Launch and Run Apollo

This document describes how to install and run Apollo via the package method.

This article assumes that you have followed Installation - Package Method and completed the installation of the apollo environment manager tool.

Make sure Nvidia GPU is available and that you have installed the appropriate Nvidia driver if you want to run the entire system.

Step 1. Create an end-2-end project

Create workspace.

mkdir application-urban

cd application-urban

Note: You can also check out the demo code from https://github.com/ApolloAuto/application-urban

Start Apollo Env Container.

aem start_gpu

Note: For more detailed usage of aem, please refer to the Apollo Environment Manager documentation..

Enter Apollo Env Container.

aem enter

Initialize workspace.

aem init

Step 2. Create an end-2-end package

Create package path and cyberfile.xml

mkdir mkz

touch mkz/cyberfile.xml

Add necessary packages.

vim mkz/cyberfile.xml

<?xml version='1.0' encoding='utf-8'?>
<package>
  <name>mkz</name>
  <version>1.0.0</version>
  <description>
   mkz is end to end project, providing a quick setup for Apollo.
  </description>
  <maintainer email="apollo-support@baidu.com">Apollo</maintainer>
  <type>module</type>
  <src_path>//mkz</src_path>
  <license>BSD</license>
  <author>Apollo</author>
  <builder>bazel</builder>

  <depend repo_name="audio" type="binary">audio-dev</depend>
  <depend repo_name="bridge" type="binary">bridge-dev</depend>
  <depend repo_name="canbus" type="binary">canbus-dev</depend>
  <depend repo_name="control" type="binary">control-dev</depend>
  <depend repo_name="dreamview" type="binary">dreamview-dev</depend>
  <depend repo_name="drivers" type="binary">drivers-dev</depend>
  <depend repo_name="guardian" type="binary">guardian-dev</depend>
  <depend repo_name="localization" lib_names="localization" type="binary">localization-dev</depend>
  <depend repo_name="map" type="binary">map-dev</depend>
  <depend repo_name="monitor" type="binary">monitor-dev</depend>
  <depend repo_name="perception" type="binary">perception-dev</depend>
  <depend repo_name="planning" type="binary">planning-gpu-dev</depend>
  <depend repo_name="prediction" type="binary">prediction-dev</depend>
  <depend repo_name="routing" type="binary">routing-dev</depend>
  <depend repo_name="storytelling" type="binary">storytelling-dev</depend>
  <depend repo_name="task-manager" type="binary">task-manager-dev</depend>
  <depend repo_name="tools" type="binary">tools-dev</depend>
  <depend repo_name="transform" type="binary">transform-dev</depend>
  <depend repo_name="v2x" type="binary">v2x-dev</depend>

  <depend expose="False">3rd-rules-python-dev</depend>
  <depend expose="False">3rd-grpc-dev</depend>
  <depend expose="False">3rd-bazel-skylib-dev</depend>
  <depend expose="False">3rd-rules-proto-dev</depend>
  <depend expose="False">3rd-py-dev</depend>
  <depend expose="False">3rd-gpus-dev</depend>
</package>

Note: For more information about cyberfile.xml, please refer to the Introduction to Pakcage of Apollo documentation.

Note: if Nvidia GPU is not available, you should remove the CUDA-based module (such as perception).

Add compiling description file.

vim mkz/BUILD

load("//tools/install:install.bzl", "install", "install_src_files")
load("//tools:cpplint.bzl", "cpplint")

package(default_visibility = ["//visibility:public"])

install(
    name = "install",
    data = [":cyberfile.xml"],
    data_dest = "mkz"
)

install_src_files(
    name = "install_src",
    src_dir = ["."],
    dest = "mkz",
    filter = "*",
)

Note: For more information about mkz/BUILD, please refer to the Introduction to Pakcage of Apollo documentation

Add dependency description file

touch mkz/mkz.BUILD

Note: For more information about mkz.BUILD, please refer to the Introduction to Pakcage of Apollo documentation

Step 3. Build

Use buildtool to build the end-2-end package, and it will download and install all required packages automatically.

buildtool build --packages mkz

For more detailed usage of buildtool, please refer to the Apollo buildtool documentation.

Step 4. Run Apollo

1. Start Apollo

aem bootstrap

This command will start Dreamview backend with the monitor module enabled.

2. Access Dreamview Web UI

Open http://localhost:8888 in your browser, e.g. Chrome, and you can see this screen. However, no module(s) except monitor is running in the background at this moment.

Access Dreamview

3. Select Driving Mode and Map

From the dropdown box of Mode Setup, select "Mkz Standard Debug" mode. From the dropdown box of Map, select "Sunnyvale with Two Offices".

Drive Mode and Map Selection

4. Replay Demo Record

To see if the system works, use the demo record to "feed" the system.

# You need to download the demo record using the following commands
wget -c https://apollo-system.cdn.bcebos.com/dataset/6.0_edu/demo_3.5.record

# You can now replay this demo "record" in a loop with the '-l' flag
cyber_recorder play -f demo_3.5.record -l

Dreamview shows a vehicle running forward. (The following image might be different due to frontend code changes.)

Dreamview with Trajectory

Congrats!

You have successfully built Apollo! Now you can revisit Apollo Readme for additional guidelines on the necessary hardware setup.

pptt / apollo

Launch and Run Apollo

Step 1. Create an end-2-end project

Step 2. Create an end-2-end package

Step 3. Build

Step 4. Run Apollo

1. Start Apollo

2. Access Dreamview Web UI

3. Select Driving Mode and Map

4. Replay Demo Record

Congrats!

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Launch and Run Apollo

Step 1. Create an end-2-end project

Step 2. Create an end-2-end package

Step 3. Build

Step 4. Run Apollo

1. Start Apollo

2. Access Dreamview Web UI

3. Select Driving Mode and Map

4. Replay Demo Record

Congrats!

简介

发行版

贡献者

近期动态

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pptt / apollo