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最新推荐文章于 2025-11-08 00:20:44 发布

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最新推荐文章于 2025-11-08 00:20:44 发布 · 731 阅读

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这篇博客详细介绍了Autoware的Docker安装与配置过程，包括cuda的设置、Ubuntu下非root用户运行docker、Portainer的安装及管理、registry的配置、以及Autoware的Docker镜像构建和编译。还涉及到xrdp的安装和NVIDIA驱动的更新，为自驾驶软件Autoware的开发提供了一个完善的环境搭建方案。

Ubuntu 下非 root 用户运行 docker

/etc/apt/sources.list.d/nvidia-container-runtime.list

/etc/apt/sources.list.d/nvidia-docker.list

/etc/docker/daemon.json

build from Dockerfile

Source

autoware.ai.repos

cuda

https://github.com/NVIDIA/nvidia-docker

UNIX DRIVER ARCHIVE: https://www.nvidia.com/en-us/drivers/unix/

https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#install-guide

Ubuntu 18.04.5 LTS
5.4.0-67-generic

/lib/modules/
5.4.0-42-generic
5.4.0-66-generic
5.4.0-67-generic

NVIDIA-Linux-x86_64-460.56.run
cuda_10.0.130_410.48_linux.run

cn.download.nvidia.com/XFree86/Linux-x86_64/460.56/NVIDIA-Linux-x86_64-460.56.run

ubuntu恢复指定版本内核_言缓心善的博客-优快云博客

docker run --runtime=nvidia --rm nvidia/cuda:10.0-base nvidia-smi
docker run --gpus=all --rm nvidia/cuda:10.0-base nvidia-smi

/etc/udev/rules.d

50-usbcan.rules

SUBSYSTEMS=="usb", ATTRS{idVendor}=="0471", ATTRS{idProduct}=="1200", GROUP="autoware", MODE="0666"

55-usbserial.rules

SUBSYSTEMS=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", GROUP="ygzhang", MODE="0666"

xrdp

sudo vi /etc/apt/sources.list
sudo apt-get update
apt-get source xorgxrdp

Reading package lists... Done
Picking 'xrdp' as source package instead of 'xorgxrdp'
NOTICE: 'xrdp' packaging is maintained in the 'Git' version control system at:
https://anonscm.debian.org/git/pkg-remote/xrdp.git
Please use:
git clone https://anonscm.debian.org/git/pkg-remote/xrdp.git
to retrieve the latest (possibly unreleased) updates to the package.
Need to get 3575 kB of source archives.
Get:1 http://archive.ubuntu.com/ubuntu bionic/universe xrdp 0.9.5-2 (dsc) [2749 B]
Get:2 http://archive.ubuntu.com/ubuntu bionic/universe xrdp 0.9.5-2 (tar) [464 kB]
Get:3 http://archive.ubuntu.com/ubuntu bionic/universe xrdp 0.9.5-2 (tar) [3083 kB]
Get:4 http://archive.ubuntu.com/ubuntu bionic/universe xrdp 0.9.5-2 (diff) [25.7 kB]
Fetched 3575 kB in 5s (738 kB/s)
dpkg-source: info: extracting xrdp in xrdp-0.9.5
dpkg-source: info: unpacking xrdp_0.9.5.orig.tar.gz
dpkg-source: info: unpacking xrdp_0.9.5.orig-xorgxrdp.tar.gz
dpkg-source: info: unpacking xrdp_0.9.5-2.debian.tar.xz
dpkg-source: info: applying make-fixes.diff
dpkg-source: info: applying config.diff
dpkg-source: info: applying misc-fixes.diff
dpkg-source: info: applying fix_perms.diff
dpkg-source: info: applying shutup-daemon.diff
dpkg-source: info: applying systemd.diff
dpkg-source: info: applying lfs.diff
dpkg-source: info: applying pulse-debian.patch

xrdp_0.9.5-2.debian.tar.xz

xrdp_0.9.5.orig.tar.gz

xrdp_0.9.5.orig-xorgxrdp.tar.gz

xorgxrdp_nvidia https://github.com/jsorg71/xorgxrdp.git

xorgxrdp 0.2.13 requires xrdp v0.9.13 or later -> nvidia_hack
xorgxrdp 0.2.14 requires xrdp v0.9.14

	xrdp	xorgxrdp
Ubuntu 18.04	0.9.5	0.2.5
nvidia_hack		0.2.13

docker

install

https://github.com/Autoware-AI/autoware.ai/wiki/docker-installation

https://docs.docker.com/engine/install/ubuntu/

Ubuntu 下非 root 用户运行 docker

将用户加入该 group 内

sudo usermod -aG docker $USER

重启服务

sudo service docker restart
# 或者
sudo /etc/init.d/docker restart

重进终端

nvidia-container

Ubuntu		dkms	docker-ce	lib	-runtime	-toolkit	-docker2
18.04.5	5.4.0-67-generic	460.56	20.10.5	1.3.3-1	3.4.2-1	1.4.2-1	2.5.0-1
18.04.5	5.4.0-66-generic	460.32.03	19.03.6	1.3.3-1	3.4.2-1	1.4.2-1