1. Download Apollo 3.0 source code

   wget https://github.com/ApolloAuto/apollo/archive/v3.0.0.tar.gz
   tar xf https://github.com/ApolloAuto/apollo/archive/v3.0.0.tar.gz

2. Download and start Apollo docker container

   cd apollo-3.0.0/
   bash docker/scripts/dev_start.sh
   bash docker/scripts/dev_into.sh

3. Enter the docker container to compile Apollo

   bash docker/scripts/dev_into.sh

(All following commands are assumed to be executed in Apollo dev docker)

1. Install LLVM

   LLVM 8 (Recommended)

   # LLVM 8
   sudo apt install llvm-8 llvm-8-dev clang-8 libclang-8-dev
   
   # Create soft links
   sudo ln -sf /usr/bin/llvm-config-8 /usr/bin/llvm-config
   sudo ln -sf /usr/bin/llvm-link-8 /usr/bin/llvm-link

2. Install a customized whole-program-llvm from SRI-CSL

   git clone https://github.com/SRI-CSL/whole-program-llvm.git
   cd whole-program-llvm
   sudo make develop

3. Copy wllvm directory to /apollo/tools

   cp -r wllvm /apollo/tools

4. Compile Apollo

   cd /apollo
   mkdir wllvm_bc  # This directory will contain all seperate bitcode files
   bash apollo.sh build --copt=-mavx2 --cxxopt=-mavx2 --copt=-mno-sse3 --crosstool_top=tools/wllvm:toolchain

   Those copt and cxxopt can be removed, if your machine supports the corresponding instruction sets.

5. Or compile single module (e.g., planning module)

   ## Apollo 3.0
   bazel build --define ARCH=x86_64 --define CAN_CARD=fake_can --cxxopt=-DUSE_ESD_CAN=false --copt=-mavx2 --copt=-mno-sse3 --cxxopt=-DCPU_ONLY --crosstool_top=tools/wllvm:toolchain //modules/planning:planning --compilation_mode=opt

6. Extract bitcode file (e.g., planning module)

   cd /apollo/bazel-bin/modules/planning
   extract-bc planning
   
   # Check output
   file planning.bc
   llvm-dis planning.bc

• !!! Do not use dev_start.sh to start dev docker after rebooting the machine

  For the first time of starting Apollo dev docker, you can use bash docker/scripts/dev_start.sh. However, after rebooting, if you still use dev_start.sh, you will lose all previous modifications within the docker, because the dev docker container will be deleted. Using the following commands can avoid such issue.

  Apollo 3.0

  docker run -it -d --rm --name apollo_localization_volume apolloauto/apollo:localization_volume-x86_64-latest
  docker run -it -d --rm --name apollo_yolo3d_volume apolloauto/apollo:yolo3d_volume-x86_64-latest
  docker run -it -d --rm --name apollo_map_volume-sunnyvale_big_loop apolloauto/apollo:map_volume-sunnyvale_big_loop-latest
  docker run -it -d --rm --name apollo_map_volume-sunnyvale_loop apolloauto/apollo:map_volume-sunnyvale_loop-latest
  
  # Make sure that you can see `apollo_dev` in `docker ps -a` as `EXITED`
  docker start apollo_dev
  
  bash docker/scripts/dev_into.sh

• May need to delete inconsistent gtest header file

  sudo mv /usr/include/gtest /usr/include/gtest_bak