（1）启动Cyber RT 运行环境
source /apollo/cyber/setup.bash
(2) 启动定位模块
cyber_launch start modules/localization/launch/rtk_localization.launch
(3)启一个新的终端，进入容器
bash /apollo/docker/scripts/dev_into.sh
(4)查看日志
ls /apollo/data/log
(5)启动定位数据输出记录程序
python scripts/record_bag.py
(6)播放数据包里的实验数据
cyber_recorder play -f /apollo/records/*.record
(7)立即另起一个终端，运行可视化工具
cyber_launch start modules/localization/launch/msf_localization_with_visualizer.launch
定位模块接收以下topic 进行可视化绘制
topic:
/apollo/localization/msf_gnss
/apollo/localization/pose
(8)数据包播放运行完毕，关闭定位模块和数据记录程序
cyber_launch stop modules/localization/launch/rtk_localization.launch
python scripts/record_bag.py --stop
(9)最后为了查看记录下来的定位数据，运行数据分析脚本
bash /apollo/scripts/msf_local_evaluation.sh /apollo/data/bag/2019-02-27-09-44-03/ /apollo/modules/localization/msf/params/gnss_params/ant_imu_leverarm.yaml
