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how_to_build_and_possible_error.md

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How to Build Apollo And Possible Error

Install Docker

Please follow the Apollo Software Installation Guide.

Build Apollo

Start container

We provide a build x86 image named dev-x86_64-18.04-*. The Container will mount your local apollo repo to /apollo.

bash docker/scripts/dev_start.sh

Get into the container

bash docker/scripts/dev_into.sh

Build modules

bash apollo.sh build [OPTION]

If you want to build apollo in diversified modules, you can choose 'build_dbg', 'build_opt' etc.

Note: If you do not have a GPU, you can use the following script instead

bash apollo.sh build_cpu

Some special build modules:

build_dbg [module]: run debug build.

build_opt [module]: run optimized build.

build_cpu [module]: build in CPU mode. Equivalent to 'bazel build --config=cpu'

build_gpu [module]: run build in GPU mode. Equivalent to 'bazel build --config=gpu'

build_opt_gpu [module]: optimized build in GPU mode. Equivalent to 'bazel build --config=opt --config=gpu'

Possible Errors And Solution

Error: "ERROR: query interrupted" encountered during compilation

This is due to inconsistencies in the bazel internal cache.

Solution: Press any key to exit the compilation process. Execute the following command to enter the Docker environment:

bash docker/scripts/dev_into.sh

Enter the following command in the Docker environment to perform the bazel cleanup cache task (must keep the network unblocked in order to successfully download the dependencies, otherwise the command will not work even if it is executed multiple times):

bazel query //...

Finally, enter the exit command to exit the Docker environment and bash docker/scripts/dev_start.sh to re-execute the build task.

Staying in the "Building: no action running" interface for a long time during compile time

This is due to the existence of multiple different versions of Docker or bazel internal cache inconsistency in the current system.

Solution: Press the shortcut key Ctrl+C to terminate the current build process. Then use any of the following methods to stop:

  1. Stop all current running processes in Docker

    docker stop $(docker ps -a | grep apollo | awk '{print $1}')

  2. Stop all instances of Docker

    docker stop $(docker ps -aq)

  3. Excecute command ./apollo.sh clean

  4. Once complete, ./apollo.sh build to rebuild the Apollo project.

Error: "Another command (pid=2466) is running. Waiting for it to complete..." appears at compile time

This is caused by compiling in other command line terminals or by pressing the Ctrl+C key during the previous compilation, causing the compiling process' execution to only partially complete.

Solution: Press Ctrl+C to terminate the current build process and follow the steps below to terminate the residual build process:

  1. Enter Docker

    bash docker/scripts/dev_into.sh

  2. Kill the remaining compilation process in Docker

    pkill bazel-real

  3. Check if the bazel-real process remains in the Docker. If yes, press q to exit and perform step 2 again. Also use ps aux | grep bazel-real to view

  4. Exit Docker using

    exit

  5. Use command ./apollo.sh build in the terminal to re-execute the build task.