Mac OS X 端驴车环境配置指南
2021-10-301.5万
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本文介绍了在Mac OS X上配置驴车环境的详细步骤。首先，创建项目核心目录并下载miniconda3和git工具。接着，下载驴车仓库并设置conda源为清华源以加速下载。然后，创建Python Miniconda的虚拟环境并激活。最后，配置驴车模拟器并进行测试。通过这些步骤，用户可以轻松搭建驴车开发环境，开始自动驾驶项目的开发。
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0x00 前言 今天, 为了配置 Mac OS X 的驴车环境,真的是用了大半天时间, 在操作的过程中虽然录像了.但是遇到各种问题一直安装不成功,直到最后人都走了, 在不懈的努力下,终于安装成功.下面总结一下安装配置的步骤及注意的细节. 0x01 Mac OS X 配置驴车环境步骤快速查询表 在最开始,打开一个终端,创建整个项目的核心目录: 然后下载 miniconda3 python3.7 64bit 的安装包: https://docs.conda.io/en/latest/miniconda.html  注意版本即可,我选择的是 pkg 的包,安装过程中可能会遇到无法安装的问题,请选择自己的磁盘并找到安装路径. 默认情况下, Mac 上应该有 git 工具,如果没有请去这里下载 : https://www.atlassian.com/git/tutorials/install-git 并安装,也可以在终端中使用: 进入 donkey-projects 目录,这里是前面创建的目录, 我将miniconda 安装在这个目录里面.  为了方便调用 conda 的命令,我在临时的环境变量里面添加了,minicomda3中 bin 目录的路径到系统环境变量中:  然后创建一个项目目录并进入进去. 进入仓库后先更新一下 conda 的本地源,然后执行更新和环境搭建就应该会稍快一些. 安装完成后,会提示你可以使用 conda activate donkey 进入虚拟环境,并通过 conda deactivate 退出虚拟环境. 一般在 windows 主机上可能会开始安装 tensorflow-gpu 支持, 但是 mac 上就不用了. 目前,在 mac 上没有对Nvidia GPU 的支持... 所以下一步就直接创建你的驴车目录看看是否能成功.  一旦出现同样的图示,说明你成功安装好了 donkeycar 的环境. 0x02 gym-donkeycar donkycar 的模拟器 为了方便我们训练模型,你需要先下载一个通过 unity 游戏引擎构建的驴车模拟器,不同的系统使用的模拟器不一样.  然后根据自己的操作系统选择: 我是 mac 所以选择 DonkeySimMac.zip, 由于比较大, 380MB,还有 windows 版本的,还有一堆大家难以下载又特别大的,都放到百度云盘了: 并且连接永久有效: 点击苹果图标-> 系统偏好设置-> 隐私设置   就在我红色框框的位置应该看到一个被拒绝的应用.我这里复现不了,知道哪里调就好.一般情况下,第一次下载的应用在苹果上第一次运行的时候需要你去这里信任并放行,不然会打不开. 坚持一下,马上就可以结束配置了这里直接先从我克隆的 gym-donkeycar 仓库然后激活 donkey 并安装需要的依赖文件: 去掉配置前面的#号,并将 False 改为 True, 将前面拷贝的 DonkeySimMac 的完整路径加入,保存退出.  接下来就是尝试开开车.感受一下: 命令行输入: 先开始练习练习,然后就可以进行行车记录,并在 data 目录生成数据,后续的训练简单的操作可以看官方说明或者看视频: |
conda activate donkey
pip install -i https://pypi.tuna.tsinghua.edu.cn/simple -e .\[pc\]
最后一步，如果用MAC自带的bach sh 最后一句需要更改为：pip install -i https://pypi.tuna.tsinghua.edu.cn/simple -e .[pc]
Collecting package metadata (repodata.json): done
Solving environment: done
Preparing transaction: done
Verifying transaction: done
Executing transaction: done
Installing pip dependencies: | - /
/ \ / | \-|
| Ran pip subprocess with arguments:
['/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/bin/python', '-m', 'pip', 'install', '-U', '-r', '/Volumes/T100/projects/donkeycar/install/envs/condaenv.fgi6cskg.requirements.txt']
Pip subprocess output:
Collecting git+https://github.com/autorope/keras-vis.git (from -r /Volumes/T100/projects/donkeycar/install/envs/condaenv.fgi6cskg.requirements.txt (line 2))
Cloning https://github.com/autorope/keras-vis.git to /private/var/folders/f2/zn0sgy313vz3yymlls0ysdr80000gn/T/pip-req-build-za7hk8ll
Resolved https://github.com/autorope/keras-vis.git to commit 3d9d61728312f278a62cbe6b3f9ae92eb4c51520
Collecting tensorflow==2.2.0
Downloading tensorflow-2.2.0-cp37-cp37m-macosx_10_11_x86_64.whl (175.3 MB)
Pip subprocess error:
Running command git clone -q https://github.com/autorope/keras-vis.git /private/var/folders/f2/zn0sgy313vz3yymlls0ysdr80000gn/T/pip-req-build-za7hk8ll
ERROR: Exception:
Traceback (most recent call last):
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_vendor/urllib3/response.py", line 438, in _error_catcher
yield
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_vendor/urllib3/response.py", line 519, in read
data = self._fp.read(amt) if not fp_closed else b""
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_vendor/cachecontrol/filewrapper.py", line 62, in read
data = self.__fp.read(amt)
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/http/client.py", line 465, in read
n = self.readinto(b)
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/http/client.py", line 509, in readinto
n = self.fp.readinto(b)
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/socket.py", line 589, in readinto
return self._sock.recv_into(b)
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/ssl.py", line 1071, in recv_into
return self.read(nbytes, buffer)
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/ssl.py", line 929, in read
return self._sslobj.read(len, buffer)
socket.timeout: The read operation timed out
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_internal/cli/base_command.py", line 173, in _main
status = self.run(options, args)
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_internal/cli/req_command.py", line 203, in wrapper
return func(self, options, args)
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_internal/commands/install.py", line 316, in run
reqs, check_supported_wheels=not options.target_dir
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_internal/resolution/resolvelib/resolver.py", line 95, in resolve
collected.requirements, max_rounds=try_to_avoid_resolution_too_deep
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_vendor/resolvelib/resolvers.py", line 472, in resolve
state = resolution.resolve(requirements, max_rounds=max_rounds)
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_vendor/resolvelib/resolvers.py", line 341, in resolve
self._add_to_criteria(self.state.criteria, r, parent=None)
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_vendor/resolvelib/resolvers.py", line 172, in _add_to_criteria
if not criterion.candidates:
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_vendor/resolvelib/structs.py", line 151, in __bool__
return bool(self._sequence)
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_internal/resolution/resolvelib/found_candidates.py", line 140, in __bool__
return any(self)
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_internal/resolution/resolvelib/found_candidates.py", line 128, in
return (c for c in iterator if id(c) not in self._incompatible_ids)
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_internal/resolution/resolvelib/found_candidates.py", line 32, in _iter_built
candidate = func()
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_internal/resolution/resolvelib/factory.py", line 209, in _make_candidate_from_link
version=version,
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_internal/resolution/resolvelib/candidates.py", line 301, in __init__
version=version,
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_internal/resolution/resolvelib/candidates.py", line 156, in __init__
self.dist = self._prepare()
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_internal/resolution/resolvelib/candidates.py", line 227, in _prepare
dist = self._prepare_distribution()
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_internal/resolution/resolvelib/candidates.py", line 306, in _prepare_distribution
self._ireq, parallel_builds=True
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_internal/operations/prepare.py", line 508, in prepare_linked_requirement
return self._prepare_linked_requirement(req, parallel_builds)
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_internal/operations/prepare.py", line 552, in _prepare_linked_requirement
self.download_dir, hashes
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_internal/operations/prepare.py", line 243, in unpack_url
hashes=hashes,
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_internal/operations/prepare.py", line 102, in get_http_url
from_path, content_type = download(link, temp_dir.path)
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_internal/network/download.py", line 145, in __call__
for chunk in chunks:
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_internal/cli/progress_bars.py", line 144, in iter
for x in it:
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_internal/network/utils.py", line 87, in response_chunks
decode_content=False,
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_vendor/urllib3/response.py", line 576, in stream
data = self.read(amt=amt, decode_content=decode_content)
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_vendor/urllib3/response.py", line 541, in read
raise IncompleteRead(self._fp_bytes_read, self.length_remaining)
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/contextlib.py", line 130, in __exit__
self.gen.throw(type, value, traceback)
File "/volumes/T100/miniconda3/Volumes/T100/miniconda3/envs/donkey/lib/python3.7/site-packages/pip/_vendor/urllib3/response.py", line 443, in _error_catcher
raise ReadTimeoutError(self._pool, None, "Read timed out.")
pip._vendor.urllib3.exceptions.ReadTimeoutError: HTTPSConnectionPool(host='files.pythonhosted.org', port=443): Read timed out.
failed
CondaEnvException: Pip failed
在执行这步的时候，长时间卡死
然后找到mac.yml文件，根据里面的依赖，一个一个单独的进行安装。
[code] yes | conda install pip[/code]
发现最终mac m1下出现的问题，总结如下torchaudio、TensorFlow=2.2.0、opencv-python-headless，三个装不上去
需要想办法安装上这些内容，才可以继续进行下去。
[code]pip install tensorflow==2.2.0 -i https://pypi.tuna.tsinghua.edu.cn/simple[/code]
[code]pip install opencv-python-headless -i https://pypi.tuna.tsinghua.edu.cn/simple[/code][code]pip install torchaudio -i https://pypi.tuna.tsinghua.edu.cn/simple[/code]
安装完成
conda config --add channels https://mirrors.tuna.tsinghua.edu.cn/cloud/pytorch/
再往后运行
yes | conda update -n base -c defaults conda
会提出warning
Collecting package metadata (current_repodata.json): failed
channels https://mirrors.tuna.tsinghua.edu.cn/cloud/pytorch/
UnavailableInvalidChannel: The channel is not accessible or is invalid.
channel name: cloud/pytorch
channel url: https://mirrors.tuna.tsinghua.edu.cn/cloud/pytorch
error code: 404
这个项目不需要pytorch,在漂移君和撒哈拉大野牛的指导下，remove这个源。
conda config --remove channels https://mirrors.tuna.tsinghua.edu.cn/cloud/pytorch/
再次运行
yes | conda update -n base -c defaults conda
没有warning了。
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