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apollo_module_bootstrap.sh
executable file
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apollo_module_bootstrap.sh
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#!/bin/bash
case $1 in
gnss)
./bazel-bin/modules/drivers/gnss/gnss --flagfile=/apollo/modules/drivers/gnss/conf/gnss.conf --log_dir=/apollo/data/log --stderrthreshold=3 --alsologtostderr=1
;;
rtk_planning)
./bazel-bin/modules/planning/planning --flagfile=/apollo/modules/planning/conf/planning.conf --log_dir=/apollo/data/log --stderrthreshold=3 --alsologtostderr=1
;;
navi_planning)
./bazel-bin/modules/planning/planning --flagfile=/apollo/modules/planning/conf/planning_navi.conf --log_dir=/apollo/data/log --use_navigation_mode --stderrthreshold=7 --alsologtostderr=1
;;
planning)
./bazel-bin/modules/planning/planning --flagfile=/apollo/modules/planning/conf/planning.conf --log_dir=/apollo/data/log --stderrthreshold=7 --alsologtostderr=1
;;
localization)
./bazel-bin/modules/localization/localization --flagfile=/apollo/modules/localization/conf/localization.conf --localization_config_file=/apollo/modules/localization/conf/navi_localization_config.pb.txt --log_dir=/apollo/data/log
;;
relative_map)
./bazel-bin/modules/map/relative_map/relative_map --flagfile=/apollo/modules/map/relative_map/conf/relative_map.conf --stderrthreshold=3 --alsologtostderr=1 --log_dir=/apollo/data/log --use_navigation_mode
;;
navi_perception)
./bazel-bin/modules/perception/perception --flagfile=/apollo/modules/perception/conf/perception_lowcost.conf --use_navigation_mode --blob_input_width=960 --blob_input_height=384 --enable_zed=false --zed_img_width=1920 --zed_img_high=1080 --log_dir=/apollo/data/log --stderrthreshold=3 --alsologtostderr=1 --use_vision_latern=0 --latern_number=1 --save_framenum=5
;;
bd_perception):
./bazel-bin/modules/perception/perception --flagfile=/apollo/modules/perception/conf/perception_lowcost.conf --use_navigation_mode --blob_input_width=960 --blob_input_height=384 --enable_zed=true --zed_img_width=1280 --zed_img_high=720 --log_dir=/apollo/data/log --stderrthreshold=3 --alsologtostderr=1 --use_vision_latern=0 --latern_number=1 --save_framenum=1
;;
zk_perception):
./bazel-bin/modules/perception/perception --flagfile=/apollo/modules/perception/conf/perception_lowcost.conf --nouse_navigation_mode --blob_input_width=960 --blob_input_height=384 --enable_zed=true --zed_img_width=1280 --zed_img_high=720 --log_dir=/apollo/data/log --stderrthreshold=3 --alsologtostderr=1 --use_vision_latern=0 --latern_number=1 --save_framenum=1
;;
gr_perception):
./bazel-bin/modules/perception/perception --flagfile=/apollo/modules/perception/conf/perception_lowcost.conf --use_navigation_mode --blob_input_width=672 --blob_input_height=376 --enable_zed=true --zed_img_width=1280 --zed_img_high=720 --save_framenum=10 --log_dir=/apollo/data/log --stderrthreshold=3 --alsologtostderr=1 --use_vision_latern=0 --latern_number=1 --save_framenum=5
;;
prediction)
./bazel-bin/modules/prediction/prediction --flagfile=/apollo/modules/prediction/conf/prediction_navi.conf --log_dir=/apollo/data/log
;;
navi_control)
./bazel-bin/modules/control/control --flagfile=/apollo/modules/control/conf/control.conf --use_navigation_mode=true --stderrthreshold=3 --alsologtostderr=1 --log_dir=/apollo/data/log
;;
canbus)
./bazel-bin/modules/canbus/canbus --flagfile=/apollo/modules/canbus/conf/canbus.conf --log_dir=/apollo/data/log --stderrthreshold=3 --alsologtostderr=1
;;
ultrasonic_radar)
./bazel-bin/modules/drivers/radar/ultrasonic_radar/ultrasonic_radar --flagfile=/apollo/modules/drivers/radar/ultrasonic_radar/conf/ultrasonic_radar.conf --log_dir=/apollo/data/log --stderrthreshold=3 --alsologtostderr=1
;;
monitor)
./bazel-bin/modules/monitor/monitor --flagfile=/apollo/modules/monitor/conf/monitor.conf --log_dir=/apollo/data/log --stderrthreshold=3 --alsologtostderr=1
;;
control)
./bazel-bin/modules/control/control --flagfile=/apollo/modules/control/conf/control.conf --stderrthreshold=3 --alsologtostderr=1 --log_dir=/apollo/data/log
;;
*)
echo "Unknown module"
esac