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.

shell

mkdir application-urban

shell

cd application-urban

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

Start Apollo Env Container.

shell

aem start_gpu

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

Enter Apollo Env Container.

shell

aem enter

Initialize workspace.

shell

aem init

Step 2. Create an end-2-end package

Create package path and cyberfile.xml

shell

mkdir mkz

shell

touch mkz/cyberfile.xml

Add necessary packages.

shell

vim mkz/cyberfile.xml

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="[email protected]">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.

shell

vim mkz/BUILD

bazel

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

shell

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.

shell

buildtool build --packages mkz

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

Step 4. Run Apollo

1. Start Apollo

shell

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.

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".

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.)

Congrats!

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