从零到端到端自动驾驶实战-Pjoject2-第 1 章-环境搭建-CARLA-ROS2 集成

一、开发环境

这里我们用 智星云 的运算力服务，购买 3080显卡，0.7元/小时；
https://gpu.ai-galaxy.cn/console/dashboard

检查NVIDIA 驱动

检查驱动，查看 nvidia-smi 配置， 智星云默认已经装好了驱动。

(base) root@ubuntu22:~# nvidia-smi
Fri Jun 19 10:53:50 2026       
+-----------------------------------------------------------------------------------------+
| NVIDIA-SMI 550.78                 Driver Version: 550.78         CUDA Version: 12.4     |
|-----------------------------------------+------------------------+----------------------+
| GPU  Name                 Persistence-M | Bus-Id          Disp.A | Volatile Uncorr. ECC |
| Fan  Temp   Perf          Pwr:Usage/Cap |           Memory-Usage | GPU-Util  Compute M. |
|                                         |                        |               MIG M. |
|=========================================+========================+======================|
|   0  NVIDIA GeForce RTX 3080        Off |   00000000:00:08.0 Off |                  N/A |
| 30%   24C    P8             14W /  320W |      10MiB /  10240MiB |      0%      Default |
|                                         |                        |                  N/A |
+-----------------------------------------+------------------------+----------------------+

+-----------------------------------------------------------------------------------------+
| Processes:                                                                              |
|  GPU   GI   CI        PID   Type   Process name                              GPU Memory |
|        ID   ID                                                               Usage      |
|=========================================================================================|
|    0   N/A  N/A       711      G   /usr/lib/xorg/Xorg                              4MiB |
+-----------------------------------------------------------------------------------------+
(base) root@ubuntu22:~# 

查看CUDA：

# 验证 CUDA
# apt-get update
# apt install nvidia-cuda-toolkit
# 如果没有nvcc命令，则执行上边的命令：
nvcc --version

# 打印
(base) root@ubuntu22:~# nvcc --version
nvcc: NVIDIA (R) Cuda compiler driver
Copyright (c) 2005-2021 NVIDIA Corporation
Built on Thu_Nov_18_09:45:30_PST_2021
Cuda compilation tools, release 11.5, V11.5.119
Build cuda_11.5.r11.5/compiler.30672275_0
(base) root@ubuntu22:~# 

二、安装ROS2 Humble

ROS2 Humble 是我们今年(2026)的主力版本，官方支持到 2027 年 5 月。

2.1 添加 ROS2 软件源

# 确保 locale 是 UTF-8
locale  # 检查
sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

# 添加 universe 源
sudo apt install software-properties-common
sudo add-apt-repository universe

# 添加 ROS2 GPG 密钥
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/\
rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

# 添加 ROS2 源到 apt list
echo 'deb [arch=$(dpkg --print-architecture) \
signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && \
echo $UBUNTU_CODENAME) main' | sudo tee /etc/apt/sources.list.d/ros2.list \
> /dev/null

2.2 安装 ROS2 Humble 完整版

sudo apt update
sudo apt upgrade -y

# desktop-full 包含 RViz2, demos, 教学的例子等
sudo apt install ros-humble-desktop-full -y

# 安装 colcon (ROS2 编译工具)
sudo apt install python3-colcon-common-extensions -y

# 安装 rosdep (依赖管理)
sudo apt install python3-rosdep -y
sudo rosdep init
rosdep update

# 配置环境变量
echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
source ~/.bashrc

为者常成，行者常至