Hi, I want to generate map file like base_map.xml, is there any toturials about how to generate and load openDRIVE formate file? I've download the OpenDRIVE Format Specification, Rev. 1.4 but did not find any code samples to generate .xml file, thank you very much!

I see the map tool in modules, but I guess the hdmap in your simulation is sunnyvale_loop.bin,

but I can't find this file, I dont really understand the map

it comples the map in opendrive format to binary, all i know is this

but I hope there is some more document to use the map tool

could someone who know about it tell me how the original file .xml to the final file .bin

Hi All,

I successfully finish all the instructions for the demo, but when I switch into Dreamview window, there is neither car image nor trajectory such as in the readme when I rosbag play -l.

I can see the bag file playing, but there's nothing showing on the localhost:8888. Has anyone encounter same problem as me ?

Thanks!

I'm trying to feed images from the KAIST data set to the lane detection module.

My procedure is like this:

1. Build a cyber record file. First, create a \tf message. Then, resize KAIST images from 1280x560 to 1920x1080, and create /apollo/sensor/camera/front_6mm/image messages. Pack them as a cyber record file.
2. Play the record file while running the lane detection module. The lane detection module is run as indicated in this page

The lane detection module is running without reporting any error, and the detected lanes match the lanes in the picture very well. But in the BEV, the detected lanes are not parallel while they should be (see the picture below). My guess is that the camera location of the KAIST data set is not the same as Apollo's default camera location, but I couldn't find a way to correct it.

So my question is, how should I properly feed images to the lane detection module so that it can yield parallel lanes? Thanks a lot.

In the right part of the screenshot, the detected lanes are not parallel.

Hi,

I wonder if Apollo is going to support the new 20 series GPUs such as RTX 2080?

As indicated in another issue, Apollo comes with a pre-compiled version of Caffe which doesn't support new GPU architectures such as Volta. Is this still the case in version 3.5? If not, would Apollo provide support in next releases for 20 series GPUs?

Thanks, Junjie

System information

• OS Platform and Distribution (e.g., Linux Ubuntu 14.04): Ubuntu 14.04
• Apollo installed from (source or binary): source
• Apollo version (1.0, 1.5, 2.0, 2.5, 3.0): 3.0

Steps to reproduce the issue:

• Please use bullet points and include as much details as possible:

Supporting materials (screenshots, command lines, code/script snippets):

We appreciate you go through Apollo documentations and search previous issues before creating an new one. If neither of the sources helped you with your issues, please report the issue using the following form. Please note missing info can delay the response time.

System information

• OS Platform and Distribution (e.g., Linux Ubuntu 18.04): 20.04
• Apollo installed from (source or binary): source? (git clone)
• Apollo version (3.5, 5.0, 5.5, 6.0): 7.0
• Output of apollo.sh config if on master branch:

Steps to reproduce the issue:

• Please use bullet points and include as much details as possible: I couldn't build successfully as the instructions. When run the below commands, it shows "Build did NOT complete successfully"

sudo proxychains bash apollo.sh build

# OR
sudo  bash apollo.sh build

Supporting materials (screenshots, command lines, code/script snippets):

root@in-dev-docker:/apollo# sudo proxychains bash apollo.sh build
ProxyChains-3.1 (http://proxychains.sf.net)
[INFO] Apollo Environment Settings:
[INFO]     APOLLO_ROOT_DIR: /apollo
[INFO]     APOLLO_CACHE_DIR: /apollo/.cache
[INFO]     APOLLO_IN_DOCKER: true
[INFO]     APOLLO_VERSION: predtr-2021-12-28-463fb82f9e
[INFO]     DOCKER_IMG: 
[INFO]     APOLLO_ENV:  STAGE=dev USE_ESD_CAN=false
[INFO]     USE_GPU: USE_GPU_HOST= USE_GPU_TARGET=1
[ OK ] Running GPU build on x86_64 platform.
[WARNING] ESD CAN library supplied by ESD Electronics doesn't exist.
[WARNING] If you need ESD CAN, please refer to:
[WARNING]   third_party/can_card_library/esd_can/README.md
[INFO] Build Overview: 
[INFO]     USE_GPU: 1  [ 0 for CPU, 1 for GPU ]
[INFO]     Bazel Options: --config=gpu
[INFO]     Build Targets: //modules/... union //cyber/...
[INFO]     Disabled:      except //modules/drivers/canbus/can_client/esd/...
Starting local Bazel server and connecting to it...
WARNING: ignoring LD_PRELOAD in environment.
(00:29:33) INFO: Invocation ID: 40695d7b-c7dd-416c-b7ae-de72a1612dec
(00:29:33) INFO: Current date is 2022-01-28
(00:30:32) INFO: Repository build_bazel_rules_swift instantiated at:
  /apollo/WORKSPACE:68:16: in <toplevel>
  /apollo/.cache/bazel/540135163923dd7d5820f3ee4b306b32/external/com_github_grpc_grpc/bazel/grpc_extra_deps.bzl:38:29: in grpc_extra_deps
  /apollo/.cache/bazel/540135163923dd7d5820f3ee4b306b32/external/build_bazel_rules_apple/apple/repositories.bzl:117:11: in apple_rules_dependencies
  /apollo/.cache/bazel/540135163923dd7d5820f3ee4b306b32/external/build_bazel_rules_apple/apple/repositories.bzl:84:14: in _maybe
Repository rule http_archive defined at:
  /apollo/.cache/bazel/540135163923dd7d5820f3ee4b306b32/external/bazel_tools/tools/build_defs/repo/http.bzl:336:31: in <toplevel>
(00:30:32) INFO: Repository rules_java instantiated at:
  /apollo/WORKSPACE:68:16: in <toplevel>
  /apollo/.cache/bazel/540135163923dd7d5820f3ee4b306b32/external/com_github_grpc_grpc/bazel/grpc_extra_deps.bzl:29:18: in grpc_extra_deps
  /apollo/.cache/bazel/540135163923dd7d5820f3ee4b306b32/external/com_google_protobuf/protobuf_deps.bzl:44:21: in protobuf_deps
Repository rule http_archive defined at:
  /apollo/.cache/bazel/540135163923dd7d5820f3ee4b306b32/external/bazel_tools/tools/build_defs/repo/http.bzl:336:31: in <toplevel>
(00:30:32) WARNING: Download from https://github.com/bazelbuild/rules_java/archive/981f06c3d2bd10225e85209904090eb7b5fb26bd.tar.gz failed: class java.io.IOException connect timed out
(00:30:32) ERROR: An error occurred during the fetch of repository 'rules_java':
   Traceback (most recent call last):
	File "/apollo/.cache/bazel/540135163923dd7d5820f3ee4b306b32/external/bazel_tools/tools/build_defs/repo/http.bzl", line 111, column 45, in _http_archive_impl
		download_info = ctx.download_and_extract(
Error in download_and_extract: java.io.IOException: Error downloading [https://github.com/bazelbuild/rules_java/archive/981f06c3d2bd10225e85209904090eb7b5fb26bd.tar.gz] to /apollo/.cache/bazel/540135163923dd7d5820f3ee4b306b32/external/rules_java/temp14011213055655260428/981f06c3d2bd10225e85209904090eb7b5fb26bd.tar.gz: connect timed out
(00:30:32) ERROR: While resolving toolchains for target //modules/v2x/v2x_proxy/os_interface:os_interface_cpplint: invalid registered toolchain '@bazel_tools//tools/jdk:all': while parsing '@bazel_tools//tools/jdk:all': no such package '@rules_java//java': java.io.IOException: Error downloading [https://github.com/bazelbuild/rules_java/archive/981f06c3d2bd10225e85209904090eb7b5fb26bd.tar.gz] to /apollo/.cache/bazel/540135163923dd7d5820f3ee4b306b32/external/rules_java/temp14011213055655260428/981f06c3d2bd10225e85209904090eb7b5fb26bd.tar.gz: connect timed out
(00:30:32) ERROR: Analysis of target '//modules/v2x/v2x_proxy/os_interface:os_interface_cpplint' failed; build aborted: invalid registered toolchain '@bazel_tools//tools/jdk:all': while parsing '@bazel_tools//tools/jdk:all': no such package '@rules_java//java': java.io.IOException: Error downloading [https://github.com/bazelbuild/rules_java/archive/981f06c3d2bd10225e85209904090eb7b5fb26bd.tar.gz] to /apollo/.cache/bazel/540135163923dd7d5820f3ee4b306b32/external/rules_java/temp14011213055655260428/981f06c3d2bd10225e85209904090eb7b5fb26bd.tar.gz: connect timed out
(00:30:32) INFO: Elapsed time: 59.517s
(00:30:32) INFO: 0 processes.
(00:30:32) FAILED: Build did NOT complete successfully (595 packages loaded, 6242 targets configured)
    currently loading: @bazel_tools//tools/jdk ... (3 packages)
root@in-dev-docker:/apollo# 

System information

• OS Platform and Distribution (e.g., Linux Ubuntu 18.04): 18.04
• Apollo installed from (source or binary):
• Apollo version (3.5, 5.0, 5.5, 6.0): 6.0
• Output of apollo.sh config if on master branch:

Steps to reproduce the issue:

• run simulation together with apollo-6.0 and lgsvl in modular test
• run cyber_recorder to record message from channel
• fail to play or get information from record

Supporting materials (screenshots, command lines, code/script snippets):

I do as follow

bash docker/scripts/install_docker.sh
docker ps  
bash docker/scripts/dev_start.sh
bash docker/scripts/dev_into.sh
bash scripts/hmi.sh

and then

...
[WARNING] Failed to find device with pattern "ttyUSB*" ...
...
[WARNING] Failed to find device with pattern "ram*" ...
...
...
Start roscore...
HMI ros node service running at localhost:8887
HMI running at http://localhost:8887

but I can not connect to can not connect to http://localhost:8887/

After the build has passed successfully on Ubuntu 17.10:

abhisheknaik96@in_dev_docker:/apollo$ sudo bash scripts/bootstrap.sh
Started supervisord with dev conf
Start roscore...
voice_detector: started
Dreamview is running at http://localhost:8888

But Firefox cannot connect to localhost:8888. apollo/data/log/ has the following:

-rw-r--r-- 1 root root   0 Mar 19 17:23 dreamview.out
lrwxrwxrwx 1 root root  57 Mar 19 17:23 monitor.INFO -> monitor.in_dev_docker.root.log.INFO.20180319-172355.15403
-rw-r--r-- 1 root root 21K Mar 19 17:23 SystemMonitor.flags
lrwxrwxrwx 1 root root  60 Mar 19 17:23 monitor.WARNING -> monitor.in_dev_docker.root.log.WARNING.20180319-172357.15403
lrwxrwxrwx 1 root root  58 Mar 19 17:23 monitor.ERROR -> monitor.in_dev_docker.root.log.ERROR.20180319-172357.15403
-rw-r--r-- 1 root root 16M Mar 28 11:48 monitor.out
-rw-r--r-- 1 root root 16M Mar 28 11:48 monitor.in_dev_docker.root.log.WARNING.20180319-172357.15403
-rw-r--r-- 1 root root 17M Mar 28 11:48 monitor.in_dev_docker.root.log.INFO.20180319-172355.15403
-rw-r--r-- 1 root root 16M Mar 28 11:48 monitor.in_dev_docker.root.log.ERROR.20180319-172357.15403
-rw-r--r-- 1 root root   0 Mar 28 16:48 roscore.out
-rw-r--r-- 1 root root   0 Mar 28 16:48 voice_detector.out

The contents of monitor.ERROR are:

Log file created at: 2018/03/19 17:23:57
Running on machine: in_dev_docker
Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
E0319 17:23:57.933039 15439 can_checker_factory.cc:48] Failed to create CAN checker with parameter: brand: ESD_CAN
type: PCI_CARD
channel_id: CHANNEL_ID_ZERO
E0319 17:24:05.134542 15439 info_collector.cc:55] Cannot load file data/log/canbus.flags
E0319 17:24:05.134588 15439 info_collector.cc:55] Cannot load file data/log/control.flags
E0319 17:24:05.134618 15439 info_collector.cc:55] Cannot load file data/log/localization.flags
E0319 17:24:05.134646 15439 info_collector.cc:55] Cannot load file data/log/perception.flags
E0319 17:24:05.134675 15439 info_collector.cc:55] Cannot load file data/log/planning.flags
E0319 17:24:05.134704 15439 info_collector.cc:55] Cannot load file data/log/prediction.flags
E0319 17:24:05.134734 15439 info_collector.cc:55] Cannot load file data/log/routing.flags
E0319 17:24:32.730955 15439 can_checker_factory.cc:48] Failed to create CAN checker with parameter: brand: ESD_CAN

Any help would be appreciated...

Hi Guys,

I am an autonomous vehicle enthusiast who recently started working on Apollo. My question/doubt is as follows.

I have successfully built the Apollo code using command line and ran the simulation as well. However to get better understanding on the control flow of the code I would want to build the code in Visual Studio code and run unit tests.

I followed the procedure given in apollo/docs/howto/how_to_build_and_release.md. But when I run build in VS code I am getting the below error.

[ERROR] Failed to start docker container "apollo_dev" based on image: apolloauto/apollo:dev-x86_64-20180130_1338 apollo_docker.sh: line 140: docker: command not found The terminal process terminated with exit code: 127

Does that mean even VS code should be run inside the docker. Currently I am running it in my host machine outside docker.

Excuse me the question looks silly.

Thank you, KK

Hi, I'm trying to see lane detection from a camera in SVL simulator, and I trying to do as is specified in this document.

First I create a record file from de SVL. Next I do point 1,2,3,4,5,6,7. In the point 8, I chose "If you want to test lane detection alone use" using the command mainboard -d ./modules/perception/production/dag/dag_streaming_perception_lane.dag. To see the lane results, I mark enable_visualization: true in modules/perception/production/conf/perception/camera/lane_detection_component.config before executing the point 1 form the document. I play de recorded file it the file of the perception camera turns off

How can I fix that? Thank you

The Apollo Auto simulator Can sends like car telemetry information the data specifications to the application using WebSocketi.e WebSocket(uWebSockets) Data-describes the JSON object send back from Application to the simulator

For sample example i.e understanding: https://github.com/shazraz/Extended-Kalman-Filter.

Here bins tested with Udacity SDC Term 2 Simulator (Extended-Kalman-Filter connected/communicat Udacity on Port TCP and data receive Json msg) Similar Apollo Auto Can be used send/receive other from other Application I think Apollo-Auto dream view connected via WebSocket. so, Apollo auto will be provided WebSocket interfaces to send/receive data to Application/Hardware-TCP/UDP port and Ip Address. ?

Is it possible to use OpenScenario 1.0 (.xosc) for traffic vehicle maneuvering with Carla- Apollo co-simulation? if not, Is there any alternative way for maneuvering traffic vehicles with Carla- Apollo co-simulation?

Apollo : 7.0 Carla : 0.9.13 Ubuntu: 20.04

Hi, I meet a problem when I am trying to use the MODE_MOCK. I am attempting to send simulation data to Apollo at fixed time intervals, for example with a 0.05s time period. But I found that the timestamp_sec value for the perception/planning outputs is based on the Apollo system time, rather than the timestamps of the simulated data. Will this affect the performane of Apollo?

I am concerned that this difference may cause latency problems. Therefore, I tried using MODE_MOCK. However, in MODE_MOCK mode, the planning module is unable to run. Could you please tell me how to solve this problem?

System information

• OS Platform:Linux Ubuntu 18.04
• Apollo version: 6.0

Steps to reproduce the issue:

• Change the mode in /apollo/cyber/conf/cyber.pb.conf to MODE_MOCK
• Publish time to the channel /Clock

Hi, I come here to ask a question about recent Pull request. I have applied #14264 "Planning: fix pull over add path bounds debug info for dreamview" ths pull request to my own main. and I got the problem that the car automatically parks along the lane edge as you see the picture above. I think it looks like the car tries to make a space for emergency cars behind to pass our car but I put the debug messages whether it has pull over status and It doesn't have. I wonder why this situation happens after applying the pull request.