Skip to content

Commit 91f420d

Browse files
hearto1314hearto1314
committed
feat: upgrade to 9.0.0-rc-r10, and add toolbox
1 parent ff5dbf9 commit 91f420d

File tree

52 files changed

+5218
-7
lines changed

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

52 files changed

+5218
-7
lines changed

‎.buildtool.conf

+1
Original file line numberDiff line numberDiff line change
@@ -0,0 +1 @@
1+
.buildtool.conf.x86_64

‎profiles/default/.gitkeep renamed to ‎.buildtool.conf.aarch64

File renamed without changes.

‎.buildtool.conf.x86_64

+2
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,2 @@
1+
[compile]
2+
march=-mavx2

‎.env

-4
This file was deleted.

‎.env

+1
Original file line numberDiff line numberDiff line change
@@ -0,0 +1 @@
1+
.env.x86_64

‎.env.aarch64

+4
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,4 @@
1+
APOLLO_ENV_NAME=9.0.0_rc_r10_core
2+
APOLLO_ENV_WORKLOCAL=1
3+
APOLLO_ENV_CONTAINER_REPO='registry.baidubce.com/apollo/apollo-env-arm'
4+
APOLLO_ENV_CONTAINER_TAG='9.0-latest'

‎.env.x86_64

+4
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,4 @@
1+
APOLLO_ENV_NAME=9.0.0_rc_r10_core
2+
APOLLO_ENV_WORKLOCAL=1
3+
APOLLO_ENV_CONTAINER_REPO='registry.baidubce.com/apollo/apollo-env-gpu'
4+
APOLLO_ENV_CONTAINER_TAG='9.0-latest'

‎.workspace.json

-3
This file was deleted.

‎.workspace.json

+1
Original file line numberDiff line numberDiff line change
@@ -0,0 +1 @@
1+
.workspace.json.x86_64

‎.workspace.json.aarch64

+6
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,6 @@
1+
{
2+
"repositories" : [
3+
{"name": "apollo-tools-arm", "version": "9.0.0-rc-r10"},
4+
{"name": "apollo-core-arm", "version": "9.0.0-rc-r10"}
5+
]
6+
}

‎.workspace.json.x86_64

+6
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,6 @@
1+
{
2+
"repositories" : [
3+
{"name": "apollo-tools", "version": "9.0.0-rc-r10"},
4+
{"name": "apollo-core", "version": "9.0.0-rc-r10"}
5+
]
6+
}

‎README_cn.md

+39
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,39 @@
1+
# Apollo Core Workspace
2+
3+
Apollob包管理开发调试样例工程，使用方法参考[包管理安装方式](https://apollo.baidu.com/community/Apollo-Homepage-Document?doc=BYFxAcGcC4HpYIbgPYBtXIHQCMEEsATAV0wGNkBbWA5UyRFdZWVBEAU0hFgoIH0adPgCY%2BADwCiAVnEBBCeIAcATnETFcgMxKZkgGxKAwkoDsa3YoAi45WdGSLxsYt0SzY%2BXICMa98oAMSgYALF7%2B2NhemsLBJsrCYZqKwors7AikBIp6miYmpFJSXpigFKhAA)
4+
5+
### 文件目录组织
6+
7+
```shell
8+
.
9+
├── core # 依赖包配置，包括apollo核心包，以及一些工具包
10+
├── profiles # 整车应用配置，以单lidar、双camera车型为例
11+
├── .env* # 环境配置文件，包括容器名、镜像源等
12+
├── .workspace.json* # 软件包源配置文件，包括依赖的软件版本号
13+
├── .buildtool* # 编译配置文件
14+
├── setup.sh # 用于切换x86_64和aarch64架构配置
15+
├── kill_all.sh # 停止所有apollo相关进程
16+
└── WORKSPACE # bazel 的配置
17+
```
18+
19+
## 安装步骤
20+
21+
```shell
22+
# 首先切换环境配置
23+
bash setup.sh
24+
25+
# 启动容器
26+
aem start
27+
28+
# 进入容器
29+
aem enter
30+
31+
# 安装软件包
32+
buildtool build
33+
34+
# 切换车辆配置 (您可以参考profiles目录下的sample编写自己的profile配置)
35+
aem profile use sample
36+
37+
# 启动Dreamview+
38+
aem bootstrap restart --plus
39+
```

‎core/cyberfile.xml

+3
Original file line numberDiff line numberDiff line change
@@ -108,6 +108,9 @@
108108
<depend repo_name="sim-obstacle" type="binary">sim-obstacle</depend>
109109
<depend repo_name="studio-connector" type="binary">studio-connector</depend>
110110

111+
<!-- toolbox -->
112+
<depend repo_name="sim-dreamview-plus-toolbox-installer" type="binary">dreamview-plus-toolbox-installer</depend>
113+
111114

112115
<builder>bazel</builder>
113116
</package>

‎data/core/.gitkeep

Whitespace-only changes.

‎kill_all.sh

+5
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,5 @@
1+
#!/bin/bash
2+
3+
ps -ef | grep -E "(mainboard|cyber_launch|cyber_recorder|dreamview|data_cleaner)" | grep -v grep | awk '{print $2}' | xargs kill
4+
sleep 2
5+
ps -ef | grep -E "(mainboard|cyber_launch|cyber_recorder|dreamview|data_cleaner)" | grep -v grep | awk '{print $2}' | xargs kill -9

‎profiles/sample/modules/canbus/conf/canbus.conf

+6
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,6 @@
1+
--flagfile=/apollo/modules/common/data/global_flagfile.txt
2+
--canbus_conf_file=/apollo/modules/canbus/conf/canbus_conf.pb.txt
3+
--load_vehicle_library=/opt/apollo/neo/lib/modules/canbus_vehicle/neolix_edu/libneolix_edu_vehicle_factory_lib.so
4+
--load_vehicle_class_name=Neolix_eduVehicleFactory
5+
--enable_chassis_detail_pub
6+
--noreceive_guardian

‎profiles/sample/modules/canbus/conf/canbus_conf.pb.txt

+16
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,16 @@
1+
vehicle_parameter {
2+
brand: NEOLIX
3+
max_enable_fail_attempt: 5
4+
driving_mode: COMPLETE_AUTO_DRIVE
5+
}
6+
7+
can_card_parameter {
8+
brand: SOCKET_CAN_RAW
9+
type: PCI_CARD
10+
channel_id: CHANNEL_ID_ZERO
11+
interface: NATIVE
12+
}
13+
14+
enable_debug_mode: false
15+
enable_receiver_log: false
16+
enable_sender_log: true

‎profiles/sample/modules/common/data/vehicle_param.pb.txt

+50
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,50 @@
1+
vehicle_param {
2+
brand: NEOLIX
3+
vehicle_id {
4+
other_unique_id: "NEOLIX_EDU"
5+
}
6+
front_edge_to_center: 2.151
7+
back_edge_to_center: 0.534
8+
left_edge_to_center: 0.505
9+
right_edge_to_center: 0.505
10+
11+
length: 2.685
12+
width: 1.01
13+
height: 1.672
14+
min_turn_radius: 2.50
15+
max_acceleration: 2.3
16+
max_deceleration: -7.0
17+
max_steer_angle: 6.2491
18+
max_steer_angle_rate: 6.98131700798
19+
min_steer_angle_rate:0
20+
steer_ratio: 10.85
21+
wheel_base: 1.73
22+
wheel_rolling_radius: 0.286
23+
max_abs_speed_when_stopped: 0.03
24+
brake_deadzone: 0.1
25+
throttle_deadzone: 0.1
26+
27+
steering_latency_param
28+
{
29+
dead_time: 0.0
30+
rise_time: 0.0
31+
peak_time: 0.0
32+
settling_time: 0.0
33+
}
34+
35+
throttle_latency_param
36+
{
37+
dead_time: 0.0
38+
rise_time: 0.0
39+
peak_time: 0.0
40+
settling_time: 0.0
41+
}
42+
43+
brake_latency_param
44+
{
45+
dead_time: 0.0
46+
rise_time: 0.0
47+
peak_time: 0.0
48+
settling_time: 0.0
49+
}
50+
}

0 commit comments

Comments
 (0)