Tested OS: ubuntu 16.04 LTS
This is a cmake version of the Apollo5.0 release. The project structure is much more clear and simpler than our previous work – port_apollo. Every CMakelists.txt file corresponds to a bazel BUILD file in the same folder.
- protobuf(3.3.0)
- gflags(2.2.0), glog(0.3.5)
- qpOASES(master)
- osqp(0.4.1)
- curlpp(dev)
- tinyxml2(master)
- proj4(4.9.3)
- ipopt(3.12.11)
- adol-c(2.6.3)
- Eigen(dev)
- Cuda(optional, 9.0)
Some of these libraries may have already been installed to your system. You still need to run the install_dependencies.sh to reinstall them, since apollo include directories in the source codes are different from the standard ones.
git clone --recursive [email protected]:yuzhangbit/apollo_standalone.git
cd apollo_standalone
## install all the dependencies
bash scripts/install_dependencies.shmkdir -p src/apollo/build && cd src/apollo/build
cmake ..
make -j$(nproc)
sudo make install
All the test binary and library targets, config files and testdata will be installed to /apollo.
If you have followed the instruction and installed the cuda, you can enable cuda by
mkdir -p src/apollo/build && cd src/apollo/build
cmake -DENABLE_CUDA=ON ..
make -j$(nproc)
sudo make installbash run_all_test.bashSince apollo tests need to load test data in /apollo directory to run, you have to do sudo make install first.
We provide a simple example for open_space planner, here is the result.
NOTE: Not all the modules of apollo have been converted to cmake projects. We only convert codes related to open space planners under apollo/modules/planning directory. But by referring to our CMakeLists examples, you can convert interested apollo modules to cmake projects with ease. Below is the current converting status of apollo_standalone.
apollo/cyber(partial, only logging functions are enabled)apollo/modules/common(done)apollo/modules/planning(most of the functions are enabled)apollo/modules/xxx(only proto interfaces are enabled)