questions

Dig into Apollo - Questions

非淡漠无以明德，非宁静无以致远。

目录

• build
• map
• simulation
• planning
• misc

build

map

• 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

1. 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

2. 生成地图

python modules/tools/map_gen/map_gen.py map_file

3. 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

simulation

Planning

• How to add decider or optimizer to a planning scenario ?

1. Add your own decider in "modules/planning/tasks/deciders"
2. Add config in "modules/planning/conf/scenario/lane_follow_config.pb.txt"
3. Add TaskType in "modules/planning/proto/planning_config.proto"
4. Register your task in "TaskFactory::Init"

misc

• What is the format of the config file in Apollo?
  The config file base by protobuf format, and read by cyber::common::GetProtoFromFile() method.

• How to open the debug log?

1. modify the "apollo/cyber/setup.bash"

 # for DEBUG log 
 export GLOG_v=4 

2. Enable environment variables

source cyber/setup.bash

3. 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