D-KIT: Add two mode for D-KIT (#11529)

* Update Dev Kit Calibration files set

* add DEV_KIT mode in HMI modes

* Add two hmi mode, one for closeloop, one for debug

* add camera driver for dev kit close loop

* remove planning related conf

* move dev kit perception launch to calibration/data

* update vehicle_data.pb.txt

docs/specs/D-kit/Camera_Based_Auto_Driving/Perception_Configuration_cn.md

@@ -32,8 +32,7 @@
 |序号 | 待修改文件 | 修改内容 | 
 |---|---|---|
 |  1 | `modules/common/data/global_flagfile.txt` |  添加`--half_vehicle_width=0.43` |
-|  2 | `modules/perception/production/launch/dev_kit_perception_camera.launch` |重命名为`perception_camera.launch ` 并替换原`perception_camera.launch`文件  |
-|  3 | `modules/perception/production/conf/perception/camera/fusion_camera_detection_component.pb.txt` | 文件中`output_obstacles_channel_name`对应的内容修改为 `/apollo/perception/obstacles` |
+|  2 | `modules/perception/production/conf/perception/camera/fusion_camera_detection_component.pb.txt` | 文件中`output_obstacles_channel_name`对应的内容修改为 `/apollo/perception/obstacles` |
 
 ## 启动Camera感知
 
@@ -70,7 +69,7 @@
 使用如下命令启动perception模块，使用`cyber_monitor`查看`/apollo/perception/obstacles`是否正常输出，并在dreamview上查看障碍物信息：
 
 ```
-budaoshi@in_dev_docker:/apollo$ cyber_launch start modules/perception/production/launch/perception_camera.launch
+budaoshi@in_dev_docker:/apollo$ cyber_launch start modules/perception/production/launch/dev_kit_perception_camera.launch
 ```
 #### 5. 验证Camera感知效果
 查看车前方运动的人或者自行车（自行车上要有人），在DreamView上查看障碍物颜色以及位置速度信息（自行车青蓝色，行人黄色，车辆绿色），如下图所示：

docs/specs/D-kit/Lidar_Based_Auto_Driving/Perception_Configuration_cn.md

@@ -30,8 +30,6 @@
 |序号 | 待修改文件 | 修改内容 | 
 |---|---|---|
 |  1 | `modules/common/data/global_flagfile.txt` |  添加`--half_vehicle_width=0.43` |
-|  2 | `modules/perception/production/launch/dev_kit_perception.launch` |重命名为`perception.launch` 并替换原`perception.launch`文件  |
-|  3 | `modules/perception/production/dag/dev_kit_dag_streaming_perception.dag` | 重命名为`dag_streaming_perception.dag` 并替换原`dag_streaming_perception.dag`文件|
 
 ## 启动Lidar感知
 
@@ -72,7 +70,11 @@
 |`/tf_static`|确保能正常输出数据|
 
 #### 4. 启动Lidar感知
-确认各模块正常启动且channel输出正常后，在DreamView上启动Lidar感知模块(Perception模块)，使用`cyber_monitor`查看`/apollo/perception/obstacles`是否正常输出
+使用如下命令启动perception模块，使用`cyber_monitor`查看`/apollo/perception/obstacles`是否正常输出，并在dreamview上查看障碍物信息：
+
+```
+budaoshi@in_dev_docker:/apollo$ cyber_launch start modules/perception/production/launch/dev_kit_perception_lidar.launch
+```
 ![lidar_adaptation_dreamview3](images/lidar_adaptation_dreamview3.png)
 
 ## 验证Lidar感知效果

modules/calibration/data/dev_kit/localization_conf/localization.conf

+--flagfile=/apollo/modules/common/data/global_flagfile.txt
+--noenable_gps_imu_interprolate
+
+# Redefine the map_dir of global_flagfile.txt
+#--map_dir=/apollo/modules/localization/testdata
+
+# The directory name of localization map.
+# type: string
+# default: local_map
+--local_map_name=local_map
+
+# Enable lidar-based localization.
+# type: bool
+# defalult: true
+--enable_lidar_localization=true
+
+# Localization mode, 0 for intensity, 1 for altitude, 2 for fusion.
+# type: int
+# default: 2
+--lidar_localization_mode=2
+
+# image yaw align mode, 0 for align off, 1 for fusion, 2 for fusion with multithread.
+# type: int
+# default: 2
+--lidar_yaw_align_mode=2
+
+# Lidar filter size
+# type: int
+# default: 11
+--lidar_filter_size=17
+
+# point cloud step
+# type: int
+# default: 2
+--point_cloud_step=2
+
+# The height from the center of lidar to ground plane
+# type: double
+# default: 1.80
+--lidar_height_default=1.80
+
+# idar msg and imu msg max delay time.
+# type: double
+# default: 0.4
+--lidar_imu_lidar_max_delay_time=0.4
+
+# The valid coverage of pointcloud and map.
+# type: double
+# default: 0.8
+--lidar_map_coverage_theshold=0.8
+
+# Lidar debug switch.
+# type: bool
+# default: false
+--lidar_debug_log_flag=false
+
+# integ_ins_can_self_align.
+# type: bool
+# default: false
+--integ_ins_can_self_align=false
+
+# integ_sins_align_with_vel.
+# type: bool
+# default: true
+--integ_sins_align_with_vel=true
+
+# Whether check state of sins. If true, sins will restart in bad state.
+# type: bool
+# default: true
+--integ_sins_state_check=true
+
+# The param of sins state check.
+# type: double
+# default: 30.0
+--integ_sins_state_span_time=30.0
+
+# The param of sins state check.
+# type: double
+# default: 1.0
+--integ_sins_state_pos_std=1.0
+
+# vel_threshold_get_yaw.
+# type: double
+# default: 5.0
+--vel_threshold_get_yaw=5.0
+
+# enable flag ins_aid_rtk.
+# type: bool
+# default: false
+--enable_ins_aid_rtk=false
+
+# eph_buffer_path.
+# type: string
+# default: ""
+--eph_buffer_path=""
+
+# gnss_debug_log_flag.
+# type: bool
+# default: false
+--gnss_debug_log_flag=false
+
+# imu_rate.
+# type: double
+# default: 1.0
+--imu_rate=1.0
+
+# Whether load utm zone id from local map folder
+# type: bool
+# default: true
+--if_utm_zone_id_from_folder=true
+
+# local_utm_zone_id.
+# type: int
+# default: int
+--local_utm_zone_id=50
+
+# trans_gpstime_to_utctime.
+# type: bool
+# default: true
+--trans_gpstime_to_utctime=true
+
+# GNSS Mode, 0 for bestgnss pose, 1 for self gnss.
+# type: string
+# default: 0
+--gnss_mode=0
+
+# The pointcloud topic name.
+# type: string
+# default: /apollo/sensor/velodyne64/compensator/PointCloud2
+--lidar_topic=/apollo/sensor/lidar128/compensator/PointCloud2
+
+# The lidar extrinsics file
+# type: string
+# default: /apollo/modules/localization/msf/params/velodyne_params/velodyne128_novatel_extrinsics.yaml
+--lidar_extrinsics_file=/apollo/modules/localization/msf/params/velodyne_params/velodyne128_novatel_extrinsics.yaml
+
+# imu coordinate, true->flu, false->rfu
+# type: bool
+# default: true
+--imu_coord_rfu=true
+
+# Whether use bestgnsspose as measure after initializaiton.
+# type: bool
+# default: false
+--gnss_only_init=false
+
+# Whether use imu ant leverarm from ant imu yaml file
+# type: bool
+# default: true
+--if_imuant_from_file=true
+
+# Imu ant offset x
+# type: double
+# default: 0.0
+--imu_to_ant_offset_x=0.0
+
+# Imu ant offset y
+# type: double
+# default: 0.0
+--imu_to_ant_offset_y=0.788
+
+# Imu ant offset z
+# type: double
+# default: 0.0
+--imu_to_ant_offset_z=1.077
+
+# Imu ant offset x uncertainty
+# type: double
+# default: 0.0
+--imu_to_ant_offset_ux=0.05
+
+# Imu ant offset y uncertainty
+# type: double
+# default: 0.0
+--imu_to_ant_offset_uy=0.05
+
+# Imu ant offset z uncertainty
+# type: double
+# default: 0.0
+--imu_to_ant_offset_uz=0.08
+
+# Whether load vehicle coord to imu coord quaternion from yaml file
+# type: bool
+# default: true
+--if_vehicle_imu_from_file=true
+
+# vehicle coord to imu coord quaternion qx
+# type: double
+# default: 0.0
+--imu_vehicle_qx=0.0
+
+# vehicle coord to imu coord quaternion qy
+# type: double
+# default: 0.0
+--imu_vehicle_qy=0.0
+
+# vehicle coord to imu coord quaternion qz
+# type: double
+# default: 0.0
+--imu_vehicle_qz=0.0
+
+# vehicle coord to imu coord quaternion qw
+# type: double
+# default: 1.0
+--imu_vehicle_qw=1.0
+
+# The tem folder for localziation visualziation
+--map_visual_dir=data/map_visual
+
+# if use avx to accelerate lidar localization
+# need cpu to support avx intel intrinsics
+# default: false
+--if_use_avx=true

modules/calibration/data/dev_kit/perception_dag/dag_streaming_perception_dev_kit_camera.dag

+module_config {
+  module_library : "/apollo/bazel-bin/modules/perception/onboard/component/libperception_component_camera.so"
+  components {
+    class_name : "FusionCameraDetectionComponent"
+    config {
+      name: "FusionCameraComponent"
+      config_file_path: "/apollo/modules/perception/production/conf/perception/camera/fusion_camera_detection_component.pb.txt"
+      flag_file_path: "/apollo/modules/perception/production/conf/perception/perception_common.flag"
+    }
+  }
+}

modules/perception/production/launch/dev_kit_perception_camera.launch → modules/calibration/data/dev_kit/perception_launch/dev_kit_perception_camera.launch

@@ -12,7 +12,7 @@
 
     <module>
         <name>perception_camera</name>
-        <dag_conf>/apollo/modules/perception/production/dag/dag_streaming_perception_camera.dag</dag_conf>
+        <dag_conf>/apollo/modules/perception/production/dag/dag_streaming_perception_dev_kit_camera.dag</dag_conf>
         <!-- if not set, use default process -->
         <process_name></process_name>
         <version>1.0.0</version>

modules/perception/production/launch/dev_kit_perception.launch → modules/calibration/data/dev_kit/perception_launch/dev_kit_perception_lidar.launch

@@ -10,7 +10,7 @@
 
     <module>
         <name>perception</name>
-        <dag_conf>/apollo/modules/perception/production/dag/dag_streaming_perception.dag</dag_conf>
+        <dag_conf>/apollo/modules/perception/production/dag/dag_streaming_perception_dev_kit_lidar.dag</dag_conf>
         <!-- if not set, use default process -->
         <process_name>lidar_perception</process_name>
         <version>1.0.0</version>

modules/dreamview/conf/hmi_modes/dev_kit_close_loop.pb.txt

+cyber_modules {
+  key: "Camera"
+  value: {
+    dag_files: "/apollo/modules/drivers/camera/dag/camera.dag"
+    dag_files: "/apollo/modules/drivers/video/dag/video.dag"
+    required_for_safety: false
+  }
+}
+cyber_modules {
+  key: "Lidar"
+  value: {
+    dag_files: "/apollo/modules/drivers/velodyne/dag/velodyne16.dag"
+  }
+}
+cyber_modules {
+  key: "Canbus"
+  value: {
+    dag_files: "/apollo/modules/canbus/dag/canbus.dag"
+  }
+}
+cyber_modules {
+  key: "Control"
+  value: {
+    dag_files: "/apollo/modules/control/dag/control.dag"
+  }
+}
+cyber_modules {
+  key: "GPS"
+  value: {
+    dag_files: "/apollo/modules/drivers/gnss/dag/gnss.dag"
+  }
+}
+cyber_modules {
+  key: "Guardian"
+  value: {
+    dag_files: "/apollo/modules/guardian/dag/guardian.dag"
+  }
+}
+cyber_modules {
+  key: "Localization"
+  value: {
+    dag_files: "/apollo/modules/localization/dag/dag_streaming_msf_localization.dag"
+  }
+}
+cyber_modules {
+  key: "Lidar Perception"
+  value: {
+    dag_files: "/apollo/modules/perception/production/dag/dag_streaming_perception_dev_kit_lidar.dag"
+  }
+}
+cyber_modules {
+  key: "Traffic Light"
+  value: {
+    dag_files: "/apollo/modules/perception/production/dag/dag_streaming_perception_trafficlights.dag"
+    required_for_safety: false
+  }
+}
+cyber_modules {
+  key: "Planning"
+  value: {
+    dag_files: "/apollo/modules/planning/dag/planning.dag"
+  }
+}
+cyber_modules {
+  key: "Prediction"
+  value: {
+    dag_files: "/apollo/modules/prediction/dag/prediction.dag"
+  }
+}
+cyber_modules {
+  key: "Routing"
+  value: {
+    dag_files: "/apollo/modules/routing/dag/routing.dag"
+  }
+}
+cyber_modules {
+  key: "Transform"
+  value: {
+    dag_files: "/apollo/modules/transform/dag/static_transform.dag"
+  }
+}
+modules {
+  key: "Recorder"
+  value: {
+    start_command: "/apollo/scripts/record_bag.py --start"
+    stop_command: "/apollo/scripts/record_bag.py --stop"
+    process_monitor_config {
+      command_keywords: "cyber_recorder record"
+    }
+  }
+}
+monitored_components {
+  key: "Recorder"
+  value: {
+    process {
+      command_keywords: "cyber_recorder record"
+    }
+    resource {
+      disk_spaces {
+        # For logs.
+        path: "/apollo/data"
+        insufficient_space_warning: 8
+        insufficient_space_error: 2
+      }
+      disk_spaces {
+        # For records.
+        path: "/media/apollo/internal_nvme"
+        insufficient_space_warning: 128
+        insufficient_space_error: 32
+      }
+    }
+  }
+}
+monitored_components {
+  key: "GPS"
+  value: {
+    process {
+      command_keywords: "mainboard"
+      command_keywords: "/apollo/modules/drivers/gnss/dag/gnss.dag"
+    }
+    # We also have a special GPSMonitor to check message status.
+  }
+}
+monitored_components {
+  key: "Localization"
+  value: {
+    # Special LocalizationMonitor.
+  }
+}
+# Disbale ESD-CAN for a while as in some cars we are using B-CAN.
+# monitored_components {
+#   key: "ESD-CAN"
+#   value: {
+#     # Special EsdCanMonitor.
+#   }
+# }
+monitored_components {
+  key: "Lidar 16"
+  value: {
+    channel {
+      name: "/apollo/sensor/lidar16/compensator/PointCloud2"
+    }
+  }
+}

modules/dreamview/conf/hmi_modes/dev_kit_debug.pb.txt

+cyber_modules {
+  key: "Camera"
+  value: {
+    dag_files: "/apollo/modules/drivers/camera/dag/camera.dag"
+    dag_files: "/apollo/modules/drivers/video/dag/video.dag"
+  }
+}
+cyber_modules {
+  key: "Lidar"
+  value: {
+    dag_files: "/apollo/modules/drivers/velodyne/dag/velodyne16.dag"
+  }
+}
+cyber_modules {
+  key: "Canbus"
+  value: {
+    dag_files: "/apollo/modules/canbus/dag/canbus.dag"
+  }
+}
+cyber_modules {
+  key: "Control"
+  value: {
+    dag_files: "/apollo/modules/control/dag/control.dag"
+  }
+}
+cyber_modules {
+  key: "GPS"
+  value: {
+    dag_files: "/apollo/modules/drivers/gnss/dag/gnss.dag"
+  }
+}
+cyber_modules {
+  key: "Guardian"
+  value: {
+    dag_files: "/apollo/modules/guardian/dag/guardian.dag"
+  }
+}
+cyber_modules {
+  key: "Localization"
+  value: {
+    dag_files: "/apollo/modules/localization/dag/dag_streaming_msf_localization.dag"
+  }
+}
+cyber_modules {
+  key: "Lidar Perception"
+  value: {
+    dag_files: "/apollo/modules/perception/production/dag/dag_streaming_perception_dev_kit_lidar.dag"
+  }
+}
+cyber_modules {
+  key: "Camera Perception"
+  value: {
+    dag_files: "/apollo/modules/perception/production/dag/dag_streaming_perception_dev_kit_camera.dag"
+  }
+}
+cyber_modules {
+  key: "Traffic Light"
+  value: {
+    dag_files: "/apollo/modules/perception/production/dag/dag_streaming_perception_trafficlights.dag"
+  }
+}
+cyber_modules {
+  key: "Planning"
+  value: {
+    dag_files: "/apollo/modules/planning/dag/planning.dag"
+  }
+}
+cyber_modules {
+  key: "Prediction"
+  value: {
+    dag_files: "/apollo/modules/prediction/dag/prediction.dag"
+  }
+}
+cyber_modules {
+  key: "Radar"
+  value: {
+    dag_files: "/apollo/modules/drivers/radar/conti_radar/dag/conti_radar.dag"
+  }
+}
+cyber_modules {
+  key: "Routing"
+  value: {
+    dag_files: "/apollo/modules/routing/dag/routing.dag"
+  }
+}
+cyber_modules {
+  key: "Transform"
+  value: {
+    dag_files: "/apollo/modules/transform/dag/static_transform.dag"
+  }
+}
+
+cyber_modules {
+  key: "SmarterEye"
+  value: {
+    dag_files: "/apollo/modules/drivers/smartereye/dag/smartereye.dag"
+  }
+}
+cyber_modules {
+  key: "Third Party Perception"
+  value: {
+    dag_files: "/apollo/modules/third_party_perception/dag/third_party_perception.dag"
+  }
+}
+modules {
+  key: "Recorder"
+  value: {
+    start_command: "/apollo/scripts/record_bag.py --start"
+    stop_command: "/apollo/scripts/record_bag.py --stop"
+    process_monitor_config {
+      command_keywords: "cyber_recorder record"
+    }
+  }
+}
+monitored_components {
+  key: "Recorder"
+  value: {
+    process {
+      command_keywords: "cyber_recorder record"
+    }
+    resource {
+      disk_spaces {
+        # For logs.
+        path: "/apollo/data"
+        insufficient_space_warning: 8
+        insufficient_space_error: 2
+      }
+      disk_spaces {
+        # For records.
+        path: "/media/apollo/internal_nvme"
+        insufficient_space_warning: 128
+        insufficient_space_error: 32
+      }
+    }
+  }
+}
+monitored_components {
+  key: "GPS"
+  value: {
+    process {
+      command_keywords: "mainboard"
+      command_keywords: "/apollo/modules/drivers/gnss/dag/gnss.dag"
+    }
+    # We also have a special GPSMonitor to check message status.
+  }
+}
+monitored_components {
+  key: "Localization"
+  value: {
+    # Special LocalizationMonitor.
+  }
+}
+# Disbale ESD-CAN for a while as in some cars we are using B-CAN.
+# monitored_components {
+#   key: "ESD-CAN"
+#   value: {
+#     # Special EsdCanMonitor.
+#   }
+# }
+monitored_components {
+  key: "Lidar 16"
+  value: {
+    channel {
+      name: "/apollo/sensor/lidar16/compensator/PointCloud2"
+    }
+  }
+}

modules/dreamview/conf/vehicle_data.pb.txt

@@ -110,3 +110,19 @@ data_files {
   source_path: "transform_conf/static_transform_conf.pb.txt"
   dest_path: "/apollo/modules/transform/conf/static_transform_conf.pb.txt"
 }
+data_files {
+  source_path: "planning_conf"
+  dest_path: "/apollo/modules/planning/conf"
+}
+data_files {
+  source_path: "localization_conf"
+  dest_path: "/apollo/modules/localization/conf"
+}
+data_files {
+  source_path: "perception_dag"
+  dest_path: "/apollo/modules/perception/production/dag"
+}
+data_files {
+  source_path: "perception_launch"
+  dest_path: "/apollo/modules/perception/production/launch"
+}