ApolloAuto
jetson agx orin 上安装apollo错误
系统信息
Package: nvidia-jetpack Version: 5.0.1-b118 Architecture: arm64 Maintainer: NVIDIA Corporation Installed-Size: 194 Depends: nvidia-cuda (= 5.0.1-b118), nvidia-opencv (= 5.0.1-b118), nvidia-cudnn8 (= 5.0.1-b118), nvidia-tensorrt (= 5.0.1-b118), nvidia-container (= 5.0.1-b118), nvidia-vpi (= 5.0.1-b118), nvidia-nsight-sys (= 5.0.1-b118), nvidia-l4t-jetson-multimedia-api (>> 34.1-0), nvidia-l4t-jetson-multimedia-api (<< 34.2-0) Homepage: http://developer.nvidia.com/jetson Priority: standard Section: metapackages Filename: pool/main/n/nvidia-jetpack/nvidia-jetpack_5.0.1-b118_arm64.deb Size: 29356 SHA256: 379f1b0c833a7222c37793b766b3b278645e791859c2aa33a89fd3450a45f872 SHA1: 1c409cd2a0f0682f894d82be707e60b248981893 MD5sum: d9cfb50922e61be108889e2bf6168970 Description: NVIDIA Jetpack Meta Package Description-md5: ad1462289bdbc54909ae109d1d32c0a8
No LSB modules are available. Distributor ID: Ubuntu Description: Ubuntu 20.04.4 LTS Release: 20.04 Codename: focal
Linux ubuntu 5.10.65-tegra #1 SMP PREEMPT Mon May 16 20:58:07 PDT 2022 aarch64 aarch64 aarch64 GNU/Linux
问题： 执行sudo bash docker/scripts/dev_start.sh时出现错误
sudo bash docker/scripts/dev_start.sh [INFO] Use default GeoLocation settings [INFO] Start pulling docker image apolloauto/apollo:dev-aarch64-18.04-20201218_0030 ... dev-aarch64-18.04-20201218_0030: Pulling from apolloauto/apollo Digest: sha256:9d265275fd175be3de5f803cfbe1ccca74aab34231d61b4ca5c4ce391755834c Status: Image is up to date for apolloauto/apollo:dev-aarch64-18.04-20201218_0030 docker.io/apolloauto/apollo:dev-aarch64-18.04-20201218_0030 [INFO] Remove existing Apollo Development container ... [INFO] Removing existing Apollo container: apollo_dev_root apollo_dev_root [INFO] Determine whether host GPU is available ... [INFO] USE_GPU_HOST: 1 [WARNING] No CAN device named /dev/can0. [WARNING] No SocketCAN device named can0. [INFO] Starting mounting map volumes ... [INFO] Load map sunnyvale_big_loop from image: apolloauto/apollo:map_volume-sunnyvale_big_loop-aarch64-latest [INFO] Create volume apollo_map_volume-sunnyvale_big_loop_root from image: apolloauto/apollo:map_volume-sunnyvale_big_loop-aarch64-latest [INFO] Start pulling docker image apolloauto/apollo:map_volume-sunnyvale_big_loop-aarch64-latest ... map_volume-sunnyvale_big_loop-aarch64-latest: Pulling from apolloauto/apollo Digest: sha256:275f66d9200b1e947ba27ae7e78ee0cdc455203d9f1e35e3f32b02e63fa5361e Status: Image is up to date for apolloauto/apollo:map_volume-sunnyvale_big_loop-aarch64-latest docker.io/apolloauto/apollo:map_volume-sunnyvale_big_loop-aarch64-latest [INFO] Load map sunnyvale_loop from image: apolloauto/apollo:map_volume-sunnyvale_loop-aarch64-latest [INFO] Create volume apollo_map_volume-sunnyvale_loop_root from image: apolloauto/apollo:map_volume-sunnyvale_loop-aarch64-latest [INFO] Start pulling docker image apolloauto/apollo:map_volume-sunnyvale_loop-aarch64-latest ... map_volume-sunnyvale_loop-aarch64-latest: Pulling from apolloauto/apollo Digest: sha256:fe449650dd5634b7c4ed29255d2537a41a34f7f2551cc1bb18013deeb70da447 Status: Image is up to date for apolloauto/apollo:map_volume-sunnyvale_loop-aarch64-latest docker.io/apolloauto/apollo:map_volume-sunnyvale_loop-aarch64-latest [INFO] Load map sunnyvale_with_two_offices from image: apolloauto/apollo:map_volume-sunnyvale_with_two_offices-aarch64-latest [INFO] Create volume apollo_map_volume-sunnyvale_with_two_offices_root from image: apolloauto/apollo:map_volume-sunnyvale_with_two_offices-aarch64-latest [INFO] Start pulling docker image apolloauto/apollo:map_volume-sunnyvale_with_two_offices-aarch64-latest ... Error response from daemon: Get "https://registry-1.docker.io/v2/": dial tcp: lookup registry-1.docker.io on 127.0.0.53:53: read udp 127.0.0.1:60470->127.0.0.53:53: i/o timeout [ERROR] Failed to pull docker image : apolloauto/apollo:map_volume-sunnyvale_with_two_offices-aarch64-latest
sudo bash docker/scripts/dev_start.sh [INFO] Use default GeoLocation settings [INFO] Start pulling docker image apolloauto/apollo:dev-aarch64-18.04-20201218_0030 ... dev-aarch64-18.04-20201218_0030: Pulling from apolloauto/apollo Digest: sha256:9d265275fd175be3de5f803cfbe1ccca74aab34231d61b4ca5c4ce391755834c Status: Image is up to date for apolloauto/apollo:dev-aarch64-18.04-20201218_0030 docker.io/apolloauto/apollo:dev-aarch64-18.04-20201218_0030 [INFO] Remove existing Apollo Development container ... [INFO] Determine whether host GPU is available ... [INFO] USE_GPU_HOST: 1 [WARNING] No CAN device named /dev/can0. [WARNING] No SocketCAN device named can0. [INFO] Starting mounting map volumes ... [INFO] Load map sunnyvale_big_loop from image: apolloauto/apollo:map_volume-sunnyvale_big_loop-aarch64-latest [INFO] Create volume apollo_map_volume-sunnyvale_big_loop_root from image: apolloauto/apollo:map_volume-sunnyvale_big_loop-aarch64-latest [INFO] Start pulling docker image apolloauto/apollo:map_volume-sunnyvale_big_loop-aarch64-latest ... map_volume-sunnyvale_big_loop-aarch64-latest: Pulling from apolloauto/apollo Digest: sha256:275f66d9200b1e947ba27ae7e78ee0cdc455203d9f1e35e3f32b02e63fa5361e Status: Image is up to date for apolloauto/apollo:map_volume-sunnyvale_big_loop-aarch64-latest docker.io/apolloauto/apollo:map_volume-sunnyvale_big_loop-aarch64-latest [INFO] Load map sunnyvale_loop from image: apolloauto/apollo:map_volume-sunnyvale_loop-aarch64-latest [INFO] Create volume apollo_map_volume-sunnyvale_loop_root from image: apolloauto/apollo:map_volume-sunnyvale_loop-aarch64-latest [INFO] Start pulling docker image apolloauto/apollo:map_volume-sunnyvale_loop-aarch64-latest ... map_volume-sunnyvale_loop-aarch64-latest: Pulling from apolloauto/apollo Digest: sha256:fe449650dd5634b7c4ed29255d2537a41a34f7f2551cc1bb18013deeb70da447 Status: Image is up to date for apolloauto/apollo:map_volume-sunnyvale_loop-aarch64-latest docker.io/apolloauto/apollo:map_volume-sunnyvale_loop-aarch64-latest [INFO] Load map sunnyvale_with_two_offices from image: apolloauto/apollo:map_volume-sunnyvale_with_two_offices-aarch64-latest [INFO] Create volume apollo_map_volume-sunnyvale_with_two_offices_root from image: apolloauto/apollo:map_volume-sunnyvale_with_two_offices-aarch64-latest [INFO] Start pulling docker image apolloauto/apollo:map_volume-sunnyvale_with_two_offices-aarch64-latest ... map_volume-sunnyvale_with_two_offices-aarch64-latest: Pulling from apolloauto/apollo Digest: sha256:13ae92aac07a2aeca873356cf525c26e0e316d642ad6f811cc15b4aa2946ebc7 Status: Image is up to date for apolloauto/apollo:map_volume-sunnyvale_with_two_offices-aarch64-latest docker.io/apolloauto/apollo:map_volume-sunnyvale_with_two_offices-aarch64-latest [INFO] Load map san_mateo from image: apolloauto/apollo:map_volume-san_mateo-aarch64-latest [INFO] Create volume apollo_map_volume-san_mateo_root from image: apolloauto/apollo:map_volume-san_mateo-aarch64-latest [INFO] Start pulling docker image apolloauto/apollo:map_volume-san_mateo-aarch64-latest ... map_volume-san_mateo-aarch64-latest: Pulling from apolloauto/apollo Digest: sha256:23de05457d602e35605ebbefba5f26f18b50c79502072f44af2b605a0c249d5a Status: Image is up to date for apolloauto/apollo:map_volume-san_mateo-aarch64-latest docker.io/apolloauto/apollo:map_volume-san_mateo-aarch64-latest [INFO] Mount other volumes ... [INFO] Create volume apollo_audio_volume_root from image: apolloauto/apollo:data_volume-audio_model-aarch64-latest [INFO] Start pulling docker image apolloauto/apollo:data_volume-audio_model-aarch64-latest ... data_volume-audio_model-aarch64-latest: Pulling from apolloauto/apollo Digest: sha256:5bb275a29aac2147cbddf943b19666c62ba5bd1ebd4695f8e5f54da83802945d Status: Image is up to date for apolloauto/apollo:data_volume-audio_model-aarch64-latest docker.io/apolloauto/apollo:data_volume-audio_model-aarch64-latest [INFO] Create volume apollo_yolov4_volume_root from image: apolloauto/apollo:yolov4_volume-emergency_detection_model-aarch64-latest [INFO] Start pulling docker image apolloauto/apollo:yolov4_volume-emergency_detection_model-aarch64-latest ... yolov4_volume-emergency_detection_model-aarch64-latest: Pulling from apolloauto/apollo Digest: sha256:4883d56073054bd8170a66dbd519fc7238bdde80eb436974710803d484bdc73b Status: Image is up to date for apolloauto/apollo:yolov4_volume-emergency_detection_model-aarch64-latest docker.io/apolloauto/apollo:yolov4_volume-emergency_detection_model-aarch64-latest [INFO] Create volume apollo_faster_rcnn_volume_root from image: apolloauto/apollo:faster_rcnn_volume-traffic_light_detection_model-aarch64-latest [INFO] Start pulling docker image apolloauto/apollo:faster_rcnn_volume-traffic_light_detection_model-aarch64-latest ... faster_rcnn_volume-traffic_light_detection_model-aarch64-latest: Pulling from apolloauto/apollo Digest: sha256:2ad8bccebec1cd91620b7179a15c23f20bec90faddc12cf98f9cc1e0a515d96e Status: Image is up to date for apolloauto/apollo:faster_rcnn_volume-traffic_light_detection_model-aarch64-latest docker.io/apolloauto/apollo:faster_rcnn_volume-traffic_light_detection_model-aarch64-latest [INFO] Starting Docker container "apollo_dev_root" ...
- docker run --gpus all -itd --privileged --name apollo_dev_root -e DISPLAY=:0 -e DOCKER_USER=root -e USER=root -e DOCKER_USER_ID=0 -e DOCKER_GRP=root -e DOCKER_GRP_ID=0 -e DOCKER_IMG=apolloauto/apollo:dev-aarch64-18.04-20201218_0030 -e USE_GPU_HOST=1 -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=compute,video,graphics,utility --volume apollo_map_volume-sunnyvale_big_loop_root:/apollo/modules/map/data/sunnyvale_big_loop --volume apollo_map_volume-sunnyvale_loop_root:/apollo/modules/map/data/sunnyvale_loop --volume apollo_map_volume-sunnyvale_with_two_offices_root:/apollo/modules/map/data/sunnyvale_with_two_offices --volume apollo_map_volume-san_mateo_root:/apollo/modules/map/data/san_mateo --volume apollo_audio_volume_root:/apollo/modules/audio/data/ --volume apollo_yolov4_volume_root:/apollo/modules/perception/camera/lib/obstacle/detector/yolov4/model/ --volume apollo_faster_rcnn_volume_root:/apollo/modules/perception/production/data/perception/camera/models/traffic_light_detection/faster_rcnn_model -v /home/zhou/github/apollo:/apollo -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 --add-host in-dev-docker:127.0.0.1 --add-host ubuntu:127.0.0.1 --hostname in-dev-docker --shm-size 2G --pid=host -v /dev/null:/dev/raw1394 apolloauto/apollo:dev-aarch64-18.04-20201218_0030 /bin/bash e5e82f5279c08740dafcdaa12bb1e34d5fbac40e75f0584080d45022d5708c5a docker: Error response from daemon: failed to create shim: OCI runtime create failed: runc create failed: unable to start container process: error during container init: error running hook #0: error running hook: exit status 1, stdout: , stderr: Auto-detected mode as 'csv' invoking the NVIDIA Container Runtime Hook directly (e.g. specifying the docker --gpus flag) is not supported. Please use the NVIDIA Container Runtime instead.: unknown.
- '[' 125 -ne 0 ']'
- error 'Failed to start docker container "apollo_dev_root" based on image: apolloauto/apollo:dev-aarch64-18.04-20201218_0030'
- echo -e '[\033[0;31mERROR\033[0m] Failed to start docker container "apollo_dev_root" based on image: apolloauto/apollo:dev-aarch64-18.04-20201218_0030' [ERROR] Failed to start docker container "apollo_dev_root" based on image: apolloauto/apollo:dev-aarch64-18.04-20201218_0030
- exit 1
The first error is cause by pull docker failed, and then we focused on the second, since you just run the start docker cmd, so the problem will just be limited to how to start the arm version of navidia docker, the compilation and running problems are still behind.
first I think you should check nvidia docker is right, use nvidia-smi, and I search some problem about the error, there may be many reasons, so we will do step by step！ ref link
The first error is cause by pull docker failed, and then we focused on the second, since you just run the start docker cmd, so the problem will just be limited to how to start the arm version of navidia docker, the compilation and running problems are still behind.
first I think you should check nvidia docker is right, use
nvidia-smi, and I search some problem about the error, there may be many reasons, so we will do step by step！ ref link
maybe there is no nvidia-smi on platform @aarch64?
Jetson‘s support will be a future work, If there is an update, we will notify you as soon as possible.
I also encountered this issue when using Jetson Orin Nano. I found that the dev_start.sh script in Apollo is judged as aarch64, and when lsmod | grep nvgpu returns ok, it will use docker run --gpus all to start the docker container. I manually tried to run the official image with the command docker run --gpus all nvidia/cuda:11.2.0-runtime-ubuntu20.04 nvidia-smi , but it failed . The reason is that the nvidia driver cannot be mounted into the docker.
I have installed nvidia-container-runtime in my environment and updated /etc/docker/daemon.json:
{ "runtimes": { "nvidia": { "args": [], "path": "nvidia-container-runtime" } } }
However, I still cannot use docker run --gpus all to start the container. It seems that nvidia-smi cannot be used on Orin Nano to check the graphics card information, so I cannot confirm whether the Nvidia driver has been successfully installed.
