非淡漠无以明德,非宁静无以致远。
- 编译提示下载依赖库失败,可以把下载下来的文件放到'.cache/distdir/',重新编译, 如果是老版本那么可以在
tools/bazel.rc
中增加路径,然后放到指定目录
build --distdir=.cache/distdir/
- How to change map.bin to human-readable map.txt? In apollo docker run below cmds.
source scripts/apollo_base.sh
protoc --decode apollo.hdmap.Map modules/map/proto/map.proto < modules/map/data/sunnyvale_loop/base_map.bin > base_map.txt
- How to create new map with RTK
- 解压制作好的地图
python modules/tools/map_gen/extract_path.py map_file data/bag/20210406112554.record.00000
查看当前轨迹
python modules/tools/map_gen/plot_path.py map_file
- 生成地图
python modules/tools/map_gen/map_gen.py map_file
- 查看地图
python modules/tools/mapshow/mapshow.py -m map_map_file.txt
生成地图
python modules/tools/create_map/convert_map_txt2bin.py -i map_map_file.txt -o /apollo/modules/map/data/your_map_dir/base_map.bin
生成sim_map
./bazel-bin/modules/map/tools/sim_map_generator -map_dir=/apollo/modules/map/data/your_map_dir -output_dir=/apollo/modules/map/data/your_map_dir
生成routing_map
/apollo/bazel-bin/modules/routing/topo_creator/topo_creator -map_dir=/apollo/modules/map/data/your_map_dir --flagfile=modules/routing/conf/routing.conf
测试之前需要修改"vi modules/common/data/global_flagfile.txt",屏蔽选项"--log_dir/--use_navigation_mode"
--map_dir=/apollo/modules/map/data/your_map_dir
测试生成的routing_map是否可以联通
python modules/tools/routing/debug_topo.py
- How to add decider or optimizer to a planning scenario ?
- Add your own decider in "modules/planning/tasks/deciders"
- Add config in "modules/planning/conf/scenario/lane_follow_config.pb.txt"
- Add TaskType in "modules/planning/proto/planning_config.proto"
- Register your task in "TaskFactory::Init"
-
What is the format of the config file in Apollo?
The config file base by protobuf format, and read bycyber::common::GetProtoFromFile()
method. -
How to open the debug log?
- modify the "apollo/cyber/setup.bash"
# for DEBUG log
export GLOG_v=4
- Enable environment variables
source cyber/setup.bash
- Export bag data to lidar,camera
./bazel-bin/modules/localization/msf/local_tool/data_extraction/cyber_record_parser --bag_file data/bag/20210305145950.record.00000 --out_folder data/ --cloud_topic=/apollo/sensor/lidar32/compensator/PointCloud2