fan  Temp  Perf  Pwr:Usage\/Cap|         Memory-Usage | GPU-Util  Compute M. |<\/span>\r\n# |                               |                      |               MIG M. |<\/span>\r\n# |===============================+======================+======================|<\/span>\r\n# |   0  Tesla T4            On   | 00000000:00:1E.0 Off |                    0 |<\/span>\r\n# | N\/A   34C    P8     9W \/  70W |      0MiB \/ 15109MiB |      0%      Default |<\/span>\r\n# |                               |                      |                  N\/A |<\/span>\r\n# +-------------------------------+----------------------+----------------------+<\/span>\r\n# +-----------------------------------------------------------------------------+<\/span>\r\n# | Processes:                                                                  |<\/span>\r\n# |  GPU   GI   CI        PID   Type   Process name                  GPU Memory |<\/span>\r\n# |        ID   ID                                                   Usage      |<\/span>\r\n# |=============================================================================|<\/span>\r\n# |  No running processes found                                                 |<\/span>\r\n# +-----------------------------------------------------------------------------+<\/span>\r\n<\/code><\/pre>\n
            \u51c6\u5907Autware\u7684Docker\u955c\u50cf\u3002<\/h2>\n
              \u83b7\u53d6docker\u955c\u50cf<\/ol>\n
              \u4eceGHCR\u4e2d\u62c9\u53d6aichallenge2023\u7684Docker\u955c\u50cf\u3002<\/p>\n
              docker pull ghcr.io\/automotiveaichallenge\/aichallenge2023-racing\/autoware-universe-no-cuda\r\n<\/code><\/pre>\n
              \u8bf7\u786e\u8ba4\u56fe\u50cf\u662f\u5426\u5df2\u7ecf\u751f\u6210\u3002<\/p>\n
              $ <\/span>docker images\r\nREPOSITORY                                                                       TAG                                 IMAGE ID       CREATED          SIZE\r\nghcr.io\/automotiveaichallenge\/aichallenge2023-racing\/autoware-universe-no-cuda   latest                              9601fc85f1bd   3 weeks ago      7.31GB    \r\n<\/code><\/pre>\n
                \u521b\u5efaDocker\u955c\u50cf\u7528\u4e8e\u4f1a\u8bae\u3002<\/ol>\n
                \u514b\u9686 aichallenge2023-racing \u5b58\u50a8\u5e93\u3002<\/p>\n
                git lfs clone https:\/\/github.com\/AutomotiveAIChallenge\/aichallenge2023-racing\r\n<\/code><\/pre>\n
                \u5927\u4f1a\u4f7f\u7528 Docker \u56fe\u50cf\u7684\u6784\u5efa<\/p>\n
                cd <\/span>aichallenge2023-racing\/docker\/train\r\nbash build_docker.sh\r\n<\/code><\/pre>\n
                \u786e\u8ba4\u56fe\u50cf\u662f\u5426\u5df2\u7ecf\u751f\u6210\uff0c\u4e4b\u540e\u5c06\u4f7f\u7528\u8fd9\u4e2aaichallenge-train\u955c\u50cf<\/p>\n
                $ <\/span>docker images\r\nREPOSITORY                                                                       TAG                           IMAGE ID       CREATED         SIZE\r\naichallenge-train                                                                latest                        19c8285b8cd2   2 days ago      7.38GB\r\n<\/code><\/pre>\n
                  AWSIM\u7684\u4e0b\u8f7d<\/ol>\n
                  \u5728GoogleDrive\u4e2d\u4e0b\u8f7d\u6700\u65b0\u7684AWSIM.zip\u6587\u4ef6\uff0c\u7136\u540e\u5c06\u6bd4\u8d5b\u7528\u7684AWSIM\u6267\u884c\u6587\u4ef6\u89e3\u538b\u5230aichallenge2023-racing\/docker\/aichallenge\u6587\u4ef6\u5939\u5185\u3002<\/p>\n
                   <\/p>\n
                    \u8fd0\u884cDocker\u5bb9\u5668<\/ol>\n
                    \u56e0\u70ba\u6211\u60f3\u5728rocker\u4e0a\u65b0\u589e\u4e00\u500b\u9078\u9805\uff0c\u6240\u4ee5\u76f4\u63a5\u57f7\u884c\u4e86rocker\u6307\u4ee4\u3002<\/p>\n
                    \u8bf7\u4e3a aichallenge2023-racing \u7684\u5bb9\u5668\u547d\u540d\uff0c\u4ee5\u4fbf\u66f4\u6613\u4e8e\u7406\u89e3\u3002<\/p>\n
                    –nocleanup\uff1a\u786e\u4fdd\u5728\u5bb9\u5668\u7ed3\u675f\u65f6\u4e0d\u4f1a\u5220\u9664\u5bb9\u5668\u3002<\/p>\n
                    mkdir<\/span> -p<\/span> output\r\nrocker --nvidia<\/span> --x11<\/span> --user<\/span> --net<\/span> host --privileged<\/span> --nocleanup<\/span> --name<\/span> aichallenge2023-racing --volume<\/span> ..\/aichallenge:\/aichallenge --<\/span> aichallenge-train\r\n<\/code><\/pre>\n
                    \u4f7f\u7528–volume\u9009\u9879\uff0c\u5728\u5bbf\u4e3bPC\u7684\/aichallenge:\/aichallenge\u76ee\u5f55\u4e0b\u8fdb\u884c\u5171\u4eab\uff0c\u56e0\u6b64\u5728\u7f16\u8f91aichallenge\u76ee\u5f55\u4e0b\u7684\u6587\u4ef6\u65f6\uff0c\u53ef\u4ee5\u5728\u5bbf\u4e3bPC\u4e0a\u8fdb\u884c\u7f16\u8f91\u3002<\/div>\n
                    \u5728Docker\u5bb9\u5668\u5185\u8fdb\u884cAutoware\u7684\u6784\u5efa\u3002<\/p>\n
                    cd<\/span> \/aichallenge\r\nbash build_autoware.sh\r\n<\/code><\/pre>\n
                    \u5b89\u88c5\u5f00\u53d1\u6240\u9700\u7684\u5de5\u5177\u3002<\/p>\n
                    sudo <\/span>apt update\r\nsudo <\/span>apt install <\/span>ros-humble-rqt*<\/span>\r\nsudo <\/span>apt install <\/span>terminator\r\n<\/code><\/pre>\n
                    \u505c\u6b62 Docker \u5bb9\u5668<\/p>\n
                    \u5728\u5bb9\u5668\u5185\u6267\u884cexit\u547d\u4ee4\uff0c\u6216\u8005<\/p>\n
                    docker stop aichallenge2023-racing\r\n<\/code><\/pre>\n
                      2\u56de\u76ee\u4ee5\u964d\u306e\u8d77\u52d5<\/ul>\n
                      docker start aichallenge2023-racing\r\ndocker attach aichallenge2023-racing\r\nor\r\ndocker exec<\/span> -it<\/span> aichallenge2023-racing bash\r\n<\/code><\/pre>\n
                      \u8865\u5145\u8bf4\u660e\uff1a<\/p>\n
                      \u5f53\u4f7f\u7528\u8fd9\u79cd\u65b9\u6cd5\u91cd\u542f\u540e\uff0c\u6267\u884c”docker start”\u547d\u4ee4\u65f6\u4f1a\u51fa\u73b0\u4ee5\u4e0b\u9519\u8bef\u3002<\/p>\n
                      Error response from daemon: failed to create task for <\/span>container: failed to create shim task: OCI runtime create failed: runc create failed: unable to start container process: error during container init: error mounting \"\/tmp\/.dockere5u782qg.xauth\"<\/span> to rootfs at \"\/tmp\/.dockere5u782qg.xauth\"<\/span>: mount \/tmp\/.dockere5u782qg.xauth:\/tmp\/.dockere5u782qg.xauth (<\/span>via \/proc\/self\/fd\/7)<\/span>, flags: 0x5000: not a directory: unknown: Are you trying to mount a directory onto a file (<\/span>or vice-versa)<\/span>? Check if <\/span>the specified host path exists and is the expected type\r\n<\/span>Error: failed to start containers: aichallenge2023-racing\r\n\r\n<\/code><\/pre>\n
                      AWSIM\u548cAutoware\u7684\u6267\u884c<\/h1>\n
                      \u542f\u52a8AWSIM<\/h2>\n
                      docker start aichallenge2023-racing\r\ndocker attach aichallenge2023-racing\r\n<\/code><\/pre>\n
                      \u5728\u5bb9\u5668\u5185\u6267\u884c\u4ee5\u4e0b\u547d\u4ee4\u4ee5\u542f\u52a8AWSIM\u3002<\/p>\n
                      cd<\/span> \/aichallenge\r\nbash run_awsim.sh \r\n<\/code><\/pre>\n
                      \u542f\u52a8Autoware\u3002<\/h2>\n
                      \u6253\u5f00\u53e6\u4e00\u4e2a\u7ec8\u7aef\u5e76\u8fdb\u5165\u5bb9\u5668\u3002<\/p>\n
                      docker exec<\/span> -it<\/span> aichallenge2023-racing bash\r\n<\/code><\/pre>\n
                      \u5728\u5bb9\u5668\u4e2d\u6267\u884c\u4ee5\u4e0b\u64cd\u4f5c\u4ee5\u542f\u52a8Autoware\u3002<\/p>\n
                      cd<\/span> \/aichallenge\r\nbash run_autoware.sh\r\n<\/code><\/pre>\n
                       <\/p>\n","protected":false},"excerpt":{"rendered":"
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