在下载aarch64版本的docker镜像时候总是失败

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我在下载aarch64版本的docker镜像时候总是失败。

我的硬件： Xavier jetpack 4.5 ubuntu 18.04 apollo 6.0 运行如下命令， sudo bash docker/scripts/dev_start.sh

`Apollo_6/apollo$ sudo bash docker/scripts/dev_start.sh [INFO] Use default GeoLocation settings [INFO] Start pulling docker image apolloauto/apollo:dev-aarch64-18.04-20200915_0106 ... dev-aarch64-18.04-20200915_0106: Pulling from apolloauto/apollo Digest: sha256:26003e6be3cc6c322fa17b10915a597862fd1896c5ff03a6833492342a35a7cc Status: Image is up to date for apolloauto/apollo:dev-aarch64-18.04-20200915_0106 docker.io/apolloauto/apollo:dev-aarch64-18.04-20200915_0106 [INFO] Check and remove existing Apollo dev container ... [INFO] Determine whether host GPU is available ... [INFO] USE_GPU_HOST: 0 [WARNING] No CAN device named /dev/can0. [INFO] Starting mounting map volumes ... [INFO] Load map sunnyvale_big_loop from image: apolloauto/apollo:map_volume-sunnyvale_big_loop-aarch64-latest [INFO] Restart 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 e9eb005c8ec3b68ac90202fc0b3b50de2169666d761ebf3c1dbde5a44603d453 [INFO] Load map sunnyvale_loop from image: apolloauto/apollo:map_volume-sunnyvale_loop-aarch64-latest [INFO] Restart 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 1c7b38a54d47b7c3b763e6c72244426c826f3d4e8b08471ea4bd97ef9056c77d [INFO] Load map sunnyvale_with_two_offices from image: apolloauto/apollo:map_volume-sunnyvale_with_two_offices-aarch64-latest [INFO] Restart 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 f76559c184a8e41e4f06af19c8014f1facf1c5274c8979d4169d30e787b73d34 [INFO] Load map san_mateo from image: apolloauto/apollo:map_volume-san_mateo-aarch64-latest [INFO] Restart 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 ae8aeb94e5e0d68dfd47d5d78e928dfd3a5da18935ca093d77ad3e5a81de8207 [INFO] Mount other volumes ... [INFO] Restart volume apollo_localization_volume_root from image: apolloauto/apollo:localization_volume-aarch64-latest [INFO] Start pulling docker image apolloauto/apollo:localization_volume-aarch64-latest ... localization_volume-aarch64-latest: Pulling from apolloauto/apollo Digest: sha256:89d49ba98af5fac553753234ce96d68e33dba9dc1a3481a6c7df458822bc9097 Status: Image is up to date for apolloauto/apollo:localization_volume-aarch64-latest docker.io/apolloauto/apollo:localization_volume-aarch64-latest e5146d42a5956b7b1233ffc3d96ef0edaf761915e8a44aa03aecebe21e0e35c4 [INFO] Restart volume apollo_audio_volume_root from image: apolloauto/apollo:data_volume-audio_model-latest [INFO] Start pulling docker image apolloauto/apollo:data_volume-audio_model-latest ... data_volume-audio_model-latest: Pulling from apolloauto/apollo Digest: sha256:1fea613cb775ef3f1b649e3838e643bd3bd2c849983cfd51534d711011fb3cd2 Status: Image is up to date for apolloauto/apollo:data_volume-audio_model-latest docker.io/apolloauto/apollo:data_volume-audio_model-latest WARNING: The requested image's platform (linux/amd64) does not match the detected host platform (linux/arm64/v8) and no specific platform was requested 1c6011f655c752d0a65b9df17f74f8e0d84c4fe43aa760be750d886cd344c0c1 [INFO] Restart volume apollo_yolov4_volume_root from image: apolloauto/apollo:yolov4_volume-emergency_detection_model-latest [INFO] Start pulling docker image apolloauto/apollo:yolov4_volume-emergency_detection_model-latest ... yolov4_volume-emergency_detection_model-latest: Pulling from apolloauto/apollo Digest: sha256:45022ce4954a1839b6bcc892805629393e8046a9977a1e93dbc2e68c77d1cbca Status: Image is up to date for apolloauto/apollo:yolov4_volume-emergency_detection_model-latest docker.io/apolloauto/apollo:yolov4_volume-emergency_detection_model-latest WARNING: The requested image's platform (linux/amd64) does not match the detected host platform (linux/arm64/v8) and no specific platform was requested 12cd069318afb70f4c17817e11596a457a33fd93d05f4d6a67286f6bedfb4cd8 [INFO] Restart volume apollo_faster_rcnn_volume_root from image: apolloauto/apollo:faster_rcnn_volume-traffic_light_detection_model-latest [INFO] Start pulling docker image apolloauto/apollo:faster_rcnn_volume-traffic_light_detection_model-latest ... faster_rcnn_volume-traffic_light_detection_model-latest: Pulling from apolloauto/apollo Digest: sha256:c57fb57aba718ad948d27d98e50115c6955fbebf054e99c269aa4d1830384846 Status: Image is up to date for apolloauto/apollo:faster_rcnn_volume-traffic_light_detection_model-latest docker.io/apolloauto/apollo:faster_rcnn_volume-traffic_light_detection_model-latest WARNING: The requested image's platform (linux/amd64) does not match the detected host platform (linux/arm64/v8) and no specific platform was requested 91101c235702708fe0f228567b6939be86fb71f54ae673e98e4209d55868ec27 [INFO] Starting docker container "apollo_dev_root" ...

docker run -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-aarch64-18.04-20200915_0106 -e USE_GPU_HOST=0 -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=compute,video,graphics,utility --volumes-from apollo_map_volume-sunnyvale_big_loop_root --volumes-from apollo_map_volume-sunnyvale_loop_root --volumes-from apollo_map_volume-sunnyvale_with_two_offices_root --volumes-from apollo_map_volume-san_mateo_root --volumes-from apollo_localization_volume_root --volumes-from apollo_audio_volume_root --volumes-from apollo_yolov4_volume_root --volumes-from apollo_faster_rcnn_volume_root -v /mnt/ssd/Apollo_6/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 movex:127.0.0.1 --hostname in-dev-docker --shm-size 2G --pid=host -v /dev/null:/dev/raw1394 apolloauto/apollo:dev-aarch64-18.04-20200915_0106 /bin/bash docker: Error response from daemon: No such container: apollo_audio_volume_root. See 'docker run --help'.
'[' 125 -ne 0 ']'
error 'Failed to start docker container "apollo_dev_root" based on image: apolloauto/apollo:dev-aarch64-18.04-20200915_0106'
echo -e '[\033[0;31mERROR\033[0m] Failed to start docker container "apollo_dev_root" based on image: apolloauto/apollo:dev-aarch64-18.04-20200915_0106' [ERROR] Failed to start docker container "apollo_dev_root" based on image: apolloauto/apollo:dev-aarch64-18.04-20200915_0106
exit 1`

我使用 sudo docker run --rm --gpus all nvidia/cuda:11.0.3-base-ubuntu18.04 nvidia-smi

测试，也会出现 docker: Error response from daemon: failed to create shim: OCI runtime create failed: container_linux.go:380: starting container process caused: process_linux.go:545: container init caused: Running hook #0:: error running hook: exit status 1, stdout: , stderr: nvidia-container-cli: detection error: malformed line 1, expected at least 2 tokens: unknown.

问题，我猜应该是Nvidia docker的问题，请问你们的开发者是如何解决这个问题的

我也出现了同样的问题...根据log来看

docker.io/apolloauto/apollo:faster_rcnn_volume-traffic_light_detection_model-latest
WARNING: The requested image's platform (linux/amd64) does not match the detected host platform (linux/arm64/v8) and no specific platform was requested

docker.io/apolloauto/apollo:yolov4_volume-emergency_detection_model-latest
WARNING: The requested image's platform (linux/amd64) does not match the detected host platform (linux/arm64/v8) and no specific platform was requested

docker.io/apolloauto/apollo:data_volume-audio_model-latest
WARNING: The requested image's platform (linux/amd64) does not match the detected host platform (linux/arm64/v8) and no specific platform was requested

貌似是官方没有给出faster_rcnn_volume-emergency_detection_model，yolov4_volume-emergency_detection_model和 data_volume-audio_model的aarch64版本镜像，dockerhub上面也没有找到。所以最后apollo_dev_root那个镜像没run起来....

看一下你的环境，执行sudo docker images是有上述容器的，但是sudo docker ps -a是没有相关镜像的

我的解决方案是把相关的volumes-from删掉了，同时也把--gpus all删掉了（related to 你第二个回复） i.e. 执行下面的命令

sudo docker run -it --privileged --name apollo_dev_root -e DISPLAY=:1 -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-aarch64-18.04-20200915_0106 -e USE_GPU_HOST=1 -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=compute,video,graphics,utility --volumes-from apollo_map_volume-sunnyvale_big_loop_root --volumes-from apollo_map_volume-sunnyvale_loop_root --volumes-from apollo_localization_volume_root  -v /home/nvidia/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-aarch64-18.04-20200915_0106 /bin/bash

现在的情况是能编译部分模块，例如control

希望可以帮到你，也欢迎补充，thx

是的，我也像你一样，继续去掉了 --volumes-from apollo_map_volume-sunnyvale_big_loop_root --volumes-from apollo_map_volume-sunnyvale_loop_root --volumes-from apollo_localization_volume_root 这样试验确实进入docker环境了，但是这样很多功能就缺失了吧，目前我想跑感知。 @wangtuo0820

我使用如下命令进入docker sudo docker run -it --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-aarch64-18.04-20200915_0106 -e USE_GPU_HOST=1 -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=compute,video,graphics,utility -v /mnt/ssd/Apollo_6/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 movex:127.0.0.1 --hostname in-dev-docker --shm-size 2G --pid=host -v /dev/null:/dev/raw1394 apolloauto/apollo:dev-aarch64-18.04-20200915_0106 /bin/bash

然后编译感知摄像头模块

root@in-dev-docker:/apollo# sudo bash apollo.sh build_cpu drivers/camera [INFO] Apollo Environment Settings: [INFO] APOLLO_ROOT_DIR: /apollo [INFO] APOLLO_CACHE_DIR: /apollo/.cache [INFO] APOLLO_IN_DOCKER: true [INFO] APOLLO_VERSION: HEAD-2020-09-21-e79f9d6765 [INFO] DOCKER_IMG: [INFO] APOLLO_ENV: STAGE=dev USE_ESD_CAN=false [INFO] USE_GPU: USE_GPU_HOST= USE_GPU_TARGET=0 [INFO] Configure .apollo.bazelrc in non-interactive mode Cannot find bazel. Please install bazel first. [ OK ] Successfully configured .apollo.bazelrc in non-interactive mode. [ OK ] Running CPU build on aarch64 platform. [INFO] Build Overview: [INFO] USE_GPU: 0 [ 0 for CPU, 1 for GPU ] [INFO] Bazel Options: --config=cpu [INFO] Build Targets: //modules/drivers/camera/... [INFO] Disabled: /apollo/scripts/apollo_build.sh: line 247: bazel: command not found root@in-dev-docker:/apollo#

报错找不到bazel，感觉这种方式虽然能进去，但是并不能使用。

我在xavier中进去是可以找到bazel的，编译control模块成功了。你要跑感知模块那个部分呢？没找到GPU的话感知模块编译不过的呀，而且不知道什么原因Apollo6.0感知模块有很多单元测试都删掉了，建议跑Apollo5.5，5.5可以跑单测

on nvidia jetpack platform, if you want to use gpu in docker, you must use nvidia's l4t base image for jetpack plarform.you can't use nvidia/cuda:11.0.3-base-ubuntu18.04 as base image and start docker with option --gpus all,it will occured error. so the solution is replacing base image https://gitlab.com/nvidia/container-images/l4t-base .

We will give priority to supporting nvidia orin this year, will be released in June 2023 or later.

我使用 sudo docker run --rm --gpus all nvidia/cuda:11.0.3-base-ubuntu18.04 nvidia-smi

测试，也会出现 docker: Error response from daemon: failed to create shim: OCI runtime create failed: container_linux.go:380: starting container process caused: process_linux.go:545: container init caused: Running hook #0:: error running hook: exit status 1, stdout: , stderr: nvidia-container-cli: detection error: malformed line 1, expected at least 2 tokens: unknown.

问题，我猜应该是Nvidia docker的问题，请问你们的开发者是如何解决这个问题的

我使用 sudo docker run --rm --gpus all nvidia/cuda:11.0.3-base-ubuntu18.04 nvidia-smi

测试，也会出现 docker: Error response from daemon: failed to create shim: OCI runtime create failed: container_linux.go:380: starting container process caused: process_linux.go:545: container init caused: Running hook #0:: error running hook: exit status 1, stdout: , stderr: nvidia-container-cli: detection error: malformed line 1, expected at least 2 tokens: unknown.

问题，我猜应该是Nvidia docker的问题，请问你们的开发者是如何解决这个问题的

基础镜像要用英伟达L4T的在jetpack平台，在容器内才可以使用cuda

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