惯导模块开始工作操作步骤

一、 sudo bash docker/scripts/dev_start.sh //工控机上不需要加sudo，打开docker时该命令只执行一次就行，离线情况直接加-l

 sudo bash docker/scripts/dev_into.sh

进入到其他位置/计算机/dev中，找到ttyUSB0将权限打开， sudo chmod 777 ttyUSB0

./apollo.sh build_opt drivers/gnss //编译

bash scripts/gps.sh start_fe //执行

 

二、bash docker/scripts/dev_into.sh //新打开一个docker   

cyber_monitor

 

三、bash docker/scripts/dev_into.sh //在新打开一个docker

cyber_recorder record -f /apollo/sensor/gnss/best_pose /apollo/sensor/gnss/corrected_imu /apollo/sensor/gnss/gnss_status /apollo/sensor/gnss/heading /apollo/sensor/gnss/imu /apollo/sensor/gnss/ins_stat /apollo/sensor/gnss/odometry /apollo/sensor/gnss/raw_data /tf //记录

crtl+c //结束记录

 

cyber_recorder play -f jiantu.record.00000 –loop //循环播发某个文件