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The following guide serves as a user manual for launching the Apollo upgraded software and hardware stack on vehicle.
We start apollo-dev docker container following the convention in previous apollo releases.
bash docker/scripts/dev_start.sh
bash docker/scripts/dev_into.sh
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
orbash apollo.sh config -i
. For now, this functionality is incomplete.
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.
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
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
bash apollo.sh lint
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
.
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