在autoware.auto + lgsvl仿真使用时，发现docker更新后无法进入ade,为了对ade有更透彻的理解，学习ade官网并做笔记如下：

官网地址：

Introduction — ADE 4.4.0dev documentation
讯享网https://ade-cli.readthedocs.io/en/latest/intro.html

1. ADE 从一个基础镜像创建一个容器，同时在/opt目录下挂载其他只读的卷。 基础镜像提供开发工具。其他的卷提供额外的开发工具（IDE，大型第三方库等）或者已发布的软件版本（如最新的autoware 发布版本），同时，ADE能够很容易的切换不同的镜像和卷。

从此来看，autoware.atuo的ade架构如下：

registry.gitlab.com/autowarefoundation/autoware.auto/autowareauto/amd64/ade-foxy:master

为生成容器的基础镜像

registry.gitlab.com/autowarefoundation/autoware.auto/autowareauto/amd64/binary-foxy:master

registry.gitlab.com/autowarefoundation/autoware.auto/ade-lgsvl/foxy:2021.3

为两个只读卷挂载在基础镜像下

2,  遇到的问题为：

autoware 容器中改变了一些东西，想要保存到镜像。但是使用 docker commit 命令保存镜像之后，运行镜像会出现错误 useradd ：user  “*”  already exitst。解决方法如下：

[autoware.auto] How to make apt packages persist in ADE? - ROS Answers: Open Source Q&A ForumIf I'm working in ADE and I use apt to install something that is not already included, how can I make sure that what I install sticks around after I stop ADE? At the moment, I am having to re-install everything every time I stop and restart ADE. I'm sure it's something simple and I tried looking through documentation for Docker, but I don't know enough about how it works to really know what to look for.https://answers.ros.org/question//autowareauto-how-to-make-apt-packages-persist-in-ade/经过测试，上面的方法无效.....,重新寻找方法

最近在项目中使用ade，找到了可以commit镜像修改并正常使用的方法，原因其实就是commit之后镜像里会保留当前用户，再次进入时ade_entrypoint 要增加当前用户，所以有冲突，修改该ade_entrypoint,如下，当发现镜像时有当前用户时不删除。

#!/usr/bin/env bash # # Copyright 2017 - 2018 Ternaris # SPDX-License-Identifier: Apache 2.0 set -e if [[ -n "$GITLAB_CI" ]]; then exec "$@" fi if [[ -n "$DEBUG" ]]; then set -x fi if [[ -n "$TIMEZONE" ]]; then echo "$TIMEZONE" > /etc/timezone ln -sf /usr/share/zoneinfo/"$TIMEZONE" /etc/localtime dpkg-reconfigure -f noninteractive tzdata fi user=$(awk -F: '$3=='$USER_ID'{print $1}' /etc/passwd) if [ -n "$user" ]; then echo "found user: ["$user"] with user_id ["$USER_ID"]" if [ "$user" != "$USER" ]; then echo "now try to delete user [$user]" userdel -rf $user if [ $? -eq 0 ]; then echo "delete [$user] successful" groupdel "$GROUP" &>/dev/null || true groupadd -og "$GROUP_ID" "$GROUP" useradd -M -u "$USER_ID" -g "$GROUP_ID" -d "/home/$USER" -s /bin/bash "$USER" groupdel video &> /dev/null || true groupadd -og "${VIDEO_GROUP_ID}" video gpasswd -a "${USER}" video else echo "delete [$user] failure" fi else echo "the user is same as USER, do not delete user" fi else echo "do not found user with user_id ["$USER_ID"], add user" groupdel "$GROUP" &>/dev/null || true groupadd -og "$GROUP_ID" "$GROUP" useradd -M -u "$USER_ID" -g "$GROUP_ID" -d "/home/$USER" -s /bin/bash "$USER" groupdel video &> /dev/null || true groupadd -og "${VIDEO_GROUP_ID}" video gpasswd -a "${USER}" video fi for x in /etc/skel/.*; do target="/home/$USER/$(basename "$x")" if [[ ! -e "$target" ]]; then cp -a "$x" "$target" chown -R "$USER":"$GROUP" "$target" fi done if [[ -z "$SKIP_ADEINIT" ]]; then for x in /opt/*; do if [[ -x "$x/.adeinit" ]]; then echo "Initializing $x" sudo -Hu "$USER" -- bash -lc "$x/.adeinit" echo "Initializing $x done" fi done fi echo 'ADE startup completed.' exec "$@" 

问题解决，binggo！