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- [wsl2]
- memory=2GB # Limits VM memory in WSL 2GB, also can be set to other values
- swap=0
- localhostForwarding=true
- processors=2 # Makes the WSL 2 VM use two virtual processors, also can be set to other values
- cd apollo
- :bash docker/scripts/dev_start.sh
sudo bash docker/scripts/dev_into.sh
进入container之后,编译Apollo,分为两种情况有GPU和无GPU:
1)有GPU
bash apollo.sh build_opt_gpu
2)无GPU
sudo bash apollo.sh build_cpu
Apollo依赖protobuf库,而protobuf库依赖zlib库,而protobuf库安装时提供的zlib下载链接是上面这个。
解决方法是替换新的可用链接,具体就是修改Apollo项目文件夹中的.cache/bazel/540135163923dd7d5820f3ee4b306b32/external/rules_proto/proto/private文件夹里的dependencies.bzl文件,将"zlib"的部分改成以下即可。
- "zlib": {
- "sha256": "629380c90a77b964d896ed37163f5c3a34f6e6d897311f1df2a7016355c45eff",
- "build_file": "@com_google_protobuf//:third_party/zlib.BUILD",
- "strip_prefix": "zlib-1.2.11",
- "urls": [
- "https://github.com/madler/zlib/archive/v1.2.11.tar.gz",
- ],
- }
1. vscode下安装c++和docker相关的插件
2. 选择Containers
3. 配置launch.json
- {
- // 使用 IntelliSense 了解相关属性。
- // 悬停以查看现有属性的描述。
- // 欲了解更多信息,请访问: https://go.microsoft.com/fwlink/?linkid=830387
- "version": "0.2.0",
- "configurations": [
- {
- "name": "(gdb) 启动",
- "type": "cppdbg",
- "request": "launch",
- "program": "/apollo/bazel-bin/cyber/mainboard",
- "args": ["-d","/apollo/modules/control/dag/control.dag"],
- "stopAtEntry": false,
- "cwd": "/apollo",
- "environment": [],
- "externalConsole": false,
- "MIMode": "gdb",
- "setupCommands": [
- {
- "description": "为 gdb 启用整齐打印",
- "text": "-enable-pretty-printing",
- "ignoreFailures": true
- },
- {
- "description": "将反汇编风格设置为 Intel",
- "text": "-gdb-set disassembly-flavor intel",
- "ignoreFailures": true
- }
- ]
- }
-
- ]
- }
参数解释:
"program":是可执行文件的的路径,在这个调试配置中,调用的是mainboard可执行文件,该可执行程序可以加载相关模块的dag文件,完成模块的启动和运行。
"args" :设置可执行文件的输入参数 "-d"为mainboard的参数,表明输入dag文件,
"/apollo/modules/perception/production/dag/dag_streaming_perception.dag为需要调试的dag文件,这个文件可以根据你自己的需要更改。
效果:
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