{"id":35191,"date":"2023-01-13T17:53:32","date_gmt":"2023-01-08T21:58:23","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%e6%a8%a1%e6%8b%9f%e5%a4%a7%e8%b5%9b%e7%9a%84%e7%8e%af%e5%a2%83%e8%ae%be%e7%bd%ae%e5%a4%87%e5%bf%98%e5%bd%95%ef%bc%88gpu\/"},"modified":"2024-04-29T09:44:42","modified_gmt":"2024-04-29T01:44:42","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%e6%a8%a1%e6%8b%9f%e5%a4%a7%e8%b5%9b%e7%9a%84%e7%8e%af%e5%a2%83%e8%ae%be%e7%bd%ae%e5%a4%87%e5%bf%98%e5%bd%95%ef%bc%88gpu","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%e6%a8%a1%e6%8b%9f%e5%a4%a7%e8%b5%9b%e7%9a%84%e7%8e%af%e5%a2%83%e8%ae%be%e7%bd%ae%e5%a4%87%e5%bf%98%e5%bd%95%ef%bc%88gpu\/","title":{"rendered":"2023\u5e74\u81ea\u52a8\u9a7e\u9a76AI\u6311\u6218\u8d5b\u6a21\u62df\u5927\u8d5b\u7684\u73af\u5883\u8bbe\u7f6e\u5907\u5fd8\u5f55\uff08GPU\u73af\u5883\uff09"},"content":{"rendered":"<h1>\u642d\u5efa\u81ea\u52a8\u9a7e\u9a76AI\u6311\u62182023\u6a21\u62df\u5927\u8d5b\u7684\u73af\u5883\u914d\u7f6e\u5907\u5fd8\u5f55\uff08GPU\u73af\u5883\uff09\u3002<\/h1>\n<p>\u5728\u6784\u5efa\u73af\u5883\u65f6\uff0c\u6211\u5c06\u7559\u4e0b\u4e2a\u4eba\u5907\u5fd8\u5f55\u3002\u5982\u679c\u6709\u9519\u8bef\u3001\u9057\u6f0f\u6216\u53d1\u73b0\u4e0d\u5b8c\u5584\u4e4b\u5904\uff0c\u8bf7\u60a8\u7559\u4e0b\u8bc4\u8bba\uff0c\u6211\u5c06\u975e\u5e38\u611f\u6fc0\u3002<\/p>\n<p>\u6211\u5011\u57fa\u672c\u4e0a\u6309\u7167\u4ee5\u4e0b\u516c\u5f0f\u7684\u6b65\u9a5f\u9032\u884c\u6e96\u5099\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>\u76ee\u524d\u6700\u5927\u7684\u4e0d\u540c\u4e4b\u5904\u5728\u4e8e\uff0c\u672c\u6b21\u5927\u4f1a\u4ece\u4e00\u5f00\u59cb\u5c31\u5305\u542b\u4e86\u4e0a\u5c4a\u5927\u4f1a\uff082023\u5e74\u79ef\u5206\u5927\u4f1a\uff09\u7684\u73af\u5883\u3002<\/p>\n<h2>\u500b\u4eba\u96fb\u8166\u74b0\u5883<\/h2>\n<p>\u64cd\u4f5c\u7cfb\u7edf\uff1aUbuntu 22.04 LTS<br \/>\n\u5904\u7406\u5668\uff1a\u7b2c13\u4ee3\u82f1\u7279\u5c14(R) Core(TM) i7-13700F (16\u6838\u5fc3)<br \/>\n\u56fe\u5f62\u5904\u7406\u5668\uff1aGeForce RTX 3060 12GB<br \/>\n\u5185\u5b58\uff1a32GB<br \/>\n\u5b58\u50a8\u7a7a\u95f4\uff1a1.0TB<\/p>\n<p>\u5c06\u81ea\u52a8\u9a7e\u9a76AI\u6311\u62182023\u5e74\u7efc\u5408\u8d5b\u73af\u5883\u5b89\u88c5\u5230\u7535\u8111\u4e2d\u3002<\/p>\n<p>&nbsp;<\/p>\n<h2>\u73af\u5883\u8bbe\u7f6e<\/h2>\n<h3>NVIDIA\u9a71\u52a8\u7a0b\u5e8f\u5b89\u88c5<\/h3>\n<p>\u7531\u65bc\u5df2\u7d93\u5b89\u88dd\u904e\uff0c\u56e0\u6b64\u8df3\u904e\u6b64\u6b65\u9a5f\u3002\u9019\u88e1\u662f\u4e4b\u524d\u5b89\u88dd\u6642\u7684\u5099\u8a3b\u3002<\/p>\n<p>&nbsp;<\/p>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span>nvidia-smi\r\nSun Dec 10 17:38:58 2023       \r\n+-----------------------------------------------------------------------------+\r\n| NVIDIA-SMI 525.147.05   Driver Version: 525.147.05   CUDA Version: 12.0     |\r\n|-------------------------------+----------------------+----------------------+\r\n| GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |\r\n| Fan  Temp  Perf  Pwr:Usage\/Cap|         Memory-Usage | GPU-Util  Compute M. |\r\n|                               |                      |               MIG M. |\r\n|<span class=\"o\">===============================<\/span>+<span class=\"o\">======================<\/span>+<span class=\"o\">======================<\/span>|\r\n|   0  NVIDIA GeForce ...  Off  | 00000000:01:00.0  On |                  N\/A |\r\n|  0%   38C    P8    15W \/ 170W |    186MiB \/ 12288MiB |      0%      Default |\r\n|                               |                      |                  N\/A |\r\n+-------------------------------+----------------------+----------------------+\r\n                                                                               \r\n+-----------------------------------------------------------------------------+\r\n| Processes:                                                                  |\r\n|  GPU   GI   CI        PID   Type   Process name                  GPU Memory |\r\n|        ID   ID                                                   Usage      |\r\n|<span class=\"o\">=============================================================================<\/span>|\r\n|    0   N\/A  N\/A      2134      G   \/usr\/lib\/xorg\/Xorg                 64MiB |\r\n|    0   N\/A  N\/A      2289      G   ...ome-remote-desktop-daemon        2MiB |\r\n|    0   N\/A  N\/A      2327      G   \/usr\/bin\/gnome-shell              117MiB |\r\n+-----------------------------------------------------------------------------+\r\n<\/code><\/pre>\n<h3>\u8bfe\u7a0b\u7684\u51c6\u5907<\/h3>\n<p>\u521b\u5efa aichallenge2023-racing\/docker\/aichallenge \u76ee\u5f55\u3002<\/p>\n<pre class=\"post-pre\"><code>$ mkdir -p ~\/aichallenge2023-racing\/docker\/aichallenge\r\n<\/code><\/pre>\n<p>\u203b \u524d\u6587\u3067\u8ff0\u3079\u305f\u3088\u3046\u306b\u3001\u4efb\u610f\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u540d\u3067\u554f\u984c\u3042\u308a\u307e\u305b\u3093\u3002\u305f\u3060\u3057\u3001aichallenge2023-racing\u3068\u3044\u3046\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u304c\u5b58\u5728\u3059\u308b\u3068\u3001\u5f8c\u3067git lfs clone https:\/\/github.com\/AutomotiveAIChallenge\/aichallenge2023-racing\u3092\u884c\u3046\u969b\u306b\u90aa\u9b54\u306b\u306a\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002\u5f8c\u307b\u3069\u3001\u3053\u306e\u30af\u30ed\u30fc\u30f3\u3057\u305f\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306bGoogleDrive\u304b\u3089\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u305fAWSIM\u3092\u30b3\u30d4\u30fc\u3057\u307e\u3059\u3002<\/p>\n<p>\u4eceGoogleDrive\u4e0b\u8f7d\u6700\u65b0\u7684AWSIM_GPU.zip\u6587\u4ef6\uff0c\u5e76\u5c06\u6bd4\u8d5b\u7528\u7684AWSIM\u6267\u884c\u6587\u4ef6\u89e3\u538b\u5230aichallenge2023-racing\/docker\/aichallenge\u6587\u4ef6\u5939\u4e2d\u3002<\/p>\n<div><img decoding=\"async\" class=\"post-images\" title=\"\" src=\"https:\/\/cdn.silicloud.com\/blog-img\/blog\/img\/657d21b537434c4406c23f6c\/19-0.png\" alt=\"image.png\" \/><\/div>\n<p>\u5c06\u6743\u9650\u66f4\u6539\u4e3a\u56fe\u4e2d\u6240\u793a\u3002<\/p>\n<div><img decoding=\"async\" class=\"post-images\" title=\"\" src=\"https:\/\/cdn.silicloud.com\/blog-img\/blog\/img\/657d21b537434c4406c23f6c\/21-1.png\" alt=\"image.png\" \/><\/div>\n<p>\u5f53\u53cc\u51fb\u6587\u4ef6&#8217;AWSIM_x86_64&#8217;\u65f6\uff0c\u51fa\u73b0\u4e86\u5982\u4e0b\u6240\u793a\u7684\u5c4f\u5e55\u3002<\/p>\n<div><img decoding=\"async\" class=\"post-images\" title=\"\" src=\"https:\/\/cdn.silicloud.com\/blog-img\/blog\/img\/657d21b537434c4406c23f6c\/23-0.png\" alt=\"image.png\" \/><\/div>\n<div><img decoding=\"async\" class=\"post-images\" title=\"\" src=\"https:\/\/cdn.silicloud.com\/blog-img\/blog\/img\/657d21b537434c4406c23f6c\/24-0.png\" alt=\"image.png\" \/><\/div>\n<h3>\u51c6\u5907Docker\u7684\u6b65\u9aa4<\/h3>\n<h4>\u5b89\u88c5docker\uff0crocker\u548cgit lfs\u3002<\/h4>\n<p>\u8fdb\u884c\u4ee5\u4e0b\u5b89\u88c5\u3002\u7531\u4e8e2023\u5e74\u7684\u96c6\u6210\u5927\u4f1a\u73af\u5883\u5df2\u7ecf\u5b89\u88c5\u4e86\uff0c\u6240\u4ee5\u8df3\u8fc7\u6b64\u6b65\u9aa4\u3002<\/p>\n<p>\u6211\u4eec\u5c06\u5f00\u59cb\u68c0\u67e5\u5df2\u5b89\u88c5\u7684\u8f6f\u4ef6\u5305\u3002<\/p>\n<ul class=\"post-ul\">docker<\/ul>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span>docker <span class=\"nt\">--version<\/span>\r\nDocker version 24.0.4, build 3713ee1\r\n<\/code><\/pre>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span><span class=\"nb\">sudo <\/span>docker run hello-world\r\n\r\nHello from Docker!\r\nThis message shows that your installation appears to be working correctly.\r\n\r\nTo generate this message, Docker took the following steps:\r\n 1. The Docker client contacted the Docker daemon.\r\n 2. The Docker daemon pulled the <span class=\"s2\">\"hello-world\"<\/span> image from the Docker Hub.\r\n    <span class=\"o\">(<\/span>amd64<span class=\"o\">)<\/span>\r\n 3. The Docker daemon created a new container from that image which runs the\r\n    executable that produces the output you are currently reading.\r\n 4. The Docker daemon streamed that output to the Docker client, which sent it\r\n    to your terminal.\r\n\r\nTo try something more ambitious, you can run an Ubuntu container with:\r\n <span class=\"nv\">$ <\/span>docker run <span class=\"nt\">-it<\/span> ubuntu bash\r\n\r\nShare images, automate workflows, and more with a free Docker ID:\r\n https:\/\/hub.docker.com\/\r\n\r\nFor more examples and ideas, visit:\r\n https:\/\/docs.docker.com\/get-started\/\r\n<\/code><\/pre>\n<pre class=\"post-pre\"><code>$ docker ps\r\npermission denied while trying to connect to the Docker daemon socket at unix:\/\/\/var\/run\/docker.sock: Get \"http:\/\/%2Fvar%2Frun%2Fdocker.sock\/v1.24\/containers\/json\": dial unix \/var\/run\/docker.sock: connect: permission denied\r\n<\/code><\/pre>\n<p>\u8fd9\u91cc\u7684\u6743\u9650\u88ab\u62d2\u7edd\u4e86\u3002\u770b\u8d77\u6765<\/p>\n<blockquote><p>Docker\u547d\u4ee4\u9ed8\u8ba4\u60c5\u51b5\u4e0b\u4e0d\u80fd\u4ee5\u975eroot\u6743\u9650\u6267\u884c\u3002<\/p><\/blockquote>\n<p>\u6839\u636e\u6240\u8ff0\u60c5\u51b5\uff0c\u5c06\u6388\u4e88\u6743\u9650\u3002<br \/>\n\u76f8\u5173\u53c2\u8003\uff1a\u5728\u5c1d\u8bd5\u8fde\u63a5\u5230Docker\u5b88\u62a4\u7a0b\u5e8f\u5957\u63a5\u5b57\u65f6\uff0c\u51fa\u73b0\u6743\u9650\u88ab\u62d2\u7edd\u7684\u95ee\u9898\uff0c\u53ef\u4ee5\u91c7\u53d6\u4ee5\u4e0b\u89e3\u51b3\u65b9\u6cd5\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span><span class=\"nb\">sudo chmod <\/span>666 \/var\/run\/docker.sock\r\n<span class=\"nv\">$ <\/span>docker ps\r\nCONTAINER ID   IMAGE     COMMAND   CREATED   STATUS    PORTS     NAMES\r\n<\/code><\/pre>\n<p>\u6bcf\u6b21\u6388\u4e88\u6743\u9650\u90fd\u5f88\u9ebb\u70e6\uff0c\u6240\u4ee5\u5e0c\u671b\u5728\u542f\u52a8\u65f6\u6267\u884c\u3002<br \/>\n\u53c2\u8003\uff1a\u6211\u5e0c\u671b\u5728Linux\u542f\u52a8\u65f6\u6267\u884c\u67d0\u4e2a\u547d\u4ee4\uff0c\u6240\u4ee5\u8fdb\u884c\u4e86\u8c03\u67e5\u3002<\/p>\n<ul class=\"post-ul\">rocker\uff1aDocker\u30b3\u30f3\u30c6\u30ca\u5185\u306eRviz\u3001rqt\u306a\u3069\u306eGUI\u3092\u4f7f\u7528\u3059\u308b\u305f\u3081\u306b\u7528\u3044\u307e\u3059\u3002<\/ul>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span><span class=\"nb\">sudo <\/span>apt list <span class=\"nt\">--installed<\/span> | <span class=\"nb\">grep <\/span>rocker\r\npython3-rocker\/jammy,now 0.2.12-100 all <span class=\"o\">[<\/span>\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u6e08\u307f]\r\n<\/code><\/pre>\n<ul class=\"post-ul\">git lfs<\/ul>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span><span class=\"nb\">sudo <\/span>apt list <span class=\"nt\">--installed<\/span> | <span class=\"nb\">grep <\/span>git-lfs\r\ngit-lfs\/jammy,now 3.3.0 amd64 <span class=\"o\">[<\/span>\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u6e08\u307f\u30013.4.0 \u306b\u30a2\u30c3\u30d7\u30b0\u30ec\u30fc\u30c9\u53ef]\r\n<\/code><\/pre>\n<h2>\u51c6\u5907\u548c\u542f\u52a8Docker\u955c\u50cf &#8211; \u51c6\u5907Autoware<\/h2>\n<h3>\u83b7\u53d6Docker\u955c\u50cf Docker<\/h3>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span>docker pull ghcr.io\/automotiveaichallenge\/aichallenge2023-racing\/autoware-universe-no-cuda\r\n\r\n<\/code><\/pre>\n<p>\u5728\u7528\u6237\u7ec4\u4e2d\u5c06\u6211\u7684\u8d26\u6237\u6dfb\u52a0\u8fdb\u53bb\uff0c\u5e76\u901a\u8fc7\u4ee5\u4e0b\u547d\u4ee4\u786e\u8ba4docker\u5df2\u88ab\u6dfb\u52a0\u5230\u7ec4\u4e2d\u3002<\/p>\n<pre class=\"post-pre\"><code>$ sudo usermod -aG docker $USER\r\n$ groups $USER\r\n[USER]: [USER] adm cdrom sudo ... docker\r\n<\/code><\/pre>\n<p>\u6211\u4f1a\u518d\u6b21\u767b\u5f55\u3002<br \/>\n\u8bf7\u786e\u8ba4\u5728docker images\u4e2d\u80fd\u770b\u5230\u4ee5\u4e0b\u663e\u793a\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span>docker images\r\nREPOSITORY                                                                       TAG                           IMAGE ID       CREATED         SIZE\r\nghcr.io\/automotiveaichallenge\/aichallenge2023-racing\/autoware-universe-no-cuda   latest                        b7fdf9678bc2   2 weeks ago     7.32GB\r\n~~~\r\n<\/code><\/pre>\n<h3>2. \u5927\u4f1a\u9700\u8981\u4e0b\u8f7d\u6570\u636e\u3002<\/h3>\n<pre class=\"post-pre\"><code>$ git lfs clone https:\/\/github.com\/AutomotiveAIChallenge\/aichallenge2023-racing\r\nWARNING: `git lfs clone` is deprecated and will not be updated\r\n          with new flags from `git clone`\r\n\r\n`git clone` has been updated in upstream Git to have comparable\r\nspeeds to `git lfs clone`.\r\nfatal: destination path 'aichallenge2023-racing' already exists and is not an empty directory.\r\nError(s) during clone:\r\n`git clone` failed: exit status 128\r\n<\/code><\/pre>\n<p>\u56e0\u4e3a\u5148\u524d\u4e3a\u51c6\u5907\u8bfe\u7a0b\u800c\u521b\u5efa\u7684aichallenge2023-racing\u6587\u4ef6\u5939\u4f3c\u4e4e\u6709\u4e9b\u9ebb\u70e6\uff0c\u6211\u5c06\u5148\u66f4\u6539\u5176\u540d\u79f0\uff0c\u7136\u540e\u91cd\u65b0\u6267\u884c\u3002<\/p>\n<pre class=\"post-pre\"><code>$ mv aichallenge2023-racing aichallenge2023-racing-temp\r\n$ git lfs clone https:\/\/github.com\/AutomotiveAIChallenge\/aichallenge2023-racing\r\n<\/code><\/pre>\n<p>\u4e5f\u8bb8\u672c\u6765\u5e94\u8be5\u5728\u4e4b\u540e\u624d\u51c6\u5907\u597d\u8bfe\u7a0b\u3002<\/p>\n<h3>3. \u5927\u4f1a\u4f7f\u7528Docker\u955c\u50cf\u6784\u5efa\u3002<\/h3>\n<pre class=\"post-pre\"><code>$ cd aichallenge2023-racing\/docker\/train\r\n<\/code><\/pre>\n<h3>4.\u5927\u4f1a\u4e2d\u542f\u52a8docker\u5bb9\u5668\u3002<\/h3>\n<p>\u7531\u4e8e\u4f7f\u7528GPU\u73af\u5883\uff0c\u5c06\u6267\u884c\u4ee5\u4e0b\u547d\u4ee4\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span>bash run_container.sh\r\n<\/code><\/pre>\n<h2>\u5728Docker\u5bb9\u5668\u4e2d\u542f\u52a8AWSIM\u3002<\/h2>\n<p>\u5728\u5f15\u5165Docker\u955c\u50cf\u4e4b\u540e\uff0c\u5c06\u6bd4\u8d5b\u7528\u7684AWSIM\u6267\u884c\u6587\u4ef6\u590d\u5236\u5230aichallenge2023-racing\/docker\/aichallenge\u76ee\u5f55\u4e0b\u3002\u8fd9\u662f\u5148\u524d\u66f4\u6539\u540d\u79f0\u7684\u76ee\u5f55\u3002<br \/>\n\u5b83\u4f1a\u88ab\u653e\u7f6e\u5728aichallenge2023-racing\/docker\/aichallenge\/AWSIM\/AWSIM.x86_64\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span><span class=\"nb\">cp<\/span> <span class=\"nt\">-r<\/span> aichallenge2023-racing-temp\/docker\/aichallenge\/AWSIM aichallenge2023-racing\/docker\/aichallenge\/\r\n<\/code><\/pre>\n<p>\u4f7f\u7528docker image ls\u547d\u4ee4\u786e\u8ba4\u4ee5\u4e0b\u955c\u50cf\u662f\u5426\u5b58\u5728\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span>docker image <span class=\"nb\">ls\r\n<\/span>REPOSITORY                                                                       TAG                           IMAGE ID       CREATED          SIZE\r\naichallenge-train                                                                latest                        efdf5dc98b88   10 minutes ago   7.38GB\r\n<\/code><\/pre>\n<p>\u542f\u52a8\u7528\u4e8eGPU\u73af\u5883\u7684\u811a\u672c\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span><span class=\"nb\">cd<\/span> .\/aichallenge2023-racing\/docker\/train\r\n<span class=\"nv\">$ <\/span>bash run_container.sh\r\n<\/code><\/pre>\n<p>\u5728\u5bb9\u5668\u4e2d\u6267\u884c\u4ee5\u4e0b\u547d\u4ee4\uff0c\u786e\u8ba4AWSIM\u5df2\u7ecf\u542f\u52a8\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span><span class=\"nb\">cd<\/span> \/aichallenge\r\n<span class=\"nv\">$ <\/span>bash run_awsim.sh \r\n<\/code><\/pre>\n<div><img decoding=\"async\" class=\"post-images\" title=\"\" src=\"https:\/\/cdn.silicloud.com\/blog-img\/blog\/img\/657d21b537434c4406c23f6c\/68-0.png\" alt=\"image.png\" \/><\/div>\n<blockquote><p>\u8bf7\u6267\u884c\u4ee5\u4e0b\u547d\u4ee4\u4ee5\u5904\u7406\u5728AWSIM\u4e0a\u53d1\u5e03\u548c\u8ba2\u9605\u7684\u4e3b\u9898\u6d88\u606f\uff0c\u8fd9\u4e9b\u6d88\u606f\u5728\/aichallenge\/aichallenge_ws\/src\/sim-msgs\u4e2d\u5b9a\u4e49\u3002<\/p><\/blockquote>\n<p>\u56e0\u6b64\uff0c\u6211\u786e\u8ba4\u4e86\u6784\u5efa\u80fd\u591f\u901a\u8fc7\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span><span class=\"nb\">cd<\/span> \/aichallenge\r\n<span class=\"nv\">$ <\/span>bash build_autoware.sh\r\n<span class=\"nv\">$ <\/span><span class=\"nb\">source<\/span> \/aichallenge\/aichallenge_ws\/install\/setup.bash \r\n<\/code><\/pre>\n<h2>\u5730\u56fe\u6570\u636eOSM\u7684\u914d\u7f6eWIP<\/h2>\n<p>\u5728\u672c\u6b21\u4f1a\u8bae\u4e2d\uff0c\u4f3c\u4e4e\u53ef\u4ee5\u4fee\u6539lanelet2_map\u6587\u4ef6\u3002\u4e0a\u6b21\u7684\u96c6\u6210\u5927\u4f1a\u4e2d\uff0c\u6709\u4e9b\u56e2\u961f\u8003\u8651\u4fee\u6539lenelet\uff0c\u800c\u8fd9\u6b21\u53ef\u80fd\u4e5f\u4f1a\u6210\u4e3a\u6539\u8fdb\u7684\u4e00\u4e2a\u5173\u952e\u70b9\u3002<\/p>\n<p>\u6587\u4ef6\u7ed3\u6784\u5982\u4e0b\u6240\u793a\uff1a\uff08\u63d0\u4ea4\u7528\u76ee\u5f55\u4e2d\u5305\u542b\u6709map\uff09<\/p>\n<pre class=\"post-pre\"><code>aichallenge2023-racing\r\n\u2514 docker\r\n \u2514 aichallenge\r\n  \u2514 AWSIM\r\n  \u2514 aichallenge_ws\/src\/aichallenge_submit\/aichallenge_submit_launch\r\n     \u2514map\r\n      \u2514lanelet2_map.osm\r\n<\/code><\/pre>\n<h2>\u5bf9Autoware\u8fdb\u884c\u64cd\u4f5c\u786e\u8ba4<\/h2>\n<p>\u57fa\u672c\u4e0a\uff0c\u6309\u7167\u4ee5\u4e0b\u6b65\u9aa4\u8fdb\u884c\u6267\u884c\u3002<\/p>\n<h4>\u542f\u52a8AWSIM<\/h4>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span><span class=\"nb\">cd<\/span> .\/aichallenge2023-racing\/docker\/train\r\n<span class=\"nv\">$ <\/span>bash run_container.sh\r\n<\/code><\/pre>\n<p>\u5728\u5bb9\u5668\u4e2d\u542f\u52a8AWSIM\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span><span class=\"nb\">cd<\/span> \/aichallenge\r\n<span class=\"nv\">$ <\/span>bash run_awsim.sh \r\n<\/code><\/pre>\n<h4>2. \u542f\u52a8Autoware<\/h4>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span>docker <span class=\"nb\">exec<\/span> <span class=\"nt\">-it<\/span> <span class=\"o\">[]<\/span> bash\r\n<\/code><\/pre>\n<p>1. \u5728\u6447\u6eda\u4e50\u96c6\u88c5\u7bb1\u5185<br \/>\n2. \u5728\u6447\u6eda\u97f3\u4e50\u7684\u96c6\u88c5\u7bb1\u91cc<br \/>\n3. \u5728\u6447\u6eda\u76d2\u5b50\u5185\u90e8<br \/>\n4. \u5728\u6447\u6eda\u5bb9\u5668\u4e2d<\/p>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span><span class=\"nb\">cd<\/span> \/aichallenge\r\n<span class=\"nv\">$ <\/span>bash build_autoware.sh <span class=\"c\"># \u5fc5\u8981\u306b\u5fdc\u3058\u3066<\/span>\r\n<span class=\"nv\">$ <\/span>bash run_autoware.sh\r\n<\/code><\/pre>\n<p>\u786e\u8ba4\u663e\u793a\u4ee5\u4e0b\u8fd9\u6837\u7684\u5c4f\u5e55 (Rviz2)\uff0c\u5e76\u4e14\u8f66\u8f86\u5f00\u59cb\u81ea\u52a8\u9a7e\u9a76\u3002<\/p>\n<div><img decoding=\"async\" class=\"post-images\" title=\"\" src=\"https:\/\/cdn.silicloud.com\/blog-img\/blog\/img\/657d21b537434c4406c23f6c\/87-0.png\" alt=\"image.png\" \/><\/div>\n<p>\u4ee5\u4e0b\u662f\u5728\u9ed8\u8ba4\u53c2\u6570\uff08\u622a\u6b62\u52302023\u5e7412\u670810\u65e5\uff09\u4e0b\u8fdb\u884c\u884c\u9a76\u7684\u89c6\u9891\u3002<\/p>\n<p>&nbsp;<\/p>\n<h2>\u6700\u540e<\/h2>\n<p>\u5982\u679c\u6709\u9519\u8bef\u6216\u4e0d\u8db3\u4e4b\u5904\uff0c\u8bf7\u60a8\u6307\u51fa\u3002\u8fd9\u662f\u6211\u4e2a\u4eba\u8bbe\u7f6e\u73af\u5883\u7684\u5907\u5fd8\u5f55\uff0c\u5e0c\u671b\u80fd\u5bf9\u4f60\u6709\u6240\u5e2e\u52a9\u3002<\/p>\n<p>\u6211\u5e0c\u671b\u80fd\u591f\u5728\u63a5\u4e0b\u6765\u7684\u65f6\u5019\u8fdb\u884cCPU\u73af\u5883\u7684\u642d\u5efa\u3002\u6bd5\u7adf\uff0c\u80fd\u591f\u5728\u6ca1\u6709GPU\u7684\u60c5\u51b5\u4e0b\u6b63\u5e38\u8fd0\u884c\u4e5f\u975e\u5e38\u6709\u5438\u5f15\u529b\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u642d\u5efa\u81ea\u52a8\u9a7e\u9a76AI\u6311\u62182023\u6a21\u62df\u5927\u8d5b\u7684\u73af\u5883\u914d\u7f6e\u5907\u5fd8\u5f55\uff08GPU\u73af\u5883\uff09\u3002 \u5728\u6784\u5efa\u73af\u5883\u65f6\uff0c\u6211\u5c06\u7559\u4e0b\u4e2a\u4eba\u5907\u5fd8\u5f55\u3002\u5982\u679c\u6709 [&hellip;]<\/p>\n","protected":false},"author":12,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-35191","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"yoast_head":"<!-- This site is optimized with the Yoast SEO Premium plugin v21.5 (Yoast SEO v21.5) - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>2023\u5e74\u81ea\u52a8\u9a7e\u9a76AI\u6311\u6218\u8d5b\u6a21\u62df\u5927\u8d5b\u7684\u73af\u5883\u8bbe\u7f6e\u5907\u5fd8\u5f55\uff08GPU\u73af\u5883\uff09 - Blog - Silicon Cloud<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" 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