Apollo无人车入门

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Apollo Cyber架构

Cyber 介绍

Apollo 3.5开始使用Cyber¹作为自动驾驶框架,取代原有的ROS.每个模块,如感知,预测都作为一个组件实现.每个模块框架(套路)的主要变化有:

• 模块的编译出一个库,而不是可执行文件,因此模块启动需要编写一个launch文件.

  1. The name of the component
  2. The dag file you just created in the previous step.
  3. The name of the process which the component runs within
  <cyber>
      <component>
          <name>common</name>
          <dag_conf>/apollo/cyber/examples/common_component_example/common.dag</dag_conf>
          <process_name>common</process_name>
      </component>
  </cyber>
  

• 通过dag文件来配置启动参数,如Reader的配置信息,而原本通过Adapter配置ROS的订阅信息.

  1. Channel names: for data input and output
  2. Library path: library built from component class
  3. Class name: the class name of the component
  
  # Define all coms in DAG streaming.
  component_config {
      component_library : "/apollo/bazel-bin/cyber/examples/common_component_example/libcommon_component_example.so"
      components {
          class_name : "CommonComponentSample"
          config {
              name : "common"
              readers {
                  channel: "/apollo/prediction"
              }
              readers {
                  channel: "/apollo/test"
              }
          }
      }
  }
  

  启动/关闭某一个模块

  cyber_launch start modules/planning/launch/planning.launch
  cyber_launch stop modules/planning/launch/planning.launch
  ---------------------------或者------------------------
  mainboard -d modules/prediction/dag/prediction.dag
  

例子参见Apollo官方文档。

通用组件例子
定时器组件例子

通过dag文件描述任务，然后通过Mainboard调度程序加载进去mainboard -d modules/prediction/dag/prediction.dag某一个模块任务，开始运行程序。

component

Apollo Cyber RT框架基于组件的概念构建、加载各功能模块。Localization、Perception、Prediction、Planning、Control等功能模块均作为Apollo Cyber RT框架的一个组件而存在，基于Cyber RT提供的调度程序Mainboard加载运行。

Cyber RT为开发者提供了Component 类，开发者的算法业务模块只需要继承该类，实现其中的 Proc 接口即可。该接口类似于 ROS 中的 Callback，消息通过参数的方式传递，用户只要在Proc中实现算法、消息处理相关的逻辑。

Proc 的触发有两种方式：

1. 指定channel msg触发

   • 感知模块

     class SegmentationComponent : public cyber::Component<drivers::PointCloud> {
      public:
       bool Init() override;
       bool Proc(const std::shared_ptr<drivers::PointCloud>& message) override;
       }
     

   • 预测模块

     class PredictionComponent
         : public cyber::Component<perception::PerceptionObstacles> {
      public:
       bool Init() override;
       /**
        * @brief Data callback upon receiving a perception obstacle message.
        * @param Perception obstacle message.
        */
       bool Proc(const std::shared_ptr<perception::PerceptionObstacles>&) override;
       }
     

   • 规划模块

     class PlanningComponent final
         : public cyber::Component<prediction::PredictionObstacles, canbus::Chassis,
                                   localization::LocalizationEstimate> {
      public:
       bool Init() override;
       bool Proc(const std::shared_ptr<prediction::PredictionObstacles>&
                     prediction_obstacles,
                 const std::shared_ptr<canbus::Chassis>& chassis,
                 const std::shared_ptr<localization::LocalizationEstimate>&
                     localization_estimate) override;
       }
     

2. 定时器触发

   • canbus模块

     class CanbusComponent final : public apollo::cyber::TimerComponent {
      private:
       bool Init() override;
       /**
        * @brief module on_time function
        */
       bool Proc() override;
       }
     

   • control模块

     class ControlComponent final : public apollo::cyber::TimerComponent {
       friend class ControlTestBase;
      public:
       bool Init() override;
       bool Proc() override;
     }
     

常用运行命令

1. docker中编译组件

bash  apollo.sh -h
Options:
  build: run build only
  build_opt: build optimized binary for the code
  build_cpu: dbg build with CPU
  build_gpu: run build only with Caffe GPU mode support
  build_opt_gpu: build optimized binary with Caffe GPU mode support
  build_fe: compile frontend javascript code, this requires all the node_modules to be installed already
build_drivers [dbg|opt]: build drivers only
  build_planning: compile planning and its dependencies.
  build_control: compile control and its dependencies.
  build_prediction: compile prediction and its dependencies.

-----------------------------------------------------------------------------------------
bash  apollo.sh build

2. 启动dreamview运行

bash scripts/bootstrap.sh start

3. 回放包文件

cyber_recorder play -f data/bag/20190716141739.record.00001 -s 10 -l 

4. 启动/关闭某一个模块

cyber_launch start modules/planning/launch/planning.launch
cyber_launch stop