In Apollo 2.0, we have released auto driving on simple urban roads. The following guide serves as a user manual for launching the Apollo 2.0 software and hardware stack on vehicle.
The Apollo 2.0 Quick Start Guide focuses on Apollo 2.0 new features. For general Apollo concepts, please refer to Apollo 1.0 Quick Start.
For vehicle onboard testing make sure you have calibrated all sensors. For sensor calibration, please refer to Apollo 2.0 Sensor Calibration Guide before you proceed.
Please refer to Apollo 2.0 Hardware and System Installation Guide for the steps to install the hardware components and the system software, as well as Apollo Software Installation Guide.
For questions regarding Dreamview icons refer to the Dreamview Usage Table.
-
Plug-in an external hard-drive to any available USB port in the host machine.
-
Turn on the vehicle, and then the host machine.
-
Launch Docker Release Container.
-
Launch DreamView.
Note: Use your favorite browser to access HMI web service in your host machine browser with URL http://localhost:8888.
-
Select Vehicle and Map.
Note: 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.
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.*
-
Start Modules.
Click the "Setup" button.
Go to Module Controller tab, check if all modules and hardware are ready. (Note: in your offline environment, the hardware modules such as GPS, CANBus, Velodyne, Camera and Radar cannot be brought up.) (Note:You may need to drive around a bit to get a good GPS signal.)
-
Under Default Routing select your desired route.
-
Under Tasks click Start Auto. (Note: Be cautious when starting autonomous driving, you should now be in autonomous mode.)
-
After autonomous testing is complete, under Tasks click Reset All, close all windows and shutdown the machine.
-
Remove the hard drive.
