perception.sh

#!/usr/bin/env bash

###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################

DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"

source "${DIR}/apollo_base.sh"

if [[ "${APOLLO_SKIP_PERCEPTION_PREFLIGHT:-0}" != "1" ]]; then
  if ! python3 "${DIR}/perception_preflight_check.py"; then
    error "Perception preflight failed. Set APOLLO_SKIP_PERCEPTION_PREFLIGHT=1 to bypass."
    exit 1
  fi
else
  warning "Skipping perception preflight checks because APOLLO_SKIP_PERCEPTION_PREFLIGHT=1"
fi

# run function from apollo_base.sh
# run command_name module_name
# run perception "$@"
cyber_launch stop /apollo/modules/perception/production/launch/perception_all.launch
cyber_launch stop /apollo/modules/drivers/tools/image_decompress/launch/image_decompress.launch
cyber_launch stop /apollo/modules/transform/launch/static_transform.launch

cyber_launch start /apollo/modules/transform/launch/static_transform.launch &
cyber_launch start /apollo/modules/drivers/tools/image_decompress/launch/image_decompress.launch &
cyber_launch start /apollo/modules/perception/production/launch/perception_all.launch &