Apollo Master Quick Start Guide

The following guide serves as a user manual for launching the Apollo upgraded software and hardware stack on vehicle.

Software Installation

Start apollo-dev docker container

We start apollo-dev docker container following the convention in previous apollo releases.

bash docker/scripts/dev_start.sh

Enter apollo-dev docker container

bash docker/scripts/dev_into.sh

Configure custom settings

The first time you get into apollo-dev container named apollo_dev_${USER}, please run apollo bootstrap command as follows:

bash ./apollo.sh config

Experimental: There is also an interactive mode of bootstraping by running bash apollo.sh config --interactive or bash apollo.sh config -i. For now, this functionality is incomplete.

Build modules

Run the following command to build all modules

bash apollo.sh build

Run the following to build individual modules

bash apollo.sh build cyber # OR
bash apollo.sh build planning # OR
bash apollo.sh build perception

By default, apollo.sh build generates debug outputs.

To run optimization build, just substitute build with build_opt in the examples above.

Test modules

bash apollo.sh test # To run unit-tests in all modules including cyber.
bash apollo.sh test cyber # run all unit-tests for cyber
bash apollo.sh test --config=gpu prediction # run all unit-test for the prediction module

Build/Test: An Insider's View

Please note also that when it comes to build/test, apollo.sh runs scripts/apollo_build.sh and scripts/apollo_test.sh respectively, both of which are just simple wrapper around bazel build and bazel test commands.

So if you are familiar with bazel, you can run the following to build and test any targets:

bazel build //cyber/...
bazel test --config=gpu //modules/localization/...
bazel test //cyber/common:file_test

Running lint

bash apollo.sh lint

Bazel x Apollo

The bazel version pre-installed in our cyber/dev docker images are 3.2.0+. And the default --distdir destination is under ${APOLLO_ROOT_DIR}/.cache/distdir.