Docs: link historical docs to the historical branch

docs/technical_tutorial/apollo_2.5_technical_tutorial.md

@@ -6,70 +6,70 @@
 ## Overview
 > Learn Apollo basic concepts and Apollo 2.5 quick start
 
-  * [Apollo 2.5 quick start](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_2_5_quick_start.md "Apollo 2.5 quick start")
+  * [Apollo 2.5 quick start](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/quickstart/apollo_2_5_quick_start.md "Apollo 2.5 quick start")
 
 ## Hardware system installation
 > Learn the procedure of Apollo 2.5 hardware system installation
 
-  * [Apollo 2.5 hardware system installation guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_2_5_hardware_system_installation_guide_v1.md "Apollo 2.5 hardware system installation guide")
+  * [Apollo 2.5 hardware system installation guide](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/quickstart/apollo_2_5_hardware_system_installation_guide_v1.md "Apollo 2.5 hardware system installation guide")
 
 ## Calibration
 > Learn the process of the calibration service
 
-  * [Calibration guide between LiDAR and INS](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/apollo_lidar_imu_calibration_guide.md)
-  * [Guide for Camera-to-Camera calibration, Camera-to-LiDAR calibration, Radar-to-Camera calibration, IMU-to-Vehicle calibration](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_2_0_sensor_calibration_guide.md "Guide for Camera-to-Camera Calibration, Camera-to-LiDAR Calibration, Radar-to-Camera Calibration, IMU-to-Vehicle Calibration")
-  * [Multiple-LiDAR GNSS calibration guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/multiple_lidar_gnss_calibration_guide.md "Multiple-LiDAR GNSS calibration guide")
-  * [Apollo coordination](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/coordination.pdf "Apollo coordination")
+  * [Calibration guide between LiDAR and INS](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/specs/apollo_lidar_imu_calibration_guide.md)
+  * [Guide for Camera-to-Camera calibration, Camera-to-LiDAR calibration, Radar-to-Camera calibration, IMU-to-Vehicle calibration](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/quickstart/apollo_2_0_sensor_calibration_guide.md "Guide for Camera-to-Camera Calibration, Camera-to-LiDAR Calibration, Radar-to-Camera Calibration, IMU-to-Vehicle Calibration")
+  * [Multiple-LiDAR GNSS calibration guide](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/quickstart/multiple_lidar_gnss_calibration_guide.md "Multiple-LiDAR GNSS calibration guide")
+  * [Apollo coordination](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/specs/coordination.pdf "Apollo coordination")
 
 
 ## Software installation
 > Learn the procedure of Apollo 2.5 software system installation
 
-  * [Apollo software installation guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_software_installation_guide.md "Apollo software installation guide")
-  * [How to Debug a Dreamview Start Problem](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_debug_dreamview_start_problem.md)
-  * [Run offline demo](https://github.com/ApolloAuto/apollo/blob/master/docs/demo_guide/README.md "Run offline demo")
+  * [Apollo software installation guide](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/quickstart/apollo_software_installation_guide.md "Apollo software installation guide")
+  * [How to Debug a Dreamview Start Problem](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/howto/how_to_debug_dreamview_start_problem.md)
+  * [Run offline demo](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/demo_guide/README.md "Run offline demo")
 
 
 ## Software architecture and principles
 > Learn Apollo software architecture and principles of core modules
 
-  * [Apollo software architecture](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Apollo_2.0_Software_Architecture.md "Apollo software architecture")
-  * [3D Obstacle Perception](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/3d_obstacle_perception.md)
-  * [Apollo 2.5 Perception](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/perception_apollo_2.5.md)
-  * [QP-Spline-Path Optimizer](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/qp_spline_path_optimizer.md)
-  * [QP-Spline-ST-Speed Optimizer](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/qp_spline_st_speed_optimizer.md)
-  * [Reference Line Smoother](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/reference_line_smoother.md)
-  * [Traffic Light Perception](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/traffic_light.md)
+  * [Apollo software architecture](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/specs/Apollo_2.0_Software_Architecture.md "Apollo software architecture")
+  * [3D Obstacle Perception](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/specs/3d_obstacle_perception.md)
+  * [Apollo 2.5 Perception](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/specs/perception_apollo_2.5.md)
+  * [QP-Spline-Path Optimizer](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/specs/qp_spline_path_optimizer.md)
+  * [QP-Spline-ST-Speed Optimizer](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/specs/qp_spline_st_speed_optimizer.md)
+  * [Reference Line Smoother](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/specs/reference_line_smoother.md)
+  * [Traffic Light Perception](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/specs/traffic_light.md)
 
 
 ## Software modules and extension
 > Learn Apollo software modules and extension
 
-  * [Canbus module](https://github.com/ApolloAuto/apollo/blob/master/modules/canbus/README.md)
-  * [Common module](https://github.com/ApolloAuto/apollo/blob/master/modules/common/README.md)
-  * [Control module](https://github.com/ApolloAuto/apollo/blob/master/modules/control/README.md)
-  * [Data module](https://github.com/ApolloAuto/apollo/blob/master/modules/data/README.md)
-  * [Localization module](https://github.com/ApolloAuto/apollo/blob/master/modules/localization/README.md)
-  * [Perception module](https://github.com/ApolloAuto/apollo/blob/master/modules/perception/README.md)
-  * [Planning module](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/README.md)
-  * [Prediction module](https://github.com/ApolloAuto/apollo/blob/master/modules/prediction/README.md)
-  * [Routing module](https://github.com/ApolloAuto/apollo/blob/master/modules/routing/README.md)
-
-  * [How to Add a New GPS Receiver](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_gps_receiver.md "How to add a new GPS Receiver")
-  * [How to Add a New CAN Card](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_can_card.md "How to Add a New CAN Card")
-  * [How to Add a New Control Algorithm](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_control_algorithm.md "How to Add a New Control Algorithm")
-  * [How to Add a New Evaluator in Prediction Module](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_evaluator_in_prediction_module.md)
-  * [How to Add a New Predictor in Prediction Module](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_predictor_in_prediction_module.md)
-  * [How to Add a New Vehicle](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_vehicle.md)
-  * [How to Add a New External Dependency](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_an_external_dependency.md)
+  * [Canbus module](https://github.com/ApolloAuto/apollo/blob/r2.5.0/modules/canbus/README.md)
+  * [Common module](https://github.com/ApolloAuto/apollo/blob/r2.5.0/modules/common/README.md)
+  * [Control module](https://github.com/ApolloAuto/apollo/blob/r2.5.0/modules/control/README.md)
+  * [Data module](https://github.com/ApolloAuto/apollo/blob/r2.5.0/modules/data/README.md)
+  * [Localization module](https://github.com/ApolloAuto/apollo/blob/r2.5.0/modules/localization/README.md)
+  * [Perception module](https://github.com/ApolloAuto/apollo/blob/r2.5.0/modules/perception/README.md)
+  * [Planning module](https://github.com/ApolloAuto/apollo/blob/r2.5.0/modules/planning/README.md)
+  * [Prediction module](https://github.com/ApolloAuto/apollo/blob/r2.5.0/modules/prediction/README.md)
+  * [Routing module](https://github.com/ApolloAuto/apollo/blob/r2.5.0/modules/routing/README.md)
+
+  * [How to Add a New GPS Receiver](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/howto/how_to_add_a_gps_receiver.md "How to add a new GPS Receiver")
+  * [How to Add a New CAN Card](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/howto/how_to_add_a_new_can_card.md "How to Add a New CAN Card")
+  * [How to Add a New Control Algorithm](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/howto/how_to_add_a_new_control_algorithm.md "How to Add a New Control Algorithm")
+  * [How to Add a New Evaluator in Prediction Module](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/howto/how_to_add_a_new_evaluator_in_prediction_module.md)
+  * [How to Add a New Predictor in Prediction Module](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/howto/how_to_add_a_new_predictor_in_prediction_module.md)
+  * [How to Add a New Vehicle](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/howto/how_to_add_a_new_vehicle.md)
+  * [How to Add a New External Dependency](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/howto/how_to_add_an_external_dependency.md)
 
 
 ## Developer-Friendliness
 > Learn Apollo developer tools
 
-  * [Apollo 2.5 map collection guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_2_5_map_collection_guide.md "Apollo 2.5 map collection guide")
-  * [How  to build and debug Apollo in VSCode](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_build_and_debug_apollo_in_vscode_cn.md "How  to build and debug Apollo in VSCode")
-  * [How to use Apollo 2.5 navigation mode](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_use_apollo_2.5_navigation_mode_cn.md "[How to use Apollo 2.5 navigation mode")
-  * [Introduction of Dreamview](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/dreamview_usage_table.md "Introduction of Dreamview")
+  * [Apollo 2.5 map collection guide](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/quickstart/apollo_2_5_map_collection_guide.md "Apollo 2.5 map collection guide")
+  * [How  to build and debug Apollo in VSCode](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/howto/how_to_build_and_debug_apollo_in_vscode_cn.md "How  to build and debug Apollo in VSCode")
+  * [How to use Apollo 2.5 navigation mode](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/howto/how_to_use_apollo_2.5_navigation_mode_cn.md "[How to use Apollo 2.5 navigation mode")
+  * [Introduction of Dreamview](https://github.com/ApolloAuto/apollo/blob/r2.5.0/docs/specs/dreamview_usage_table.md "Introduction of Dreamview")
 
 

docs/technical_tutorial/apollo_3.0_technical_tutorial.md

@@ -3,68 +3,68 @@
 ## Overview
 > Learn Apollo basic concepts and Apollo 3.0 quick start
 
-  * [Apollo 3.0 quick start](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_3_0_quick_start.md)
+  * [Apollo 3.0 quick start](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/quickstart/apollo_3_0_quick_start.md)
 
 ## Hardware system installation
 > Learn the procedure of Apollo 3.0 hardware system installation
 
-  * [Apollo 3.0 Hardware System Installation guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_3_0_hardware_system_installation_guide.md)
+  * [Apollo 3.0 Hardware System Installation guide](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/quickstart/apollo_3_0_hardware_system_installation_guide.md)
 
 ## Calibration
 > Learn the process of the calibration service
 
-  * [Calibration guide between LiDAR and INS](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/apollo_lidar_imu_calibration_guide.md)
-  * [Guide for Camera-to-Camera calibration, Camera-to-LiDAR calibration, Radar-to-Camera calibration, IMU-to-Vehicle calibration](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_2_0_sensor_calibration_guide.md)
-  * [Multiple-LiDAR GNSS calibration guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/multiple_lidar_gnss_calibration_guide.md)
-  * [Apollo Coordinate System](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/coordination.pdf)
+  * [Calibration guide between LiDAR and INS](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/apollo_lidar_imu_calibration_guide.md)
+  * [Guide for Camera-to-Camera calibration, Camera-to-LiDAR calibration, Radar-to-Camera calibration, IMU-to-Vehicle calibration](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/quickstart/apollo_2_0_sensor_calibration_guide.md)
+  * [Multiple-LiDAR GNSS calibration guide](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/quickstart/multiple_lidar_gnss_calibration_guide.md)
+  * [Apollo Coordinate System](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/coordination.pdf)
 
 
 ## Software installation
 > Learn the procedure of Apollo 3.0 software system installation
 
-  * [Apollo software installation guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_software_installation_guide.md)
-  * [How to Debug a Dreamview Start Problem](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_debug_dreamview_start_problem.md)
-  * [Run offline demo](https://github.com/ApolloAuto/apollo/blob/master/docs/demo_guide/README.md)
+  * [Apollo software installation guide](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/quickstart/apollo_software_installation_guide.md)
+  * [How to Debug a Dreamview Start Problem](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_debug_dreamview_start_problem.md)
+  * [Run offline demo](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/demo_guide/README.md)
 
 
 ## Software architecture and principles
 > Learn Apollo software architecture and principles of core modules
 
-  * [Apollo software architecture](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Apollo_3.0_Software_Architecture.md "Apollo software architecture")
-  * [3D Obstacle Perception](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/3d_obstacle_perception.md)
-  * [Apollo 3.0 Perception](https://github.com/ApolloAuto/apollo/blob/master/modules/perception/README.md)
-  * [QP-Spline-Path Optimizer](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/qp_spline_path_optimizer.md)
-  * [QP-Spline-ST-Speed Optimizer](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/qp_spline_st_speed_optimizer.md)
-  * [Reference Line Smoother](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/reference_line_smoother.md)
-  * [Traffic Light Perception](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/traffic_light.md)
+  * [Apollo software architecture](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/Apollo_3.0_Software_Architecture.md "Apollo software architecture")
+  * [3D Obstacle Perception](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/3d_obstacle_perception.md)
+  * [Apollo 3.0 Perception](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/perception/README.md)
+  * [QP-Spline-Path Optimizer](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/qp_spline_path_optimizer.md)
+  * [QP-Spline-ST-Speed Optimizer](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/qp_spline_st_speed_optimizer.md)
+  * [Reference Line Smoother](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/reference_line_smoother.md)
+  * [Traffic Light Perception](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/traffic_light.md)
 
 
 ## Software modules and extension
 > Learn Apollo software modules and extension
 
-  * [Canbus module](https://github.com/ApolloAuto/apollo/blob/master/modules/canbus/README.md)
-  * [Common module](https://github.com/ApolloAuto/apollo/blob/master/modules/common/README.md)
-  * [Control module](https://github.com/ApolloAuto/apollo/blob/master/modules/control/README.md)
-  * [Data module](https://github.com/ApolloAuto/apollo/blob/master/modules/data/README.md)
-  * [Localization module](https://github.com/ApolloAuto/apollo/blob/master/modules/localization/README.md)
-  * [Perception module](https://github.com/ApolloAuto/apollo/blob/master/modules/perception/README.md)
-  * [Planning module](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/README.md)
-  * [Prediction module](https://github.com/ApolloAuto/apollo/blob/master/modules/prediction/README.md)
-  * [Routing module](https://github.com/ApolloAuto/apollo/blob/master/modules/routing/README.md)
-
-  * [How to Add a New GPS Receiver](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_gps_receiver.md)
-  * [How to Add a New CAN Card](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_can_card.md )
-  * [How to Add a New Control Algorithm](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_control_algorithm.md)
-  * [How to Add a New Evaluator in Prediction Module](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_evaluator_in_prediction_module.md)
-  * [How to Add a New Predictor in Prediction Module](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_predictor_in_prediction_module.md)
-  * [How to Add a New Vehicle](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_vehicle.md)
-  * [How to Add a New External Dependency](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_an_external_dependency.md)
+  * [Canbus module](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/canbus/README.md)
+  * [Common module](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/common/README.md)
+  * [Control module](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/control/README.md)
+  * [Data module](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/data/README.md)
+  * [Localization module](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/localization/README.md)
+  * [Perception module](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/perception/README.md)
+  * [Planning module](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/planning/README.md)
+  * [Prediction module](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/prediction/README.md)
+  * [Routing module](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/routing/README.md)
+
+  * [How to Add a New GPS Receiver](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_a_gps_receiver.md)
+  * [How to Add a New CAN Card](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_a_new_can_card.md )
+  * [How to Add a New Control Algorithm](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_a_new_control_algorithm.md)
+  * [How to Add a New Evaluator in Prediction Module](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_a_new_evaluator_in_prediction_module.md)
+  * [How to Add a New Predictor in Prediction Module](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_a_new_predictor_in_prediction_module.md)
+  * [How to Add a New Vehicle](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_a_new_vehicle.md)
+  * [How to Add a New External Dependency](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_an_external_dependency.md)
 
 
 ## Developer-Friendliness
 > Learn Apollo developer tools
 
-  * [How  to build and debug Apollo in VSCode](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_build_and_debug_apollo_in_vscode_cn.md "How  to build and debug Apollo in VSCode")
-  * [Introduction of Dreamview](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/dreamview_usage_table.md)
+  * [How  to build and debug Apollo in VSCode](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_build_and_debug_apollo_in_vscode_cn.md "How  to build and debug Apollo in VSCode")
+  * [Introduction of Dreamview](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/dreamview_usage_table.md)
 
 

docs/technical_tutorial/apollo_3.0_technical_tutorial_cn.md

@@ -3,62 +3,62 @@
 ## 概况
 > 了解Apollo3.0基础概念和Apollo3.0快速入门指南
 
-  * [Apollo 3.0快速入门指南](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_3_0_quick_start_cn.md)
+  * [Apollo 3.0快速入门指南](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/quickstart/apollo_3_0_quick_start_cn.md)
   
 ## 硬件和系统安装
 > 了解Apollo3.0硬件和系统安装过程
 
-  * [Apollo 3.0硬件和系统安装指南](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_3_0_hardware_system_installation_guide_cn.md)
+  * [Apollo 3.0硬件和系统安装指南](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/quickstart/apollo_3_0_hardware_system_installation_guide_cn.md)
 
 ## 校准
 > 了解校准的过程
 
-  * [Apollo激光雷达校准指南](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_1_5_lidar_calibration_guide_cn.md)
-  * [Apollo 2.0传感器校准指南](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_2_0_sensor_calibration_guide_cn.md)
-  * [多激光雷达全球导航卫星系统(Multiple-LiDAR GNSS)校准指南](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/multiple_lidar_gnss_calibration_guide_cn.md)
-  * [Apollo坐标系统](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/coordination_cn.md)
+  * [Apollo激光雷达校准指南](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/quickstart/apollo_1_5_lidar_calibration_guide_cn.md)
+  * [Apollo 2.0传感器校准指南](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/quickstart/apollo_2_0_sensor_calibration_guide_cn.md)
+  * [多激光雷达全球导航卫星系统(Multiple-LiDAR GNSS)校准指南](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/quickstart/multiple_lidar_gnss_calibration_guide_cn.md)
+  * [Apollo坐标系统](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/coordination_cn.md)
 
 ## 软件安装
 > 了解Apollo3.0的软件安装过程
 
-  * [Apollo软件安装指南](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_software_installation_guide_cn.md)
-  * [如何调试Dreamview启动问题](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_debug_dreamview_start_problem_cn.md)
-  * [运行线下演示](https://github.com/ApolloAuto/apollo/blob/master/docs/demo_guide/README_cn.md)
+  * [Apollo软件安装指南](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/quickstart/apollo_software_installation_guide_cn.md)
+  * [如何调试Dreamview启动问题](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_debug_dreamview_start_problem_cn.md)
+  * [运行线下演示](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/demo_guide/README_cn.md)
   
 ## Apollo系统架构和原理
 > 了解核心模块的架构和原理
 
-  * [Apollo 3.0 软件架构](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Apollo_3.0_Software_Architecture_cn.md "Apollo software architecture")
-  * [3D 障碍物感知](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/3d_obstacle_perception_cn.md)
-  * [Apollo 3.0感知](https://github.com/ApolloAuto/apollo/blob/master/modules/perception/README.md)
-  * [二次规划（QP）样条路径优化](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/qp_spline_path_optimizer_cn.md)
-  * [二次规划（QP）样条ST速度优化](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/qp_spline_st_speed_optimizer_cn.md)
-  * [参考线平滑设定](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/reference_line_smoother_cn.md)
-  * [交通信号灯感知](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/traffic_light_cn.md)
+  * [Apollo 3.0 软件架构](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/Apollo_3.0_Software_Architecture_cn.md "Apollo software architecture")
+  * [3D 障碍物感知](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/3d_obstacle_perception_cn.md)
+  * [Apollo 3.0感知](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/perception/README.md)
+  * [二次规划（QP）样条路径优化](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/qp_spline_path_optimizer_cn.md)
+  * [二次规划（QP）样条ST速度优化](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/qp_spline_st_speed_optimizer_cn.md)
+  * [参考线平滑设定](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/reference_line_smoother_cn.md)
+  * [交通信号灯感知](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/traffic_light_cn.md)
   
 ## 功能模块和相关扩展知识
 > 了解Apollo功能模块和相关扩展知识
 
-  * [控制总线模块](https://github.com/ApolloAuto/apollo/blob/master/modules/canbus/README.md)
-  * [通用模块](https://github.com/ApolloAuto/apollo/blob/master/modules/common/README.md)
-  * [控制模块](https://github.com/ApolloAuto/apollo/blob/master/modules/control/README.md)
-  * [数据模块](https://github.com/ApolloAuto/apollo/blob/master/modules/data/README.md)
-  * [定位模块](https://github.com/ApolloAuto/apollo/blob/master/modules/localization/README.md)
-  * [感知模块](https://github.com/ApolloAuto/apollo/blob/master/modules/perception/README.md)
-  * [Planning模块](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/README.md)
-  * [预测模块](https://github.com/ApolloAuto/apollo/blob/master/modules/prediction/README.md)
-  * [寻路模块](https://github.com/ApolloAuto/apollo/blob/master/modules/routing/README.md)
+  * [控制总线模块](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/canbus/README.md)
+  * [通用模块](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/common/README.md)
+  * [控制模块](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/control/README.md)
+  * [数据模块](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/data/README.md)
+  * [定位模块](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/localization/README.md)
+  * [感知模块](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/perception/README.md)
+  * [Planning模块](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/planning/README.md)
+  * [预测模块](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/prediction/README.md)
+  * [寻路模块](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/routing/README.md)
 
-  * [如何添加新的GPS接收器](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_gps_receiver_cn.md)
-  * [如何添加新的CAN卡](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_can_card_cn.md )
-  * [如何添加新的控制算法](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_control_algorithm_cn.md)
-  * [如何在预测模块中添加新评估器](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_evaluator_in_prediction_module_cn.md)
-  * [如何在预测模块中添加一个预测器](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_predictor_in_prediction_module_cn.md)
-  * [如何在Apollo中添加新的车辆](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_vehicle_cn.md)
-  * [如何添加新的外部依赖项](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_an_external_dependency_cn.md)
+  * [如何添加新的GPS接收器](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_a_gps_receiver_cn.md)
+  * [如何添加新的CAN卡](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_a_new_can_card_cn.md )
+  * [如何添加新的控制算法](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_a_new_control_algorithm_cn.md)
+  * [如何在预测模块中添加新评估器](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_a_new_evaluator_in_prediction_module_cn.md)
+  * [如何在预测模块中添加一个预测器](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_a_new_predictor_in_prediction_module_cn.md)
+  * [如何在Apollo中添加新的车辆](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_a_new_vehicle_cn.md)
+  * [如何添加新的外部依赖项](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_an_external_dependency_cn.md)
   
   ## 开发者工具
 > 了解开发者工具
 
-  * [使用VSCode构建、调试Apollo项目](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_build_and_debug_apollo_in_vscode_cn.md "How  to build and debug Apollo in VSCode")
-  * [DreamView用法介绍](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/dreamview_usage_table_cn.md)
+  * [使用VSCode构建、调试Apollo项目](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_build_and_debug_apollo_in_vscode_cn.md "How  to build and debug Apollo in VSCode")
+  * [DreamView用法介绍](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/dreamview_usage_table_cn.md)

docs/technical_tutorial/apollo_3.5_technical_tutorial.md

@@ -3,75 +3,75 @@
 ## Overview
 > Learn how to setup Apollo 3.5
 
-  * [Apollo 3.5 quick start](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_3_5_quick_start.md)
+  * [Apollo 3.5 quick start](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/quickstart/apollo_3_5_quick_start.md)
 
 ## Hardware system installation
 > Learn the procedure of Apollo 3.5 hardware system installation
 
-  * [Apollo 3.5 Hardware System Installation guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_3_5_hardware_system_installation_guide.md)
+  * [Apollo 3.5 Hardware System Installation guide](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/quickstart/apollo_3_5_hardware_system_installation_guide.md)
 
 ## Software installation
 > Apollo 3.5 Software and Dreamview installation
 
-* [Apollo software installation guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_software_installation_guide.md)
-* [How to Debug a Dreamview Start Problem](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_debug_dreamview_start_problem.md)
+* [Apollo software installation guide](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/quickstart/apollo_software_installation_guide.md)
+* [How to Debug a Dreamview Start Problem](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/howto/how_to_debug_dreamview_start_problem.md)
 
 
 ## Apollo Cyber
 > All you need to know about Apollo Cyber RT
 
-* [Apollo 3.5 all you need to know about Cyber RT](https://github.com/ApolloAuto/apollo/blob/master/docs/cyber/README.md)
+* [Apollo 3.5 all you need to know about Cyber RT](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/cyber/README.md)
 
 
 ## Calibration
 > Apollo Calibration service
 
-  * [Calibration guide between LiDAR and INS](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/apollo_lidar_imu_calibration_guide.md)
-  * [Guide for Camera-to-Camera calibration, Camera-to-LiDAR calibration, Radar-to-Camera calibration, IMU-to-Vehicle calibration](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_2_0_sensor_calibration_guide.md)
-  * [Multiple-LiDAR GNSS calibration guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/multiple_lidar_gnss_calibration_guide.md)
-  * [Apollo Coordinate System](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/coordination.pdf)
+  * [Calibration guide between LiDAR and INS](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/specs/apollo_lidar_imu_calibration_guide.md)
+  * [Guide for Camera-to-Camera calibration, Camera-to-LiDAR calibration, Radar-to-Camera calibration, IMU-to-Vehicle calibration](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/quickstart/apollo_2_0_sensor_calibration_guide.md)
+  * [Multiple-LiDAR GNSS calibration guide](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/quickstart/multiple_lidar_gnss_calibration_guide.md)
+  * [Apollo Coordinate System](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/specs/coordination.pdf)
 
 ## Software architecture and algorithms
 > Deep dive into Apollo's modules and algorithms
 
-  * [Apollo 3.5 software architecture](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Apollo_3.5_Software_Architecture.md "Apollo software architecture")
-  * [3D Obstacle Perception](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/3d_obstacle_perception.md)
-  * [Apollo 3.5 Perception](https://github.com/ApolloAuto/apollo/blob/master/modules/perception/README.md)
-  * [QP-Spline-Path Optimizer](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/qp_spline_path_optimizer.md)
-  * [QP-Spline-ST-Speed Optimizer](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/qp_spline_st_speed_optimizer.md)
-  * [Reference Line Smoother](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/reference_line_smoother.md)
-  * [Traffic Light Perception](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/traffic_light.md)
+  * [Apollo 3.5 software architecture](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/specs/Apollo_3.5_Software_Architecture.md "Apollo software architecture")
+  * [3D Obstacle Perception](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/specs/3d_obstacle_perception.md)
+  * [Apollo 3.5 Perception](https://github.com/ApolloAuto/apollo/blob/r3.5.0/modules/perception/README.md)
+  * [QP-Spline-Path Optimizer](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/specs/qp_spline_path_optimizer.md)
+  * [QP-Spline-ST-Speed Optimizer](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/specs/qp_spline_st_speed_optimizer.md)
+  * [Reference Line Smoother](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/specs/reference_line_smoother.md)
+  * [Traffic Light Perception](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/specs/traffic_light.md)
 
 
 ## Software modules
 > Learn Apollo software modules and extension
 
-  * [Canbus module](https://github.com/ApolloAuto/apollo/blob/master/modules/canbus/README.md)
-  * [Common module](https://github.com/ApolloAuto/apollo/blob/master/modules/common/README.md)
-  * [Control module](https://github.com/ApolloAuto/apollo/blob/master/modules/control/README.md)
-  * [Data module](https://github.com/ApolloAuto/apollo/blob/master/modules/data/README.md)
-  * [Localization module](https://github.com/ApolloAuto/apollo/blob/master/modules/localization/README.md)
-  * [Perception module](https://github.com/ApolloAuto/apollo/blob/master/modules/perception/README.md)
-  * [Planning module](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/README.md)
-  * [Prediction module](https://github.com/ApolloAuto/apollo/blob/master/modules/prediction/README.md)
-  * [Routing module](https://github.com/ApolloAuto/apollo/blob/master/modules/routing/README.md)
+  * [Canbus module](https://github.com/ApolloAuto/apollo/blob/r3.5.0/modules/canbus/README.md)
+  * [Common module](https://github.com/ApolloAuto/apollo/blob/r3.5.0/modules/common/README.md)
+  * [Control module](https://github.com/ApolloAuto/apollo/blob/r3.5.0/modules/control/README.md)
+  * [Data module](https://github.com/ApolloAuto/apollo/blob/r3.5.0/modules/data/README.md)
+  * [Localization module](https://github.com/ApolloAuto/apollo/blob/r3.5.0/modules/localization/README.md)
+  * [Perception module](https://github.com/ApolloAuto/apollo/blob/r3.5.0/modules/perception/README.md)
+  * [Planning module](https://github.com/ApolloAuto/apollo/blob/r3.5.0/modules/planning/README.md)
+  * [Prediction module](https://github.com/ApolloAuto/apollo/blob/r3.5.0/modules/prediction/README.md)
+  * [Routing module](https://github.com/ApolloAuto/apollo/blob/r3.5.0/modules/routing/README.md)
 
 ## Version relevant How to guides
 > Find quick answers to commonly as How to questions for Apollo 3.5
 
-  * [How to Add a New GPS Receiver](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_gps_receiver.md)
-  * [How to Add a New CAN Card](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_can_card.md )
-  * [How to Add a New Control Algorithm](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_control_algorithm.md)
-  * [How to Add a New Evaluator in Prediction Module](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_evaluator_in_prediction_module.md)
-  * [How to Add a New Predictor in Prediction Module](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_predictor_in_prediction_module.md)
-  * [How to Add a New Vehicle](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_vehicle.md)
-  * [How to Add a New External Dependency](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_an_external_dependency.md)
+  * [How to Add a New GPS Receiver](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/howto/how_to_add_a_gps_receiver.md)
+  * [How to Add a New CAN Card](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/howto/how_to_add_a_new_can_card.md )
+  * [How to Add a New Control Algorithm](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/howto/how_to_add_a_new_control_algorithm.md)
+  * [How to Add a New Evaluator in Prediction Module](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/howto/how_to_add_a_new_evaluator_in_prediction_module.md)
+  * [How to Add a New Predictor in Prediction Module](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/howto/how_to_add_a_new_predictor_in_prediction_module.md)
+  * [How to Add a New Vehicle](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/howto/how_to_add_a_new_vehicle.md)
+  * [How to Add a New External Dependency](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/howto/how_to_add_an_external_dependency.md)
 
 
 ## Developer Tools
 > Learn Apollo developer tools
 
-  * [How  to build and debug Apollo in VSCode](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_build_and_debug_apollo_in_vscode_cn.md "How  to build and debug Apollo in VSCode")
-  * [Introduction of Dreamview](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/dreamview_usage_table.md)
+  * [How  to build and debug Apollo in VSCode](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/howto/how_to_build_and_debug_apollo_in_vscode_cn.md "How  to build and debug Apollo in VSCode")
+  * [Introduction of Dreamview](https://github.com/ApolloAuto/apollo/blob/r3.5.0/docs/specs/dreamview_usage_table.md)
 
 

docs/technical_tutorial/apollo_5.0_technical_tutorial.md

@@ -3,69 +3,69 @@
 ## Overview
 > Learn how to setup Apollo 5.0
 
-  * [Apollo 5.0 quick start](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_5_0_quick_start.md)
+  * [Apollo 5.0 quick start](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/quickstart/apollo_5_0_quick_start.md)
 
 ## Hardware system installation
 > Learn the procedure of Apollo 5.0 hardware system installation
 
-  * [Apollo 5.0 Hardware System Installation guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_3_5_hardware_system_installation_guide.md)
+  * [Apollo 5.0 Hardware System Installation guide](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/quickstart/apollo_3_5_hardware_system_installation_guide.md)
 
 ## Software installation
 > Apollo 5.0 Software and Dreamview installation
 
-* [Apollo software installation guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_software_installation_guide.md)
-* [How to Build and Release](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_build_and_release.md)
-* [How to Debug a Dreamview Start Problem](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_debug_dreamview_start_problem.md)
+* [Apollo software installation guide](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/quickstart/apollo_software_installation_guide.md)
+* [How to Build and Release](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/howto/how_to_build_and_release.md)
+* [How to Debug a Dreamview Start Problem](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/howto/how_to_debug_dreamview_start_problem.md)
 
 
 ## Apollo Cyber
 > All you need to know about Apollo Cyber RT
 
-* [Apollo 5.0 all you need to know about Cyber RT](https://github.com/ApolloAuto/apollo/blob/master/docs/cyber/README.md)
+* [Apollo 5.0 all you need to know about Cyber RT](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/cyber/README.md)
 
 ## Software architecture and algorithms
 > Deep dive into Apollo's modules and algorithms
 
-  *  [Apollo 5.0 software architecture](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Apollo_3.5_Software_Architecture.md "Apollo software architecture") - The core software architecture for Apollo 5.5 remains the same as Apollo 3.5
-  * [3D Obstacle Perception](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/3d_obstacle_perception.md)
-  * [Apollo 5.0 Perception](https://github.com/ApolloAuto/apollo/blob/master/modules/perception/README.md)
-  * [Open Space Planner](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Open_Space_Planner.md)
-  * [QP-Spline-Path Optimizer](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/qp_spline_path_optimizer.md)
-  * [QP-Spline-ST-Speed Optimizer](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/qp_spline_st_speed_optimizer.md)
-  * [Reference Line Smoother](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/reference_line_smoother.md)
-  * [Traffic Light Perception](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/traffic_light.md)
+  *  [Apollo 5.0 software architecture](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/specs/Apollo_3.5_Software_Architecture.md "Apollo software architecture") - The core software architecture for Apollo 5.5 remains the same as Apollo 3.5
+  * [3D Obstacle Perception](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/specs/3d_obstacle_perception.md)
+  * [Apollo 5.0 Perception](https://github.com/ApolloAuto/apollo/blob/r5.0.0/modules/perception/README.md)
+  * [Open Space Planner](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/specs/Open_Space_Planner.md)
+  * [QP-Spline-Path Optimizer](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/specs/qp_spline_path_optimizer.md)
+  * [QP-Spline-ST-Speed Optimizer](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/specs/qp_spline_st_speed_optimizer.md)
+  * [Reference Line Smoother](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/specs/reference_line_smoother.md)
+  * [Traffic Light Perception](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/specs/traffic_light.md)
 
 
 ## Software modules
 > Learn Apollo software modules and extension
 
-  * [Canbus module](https://github.com/ApolloAuto/apollo/blob/master/modules/canbus/README.md)
-  * [Common module](https://github.com/ApolloAuto/apollo/blob/master/modules/common/README.md)
-  * [Control module](https://github.com/ApolloAuto/apollo/blob/master/modules/control/README.md)
-  * [Data module](https://github.com/ApolloAuto/apollo/blob/master/modules/data/README.md)
-  * [Localization module](https://github.com/ApolloAuto/apollo/blob/master/modules/localization/README.md)
-  * [Perception module](https://github.com/ApolloAuto/apollo/blob/master/modules/perception/README.md)
-  * [Planning module](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/README.md)
-  * [Prediction module](https://github.com/ApolloAuto/apollo/blob/master/modules/prediction/README.md)
-  * [Routing module](https://github.com/ApolloAuto/apollo/blob/master/modules/routing/README.md)
+  * [Canbus module](https://github.com/ApolloAuto/apollo/blob/r5.0.0/modules/canbus/README.md)
+  * [Common module](https://github.com/ApolloAuto/apollo/blob/r5.0.0/modules/common/README.md)
+  * [Control module](https://github.com/ApolloAuto/apollo/blob/r5.0.0/modules/control/README.md)
+  * [Data module](https://github.com/ApolloAuto/apollo/blob/r5.0.0/modules/data/README.md)
+  * [Localization module](https://github.com/ApolloAuto/apollo/blob/r5.0.0/modules/localization/README.md)
+  * [Perception module](https://github.com/ApolloAuto/apollo/blob/r5.0.0/modules/perception/README.md)
+  * [Planning module](https://github.com/ApolloAuto/apollo/blob/r5.0.0/modules/planning/README.md)
+  * [Prediction module](https://github.com/ApolloAuto/apollo/blob/r5.0.0/modules/prediction/README.md)
+  * [Routing module](https://github.com/ApolloAuto/apollo/blob/r5.0.0/modules/routing/README.md)
 
 ## Version relevant How to guides
 
-  * [How to run the new Map Verification tool](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_run_map_verification_tool.md)
-  * [How to Add a New GPS Receiver](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_gps_receiver.md)
-  * [How to Add a New CAN Card](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_can_card.md )
-  * [How to Add a New Control Algorithm](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_control_algorithm.md)
-  * [How to Add a New Evaluator in Prediction Module](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_evaluator_in_prediction_module.md)
-  * [How to Add a New Predictor in Prediction Module](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_predictor_in_prediction_module.md)
-  * [How to Add a New Vehicle](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_vehicle.md)
-  * [How to Add a New External Dependency](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_an_external_dependency.md)
+  * [How to run the new Map Verification tool](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/howto/how_to_run_map_verification_tool.md)
+  * [How to Add a New GPS Receiver](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/howto/how_to_add_a_gps_receiver.md)
+  * [How to Add a New CAN Card](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/howto/how_to_add_a_new_can_card.md )
+  * [How to Add a New Control Algorithm](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/howto/how_to_add_a_new_control_algorithm.md)
+  * [How to Add a New Evaluator in Prediction Module](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/howto/how_to_add_a_new_evaluator_in_prediction_module.md)
+  * [How to Add a New Predictor in Prediction Module](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/howto/how_to_add_a_new_predictor_in_prediction_module.md)
+  * [How to Add a New Vehicle](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/howto/how_to_add_a_new_vehicle.md)
+  * [How to Add a New External Dependency](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/howto/how_to_add_an_external_dependency.md)
 
 
 ## Developer Tools
 > Learn Apollo developer tools
 
-  * [How to build and debug Apollo in VSCode](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_build_and_debug_apollo_in_vscode_cn.md "How  to build and debug Apollo in VSCode")
-  * [Introduction of Dreamview](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/dreamview_usage_table.md)
-  * [Introduction to Dreamland](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Dreamland_introduction.md)
+  * [How to build and debug Apollo in VSCode](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/howto/how_to_build_and_debug_apollo_in_vscode_cn.md "How  to build and debug Apollo in VSCode")
+  * [Introduction of Dreamview](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/specs/dreamview_usage_table.md)
+  * [Introduction to Dreamland](https://github.com/ApolloAuto/apollo/blob/r5.0.0/docs/specs/Dreamland_introduction.md)
 
 

docs/technical_tutorial/apollo_5.5_technical_tutorial.md

@@ -3,69 +3,69 @@
 ## Overview
 > Learn how to setup Apollo 5.5
 
-  * [Apollo 5.5 quick start](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_5_5_quick_start.md)
+  * [Apollo 5.5 quick start](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/quickstart/apollo_5_5_quick_start.md)
 
 ## Hardware system installation
 > Learn the procedure of Apollo 5.5 hardware system installation
 
-  * [Apollo 5.5 Hardware System Installation guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_3_5_hardware_system_installation_guide.md) - The Hardware setup for Apollo 5.5 remains the same as Apollo 3.5
+  * [Apollo 5.5 Hardware System Installation guide](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/quickstart/apollo_3_5_hardware_system_installation_guide.md) - The Hardware setup for Apollo 5.5 remains the same as Apollo 3.5
 
 ## Software installation
 > Apollo 5.5 Software and Dreamview installation
 
-* [Apollo software installation guide](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_software_installation_guide.md)
-* [How to Build and Release](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_build_and_release.md)
-* [How to Debug a Dreamview Start Problem](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_debug_dreamview_start_problem.md)
+* [Apollo software installation guide](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/quickstart/apollo_software_installation_guide.md)
+* [How to Build and Release](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/howto/how_to_build_and_release.md)
+* [How to Debug a Dreamview Start Problem](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/howto/how_to_debug_dreamview_start_problem.md)
 
 
 ## Apollo Cyber
 > All you need to know about Apollo Cyber RT
 
-* [Apollo 5.5 all you need to know about Cyber RT](https://github.com/ApolloAuto/apollo/blob/master/docs/cyber/README.md)
+* [Apollo 5.5 all you need to know about Cyber RT](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/cyber/README.md)
 
 ## Software architecture and algorithms
 > Deep dive into Apollo's modules and algorithms
 
-  * [Apollo 5.5 software architecture](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Apollo_3.5_Software_Architecture.md "Apollo software architecture") - The core software architecture for Apollo 5.5 remains the same as Apollo 3.5
-  * [3D Obstacle Perception](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/3d_obstacle_perception.md)
-  * [Apollo 5.5 Perception](https://github.com/ApolloAuto/apollo/blob/master/modules/perception/README.md)
-  * [Open Space Planner](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Open_Space_Planner.md)
-  * [QP-Spline-Path Optimizer](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/qp_spline_path_optimizer.md)
-  * [QP-Spline-ST-Speed Optimizer](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/qp_spline_st_speed_optimizer.md)
-  * [Reference Line Smoother](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/reference_line_smoother.md)
-  * [Traffic Light Perception](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/traffic_light.md)
+  * [Apollo 5.5 software architecture](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/specs/Apollo_3.5_Software_Architecture.md "Apollo software architecture") - The core software architecture for Apollo 5.5 remains the same as Apollo 3.5
+  * [3D Obstacle Perception](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/specs/3d_obstacle_perception.md)
+  * [Apollo 5.5 Perception](https://github.com/ApolloAuto/apollo/blob/r5.5.0/modules/perception/README.md)
+  * [Open Space Planner](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/specs/Open_Space_Planner.md)
+  * [QP-Spline-Path Optimizer](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/specs/qp_spline_path_optimizer.md)
+  * [QP-Spline-ST-Speed Optimizer](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/specs/qp_spline_st_speed_optimizer.md)
+  * [Reference Line Smoother](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/specs/reference_line_smoother.md)
+  * [Traffic Light Perception](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/specs/traffic_light.md)
 
 
 ## Software modules
 > Learn Apollo software modules and extension
 
-  * [Canbus module](https://github.com/ApolloAuto/apollo/blob/master/modules/canbus/README.md)
-  * [Common module](https://github.com/ApolloAuto/apollo/blob/master/modules/common/README.md)
-  * [Control module](https://github.com/ApolloAuto/apollo/blob/master/modules/control/README.md)
-  * [Data module](https://github.com/ApolloAuto/apollo/blob/master/modules/data/README.md)
-  * [Localization module](https://github.com/ApolloAuto/apollo/blob/master/modules/localization/README.md)
-  * [Perception module](https://github.com/ApolloAuto/apollo/blob/master/modules/perception/README.md)
-  * [Planning module](https://github.com/ApolloAuto/apollo/blob/master/modules/planning/README.md)
-  * [Prediction module](https://github.com/ApolloAuto/apollo/blob/master/modules/prediction/README.md)
-  * [Routing module](https://github.com/ApolloAuto/apollo/blob/master/modules/routing/README.md)
+  * [Canbus module](https://github.com/ApolloAuto/apollo/blob/r5.5.0/modules/canbus/README.md)
+  * [Common module](https://github.com/ApolloAuto/apollo/blob/r5.5.0/modules/common/README.md)
+  * [Control module](https://github.com/ApolloAuto/apollo/blob/r5.5.0/modules/control/README.md)
+  * [Data module](https://github.com/ApolloAuto/apollo/blob/r5.5.0/modules/data/README.md)
+  * [Localization module](https://github.com/ApolloAuto/apollo/blob/r5.5.0/modules/localization/README.md)
+  * [Perception module](https://github.com/ApolloAuto/apollo/blob/r5.5.0/modules/perception/README.md)
+  * [Planning module](https://github.com/ApolloAuto/apollo/blob/r5.5.0/modules/planning/README.md)
+  * [Prediction module](https://github.com/ApolloAuto/apollo/blob/r5.5.0/modules/prediction/README.md)
+  * [Routing module](https://github.com/ApolloAuto/apollo/blob/r5.5.0/modules/routing/README.md)
 
 ## Version relevant How to guides
 
-  * [How to run the new Map Verification tool](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_run_map_verification_tool.md)
-  * [How to Add a New GPS Receiver](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_gps_receiver.md)
-  * [How to Add a New CAN Card](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_can_card.md )
-  * [How to Add a New Control Algorithm](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_control_algorithm.md)
-  * [How to Add a New Evaluator in Prediction Module](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_evaluator_in_prediction_module.md)
-  * [How to Add a New Predictor in Prediction Module](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_predictor_in_prediction_module.md)
-  * [How to Add a New Vehicle](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_vehicle.md)
-  * [How to Add a New External Dependency](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_an_external_dependency.md)
+  * [How to run the new Map Verification tool](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/howto/how_to_run_map_verification_tool.md)
+  * [How to Add a New GPS Receiver](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/howto/how_to_add_a_gps_receiver.md)
+  * [How to Add a New CAN Card](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/howto/how_to_add_a_new_can_card.md )
+  * [How to Add a New Control Algorithm](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/howto/how_to_add_a_new_control_algorithm.md)
+  * [How to Add a New Evaluator in Prediction Module](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/howto/how_to_add_a_new_evaluator_in_prediction_module.md)
+  * [How to Add a New Predictor in Prediction Module](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/howto/how_to_add_a_new_predictor_in_prediction_module.md)
+  * [How to Add a New Vehicle](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/howto/how_to_add_a_new_vehicle.md)
+  * [How to Add a New External Dependency](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/howto/how_to_add_an_external_dependency.md)
 
 
 ## Developer Tools
 > Learn Apollo developer tools
 
-  * [How to build and debug Apollo in VSCode](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_build_and_debug_apollo_in_vscode_cn.md "How  to build and debug Apollo in VSCode")
-  * [Introduction of Dreamview](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/dreamview_usage_table.md)
-  * [Introduction to Dreamland](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Dreamland_introduction.md)
+  * [How to build and debug Apollo in VSCode](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/howto/how_to_build_and_debug_apollo_in_vscode_cn.md "How  to build and debug Apollo in VSCode")
+  * [Introduction of Dreamview](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/specs/dreamview_usage_table.md)
+  * [Introduction to Dreamland](https://github.com/ApolloAuto/apollo/blob/r5.5.0/docs/specs/Dreamland_introduction.md)