*[Download Apollo Source](#download-apollo-source)
*[Set up Docker Support](#set-up-docker-support)
*[Set up Apollo Release Docker Image](#set-up-apollo-release-docker)
*[Customize Your Release Container](#customize-your-release-container)
*[Run the Demo on Vehicle](#run-the-demo-on-vehicle)
*[Launch the Local Release Docker Image](#launch-the-local-release-env-docker-image)
*[Record the Driving Trajectory](#record-driving-trajectory)
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@@ -35,9 +31,7 @@ The following table lists the conventions that are used in this document:
|  | **Online**. Provides a link to a particular web site where you can get more information. |
|  | **Warning**. Contains information that must **not** be ignored or you risk failure when you perform a certain task or step. |
# Overview of Apollo
Apollo has been initiated to provide an open, comprehensive, and reliable software platform for its partners in the automotive and autonomous-driving industries. Partners can use the Apollo software platform and the reference hardware that Apollo has certified as a template to customize in the development of their own autonomous vehicles.
# About Apollo 1.0
Apollo 1.0, also referred to as the _Automatic GPS Waypoint Following_, works in an enclosed venue such as a test track or parking lot. It accurately replays a trajectory and the speed of that trajectory that a human driver has traveled in an enclosed, flat area on solid ground.
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...
@@ -63,128 +57,7 @@ for the steps to install the hardware components and the system software.
# Apollo Software Installation
This section includes:
- Download the Apollo Release Package
- Set up Docker Support
- Customize Your Release Container
Before getting started, please make sure you have installed the Ubuntu Linux 14.04.3 and the Apollo Kernel following the steps in the
[Apollo 1.0 Hardware and System Installation Guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_1_0_hardware_system_installation_guide.md).
## Download Apollo Source
1. Download Apollo source code from the [github source](https://github.com/ApolloAuto/apollo/):
```
git clone git@github.com:ApolloAuto/apollo.git
cd apollo
git checkout [release_branch_name]
```
2. Set up environment variable `APOLLO_HOME` by the following command:
3. Open a new terminal or run `source ~/.bashrc` in an existing terminal.
 In the following sections, it is assumed that the Apollo directory is located in `$APOLLO_HOME`.
## Set up Docker Support
The Docker container is the simplest way to set up the build environment for Apollo.
For more information, see the detailed Docker tutorial [here](https://docs.docker.com/).
1. Run the following command to install Docker:
```
cd $APOLLO_HOME
bash docker/scripts/install_docker.sh
```
2. After the script completes, log out and then log back into the system to enable Docker.
3. (Optional) If you already have Docker installed (before you installed the Apollo Kernel), add the following line in `/etc/default/docker`:
```
DOCKER_OPTS = "-s overlay"
```
## Customize Your Release Container
1. Download and start the Apollo Release docker image by running the following commands:
```
cd $APOLLO_HOME
bash docker/scripts/release_start.sh
```
2. Login into the Apollo Release docker image by running the following commands:
```
bash docker/scripts/release_into.sh
```
3. Set up the zone number for the Global Navigation Satellite System (GNSS) Driver by modifying the following line in file `./ros/share/gnss_driver/launch/gnss_driver.launch`.
Apollo 1.0, 也被称为 _Automatic GPS Waypoint Following(自动GPS跟随)_, 使用在封闭的区域内，如测试轨道或停车场。它可以准确地以人类驾驶员在封闭的平坦区域的速度复现一个驾驶轨迹。
在这个开发阶段, Apollo 1.0 **无法** 察觉到邻近的障碍物, **不要**在公共道路或没有GPS信号的区域行驶。
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...
@@ -63,126 +57,7 @@ The Lincoln MKZ, enhanced by Autonomous Stuff, 为用户提供了一个无障碍
# 软件安装
本节包括：
- 下载Apollo发行包
- 设置Docker支持
- 自定义你的发布容器
在开始之前，请确保您已经按照
[Apollo 1.0 Hardware and System Installation Guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_1_0_hardware_system_installation_guide.md)中的步骤
This quick start focuses on Apollo 1.5 new features. For general Apollo concepts, please refer to [Apollo 1.0 Quick Start](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_1_0_quick_start.md).
This quick start focuses on Apollo 1.5 new features. For general Apollo concepts, please refer to [Apollo 1.0 Quick Start](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_1_0_quick_start.md) and [Apollo Software Installation Guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_software_installation_guide.md).
Before doing the following steps, make sure you have calibrated the extrinsic parameters between the LiDAR and the GNSS/INS. For sensor calibration, please refer to [Apollo 1.5 LiDAR calibration guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_1_5_lidar_calibration_guide.md).
# Onboard Test
## Launch release env Docker Image
1. For vehicle onboard test, make sure you have calibrated the extrinsic parameters between the LiDAR and the GNSS/INS. For sensor calibration, please refer to [Apollo 1.5 LiDAR calibration guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_1_5_lidar_calibration_guide.md) before you proceed.
Run the following commands:
2. Launch Docker Release Container
```bash
cd$APOLLO_HOME
bash docker/scripts/release_start.sh
```
3. Launch HMI
When Docker starts, it creates a port mapping, which maps the Docker internal port 8887 to the host port 8887. You can then visit the HMI web service in your host machine browser:
Use your favorite browser to access HMI web service in your host machine browser with URL http://localhost:8887
Open the Chrome browser and start the Apollo HMI by going to **localhost:8887**.
You'll be required to setup profile before doing anything else. Click the
dropdown menu to select your HDMap and vehicle in use. The list are defined in
You'll be required to setup profile before doing anything else. Click the dropdown menu to select your HDMap and vehicle in use. The list are defined in [HMI config file](https://raw.githubusercontent.com/ApolloAuto/apollo/master/modules/hmi/conf/config.pb.txt).
Then your HMI comes to live!
*Note: It's also possible to change profile on the right panel of HMI, but just remember to click "Reset All" on the top-right corner to restart the system.*
*Note: It's also possible to change profile on the right panel of HMI, but just
remember to click "Reset All" on the top-right corner to restart the system.*
5. Start Modules
## (*New!*) Start Auto
Set up the system by clicking the "Setup" button on left panel.
In Apollo 1.5, we released the new feature, auto following the traffic until destination.
1. To make it work, you need setup the system by clicking the "Setup"
button on left panel.
6. (*New!*) Be Cautious When Starting Autonomous Driving
Make sure all modules are on and hardware is ready, and the vehicle is in a good state which is safe to enter auto mode to follow the traffic to destination.
2. Make sure all modules are on and hardware is ready, and the vehicle is in a
good state which is safe to enter auto mode to follow the traffic to destination.
Click the "Start Auto" button, then it will drive you there!
Click the "Start Auto" button, then it will drive you there!
1. For vehicle onboard test make sure you have calibrated the all sensors. For sensor calibration, please refer to [Apollo 2.0 Sensor Calibration Guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_2_0_sensor_calibration_guide.md) before you proceed.
## Launch release env Docker Image
2. Launch Docker Release Container
Run the following commands:
3. Launch DreamView
```bash
cd$APOLLO_HOME
bash docker/scripts/release_start.sh
```
Use your favorite browser to access HMI web service in your host machine browser with URL http://localhost:8888
When Docker starts, it creates a port mapping, which maps the Docker internal
port 8888 to the host port 8888. You can then visit the Dreamview web service in
your host machine browser:
Open the Chrome browser and start the Apollo Dreamview by going to
**localhost:8888**.
4. Select Vehicle and Map
You'll be required to setup profile before doing anything else. Click the dropdown menu to select your HDMap and vehicle in use. The list are defined in [HMI config file](https://raw.githubusercontent.com/ApolloAuto/apollo/master/modules/dreamview/conf/hmi.conf).
You'll be required to setup profile before doing anything else. Click the
dropdown menu on top right to select your HDMap and vehicle in use. The list are
*Note: It's also possible to change profile on the right panel of HMI, but just remember to click "Reset All" on the top-right corner to restart the system.*
## (*New!*) Start Auto
5. Start Modules
In Apollo 2.0, we released the new feature, auto driving on simple urban road.
Click the "Setup" button.
1. To make it work, you need setup the system by clicking the "Setup" button.
2. Go to **Module Controller** tab, check if all modules and hardware are ready.
(Note that in virtual environment, like on your personal PC, the hardwares as
well as some corresponding modules cannot be brought up.)
Go to **Module Controller** tab, check if all modules and hardware are ready. (Note: in your offline envionrment, the hardware modules such as GPS, CANBus, Velodyne, Camera and Radar cannot be brought up.)
3. Go back to **Tasks** tab. Make sure the vehicle is in a good state which is
safe to enter auto mode. Click the "Start Auto" button, then it will drive you there!
6. Be Cautious When Starting Autonomous Driving
Go back to **Tasks** tab. Make sure the vehicle is in a good state which is safe to enter auto mode. Click the "Start Auto" button, then it will drive you there!
Apollo has been initiated to provide an open, comprehensive, and reliable software platform for its partners in the automotive and autonomous-driving industries. Partners can use the Apollo software platform and the reference hardware that Apollo has certified as a template to customize in the development of their own autonomous vehicles.
# Apollo Software Installation
This section includes:
- Download the Apollo Release Package
- Set up Docker Support
- Customize Your Release Container
Before getting started, please make sure you have installed the Ubuntu Linux 14.04.3 and the Apollo Kernel following the steps in the [Apollo 1.0 Hardware and System Installation Guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_1_0_hardware_system_installation_guide.md#installing-the-software-for-the-ipc).
## Download Apollo Source
1. Download Apollo source code from the [github source](https://github.com/ApolloAuto/apollo/) and check out the correct branch:
```
git clone git@github.com:ApolloAuto/apollo.git
cd apollo
git checkout [release_branch_name]
```
2. Set up environment variable `APOLLO_HOME` by the following command:
3. Open a new terminal or run `source ~/.bashrc` in an existing terminal.
 In the following sections, it is assumed that the Apollo directory is located in `$APOLLO_HOME`.
## Set Up Docker Support
The Docker container is the simplest way to set up the build environment for Apollo.
For more information, see the detailed Docker tutorial [here](https://docs.docker.com/).
1. Run the following command to install Docker:
```
cd $APOLLO_HOME
bash docker/scripts/install_docker.sh
```
2. After the script completes, log out and then log back into the system to enable Docker.
3. (Optional) If you already have Docker installed (before you installed the Apollo Kernel), add the following line in `/etc/default/docker`:
```
DOCKER_OPTS = "-s overlay"
```
## Use Your Release Container
1. Download and start the Apollo Release docker image by running the following commands:
```
cd $APOLLO_HOME
bash docker/scripts/release_start.sh
```
2. (Optional) If you want to customize your release container, login into the Apollo Release docker image by running the following commands:
```
bash docker/scripts/release_into.sh
```
3. (Skip this if you only want to do the offline simulation in release docker container) Set up the zone number for the Global Navigation Satellite System (GNSS) Driver by modifying the following line in file `./ros/share/gnss_driver/launch/gnss_driver.launch`.
You only have to modify the value `+zone=10` in the above line. Please refer to the [Apollo's Coordinate System](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/coordination.pdf) to find your local zone number. For example, if you are in Beijing, China, you have to set `+zone=50`.
4. (Skip this if you only want to do the offline simulation in release docker container) Set up the Real Time Kinematic (RTK) Base Station for the GNSS Driver by modifying the file: `./ros/share/gnss_driver/conf/gnss_conf_mkz.txt`
Refer to the following example for a typical RTK setup:
```
rtk_from {
format: RTCM_V3
ntrip {
address: <provide your own value>
port: <provide your own value>
mount_point: <provide your own value>
user: <provide your own username>
password: <provide your own password>
timeout_s: <provide your own value, e.g., 5>
}
}
rtk_to {
format: RTCM_V3
serial {
device: <provide your own value, e.g., "/dev/ttyUSB1">
baud_rate: <provide your own value, e.g., 115200>
}
}
```
The `rtk_from` is used for RTK base station information. The `rtk_to` is used to send the RTK differential data to the receiver.
5. (Skip this if you only want to do the offline simulation in release docker container) Add ESD CAN Support
Please refer to [ESD CAN README](https://github.com/ApolloAuto/apollo/blob/master/third_party/can_card_library/esd_can/README.md) to install the ESD CAN library.
6. (Skip this if you have NOT customized your release docker container) Follow these steps to persist your local changes:
```
# EXIT DOCKER ENV
# commit your docker local changes to local docker image.
exit # exit from docker environment
cd $APOLLO_HOME
bash docker/scripts/release_commit.sh
```
7. Start your favorite browser (i.e. Chrome) and with URL: http://localhost:8888
在开始之前，请确保您已经按照[Apollo 1.0 Hardware and System Installation Guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_1_0_hardware_system_installation_guide.md#installing-the-software-for-the-ipc)中的步骤安装了Ubuntu Linux 14.04.3和Apollo Kernel。
