diff --git a/docs/quickstart/apollo_3_0_hardware_system_installation_guide.md b/docs/quickstart/apollo_3_0_hardware_system_installation_guide.md index d962e1756d7e8ae7159ca989450d95e0b4b1166d..a3c6656276639ee33416d6d292a3435297dbba66 100644 --- a/docs/quickstart/apollo_3_0_hardware_system_installation_guide.md +++ b/docs/quickstart/apollo_3_0_hardware_system_installation_guide.md @@ -1,20 +1,19 @@ # Apollo 3.0 Hardware and System Installation Guide * [About This Guide](#about-this-guide) - * [Document Conventions](#document-conventions) + * [Document Conventions](#document-conventions) * [Introduction](#introduction) - * [Documentation](#documentation) + * [Documentation](#documentation) * [Key Hardware Components](#key-hardware-components) - * [Additional Components Required](#additional-components-required) + * [Additional Components Required](#additional-components-required) * [Steps for the Installation Tasks](#steps-for-the-installation-tasks) - * [At the Office](#at-the-office) - * [In the Vehicle](#in-the-vehicle) - * [Prerequisites](#prerequisites) - * [Diagrams of the Major Component Installations](#diagrams-of-the-major-component-installations) + * [At the Office](#at-the-office) + * [In the Vehicle](#in-the-vehicle) + * [Prerequisites](#prerequisites) + * [Diagrams of the Major Component Installations](#diagrams-of-the-major-component-installations) * [Additional Tasks Required](#additional-tasks-required) * [Next Steps](#next-steps) - ## About This Guide The *Apollo 3.0 Hardware and System Installation Guide* provides the instructions to install all of the hardware components and system software for the **Apollo Project**. The system installation information included pertains to the procedures to download and install the Apollo Linux Kernel. @@ -43,23 +42,23 @@ The following set of documentation describes Apollo 3.0: - ***[Apollo Hardware and System Installation Guide]*** ─ Links to the Hardware Development Platform Documentation in Specs - - **Vehicle**: + - **Vehicle**: - - [Industrial PC (IPC)](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/IPC/Nuvo-6108GC_Installation_Guide.md) - - [Global Positioning System (GPS)](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Navigation/README.md) - - [Inertial Measurement Unit (IMU)](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Navigation/README.md) - - Controller Area Network (CAN) card - - GPS Antenna - - GPS Receiver - - [Light Detection and Ranging System (LiDAR)](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Lidar/README.md) - - [Camera](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Camera/README.md) - - [Radar](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Radar/README.md) - - [Apollo Sensor Unit (ASU)](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Apollo_Sensor_Unit/Apollo_Sensor_Unit_Installation_Guide.md) + - [Industrial PC (IPC)](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/IPC/Nuvo-6108GC_Installation_Guide.md) + - [Global Positioning System (GPS)](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Navigation/README.md) + - [Inertial Measurement Unit (IMU)](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Navigation/README.md) + - Controller Area Network (CAN) card + - GPS Antenna + - GPS Receiver + - [Light Detection and Ranging System (LiDAR)](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Lidar/README.md) + - [Camera](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Camera/README.md) + - [Radar](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Radar/README.md) + - [Apollo Sensor Unit (ASU)](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Apollo_Sensor_Unit/Apollo_Sensor_Unit_Installation_Guide.md) - - **Software**: Refer to the [Software Installation Guide](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Software_and_Kernel_Installation_guide.md) for information on the following: - - Ubuntu Linux - - Apollo Linux Kernel - - NVIDIA GPU Driver + - **Software**: Refer to the [Software Installation Guide](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Software_and_Kernel_Installation_guide.md) for information on the following: + - Ubuntu Linux + - Apollo Linux Kernel + - NVIDIA GPU Driver - ***[Apollo Quick Start Guide]*** ─ The combination of a tutorial and a roadmap that provides the complete set of end-to-end instructions. The Quick Start Guide also provides links to additional documents that describe the conversion of a regular car to an autonomous-driving vehicle. @@ -75,18 +74,18 @@ The key hardware components to install include: - NovAtel SPAN® ProPak6™ and NovAtel IMU-IGM-A1 - Navtech NV-GI120 - Light Detection and Ranging System (LiDAR) ─ You can select one of the following options: - - Velodyne HDL-64E S3 - - Velodyne Puck series - - Innovusion LiDAR - - Hesai's Pandora + - Velodyne HDL-64E S3 + - Velodyne Puck series + - Innovusion LiDAR + - Hesai's Pandora - Cameras — You can select one of the following options: - - Leopard Imaging LI-USB30-AR023ZWDR with USB 3.0 case - - Argus Camera - - Wissen Camera + - Leopard Imaging LI-USB30-AR023ZWDR with USB 3.0 case + - Argus Camera + - Wissen Camera - Radar — You can select one of the following options: - - Continental ARS408-21 - - Delphi ESR 2.5 - - Racobit B01HC + - Continental ARS408-21 + - Delphi ESR 2.5 + - Racobit B01HC ### Additional Components Required @@ -113,14 +112,14 @@ This section describes the steps to install: Perform the following tasks: - Prepare the IPC: - - Install the CAN card - - Install or replace the hard drive - - Prepare the IPC for powering up + - Install the CAN card + - Install or replace the hard drive + - Prepare the IPC for powering up - Install the software for the IPC: - - Ubuntu Linux - - Apollo Kernel - - Nvidia GPU Driver + - Ubuntu Linux + - Apollo Kernel + - Nvidia GPU Driver The IPC is now ready to be mounted on the vehicle. @@ -130,13 +129,12 @@ Perform these tasks: - Make the necessary modifications to the vehicle as specified in the list of prerequisites - Install the major components: - - GPS Antenna - - IPC - - GPS Receiver and IMU - - LiDAR's - - Cameras - - Radar - + - GPS Antenna + - IPC + - GPS Receiver and IMU + - LiDAR's + - Cameras + - Radar #### Prerequisites @@ -163,16 +161,14 @@ The following two diagrams indicate the locations of where the three major compo Use the components that you were required to provide to perform the following tasks: -1. Connect a monitor using the DVI or the HDMI cables and connect the keyboard and mouse to perform debugging tasks at the car onsite. +1. Connect a monitor using the DVI or the HDMI cables and connect the keyboard and mouse to perform debugging tasks at the car onsite. -2. Establish a Wi-Fi connection on the Apple iPad Pro to access the HMI and control the Apollo ADS that is running on the IPC. +2. Establish a Wi-Fi connection on the Apple iPad Pro to access the HMI and control the Apollo ADS that is running on the IPC. ## Time Sync Script Setup [Optional] In order to, sync the computer time to the NTP server on the internet, you could use the [Time Sync script](https://github.com/ApolloAuto/apollo/blob/master/scripts/time_sync.sh) - ## Next Steps After you complete the hardware installation in the vehicle, see the [Apollo Quick Start](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_3_0_quick_start.md) for the steps to complete the software installation. - diff --git a/docs/quickstart/apollo_3_0_quick_start.md b/docs/quickstart/apollo_3_0_quick_start.md index a512ae5b8b40db07c6f405582fd5205849d8c678..d6572d9c30723865853bd05f525445683333677a 100644 --- a/docs/quickstart/apollo_3_0_quick_start.md +++ b/docs/quickstart/apollo_3_0_quick_start.md @@ -44,13 +44,13 @@ For questions regarding Dreamview icons refer to the 4. Launch DreamView. Note\: Use your favorite browser to access Dreamview web service in your host - machine browser with URL http://localhost:8888. + machine browser with URL - ![](images/dreamview_2_5.png) + ![dreamview_2_5](images/dreamview_2_5.png) 5. Select Mode, Vehicle and Map. - ![](images/dreamview_2_5_setup_profile.png) + ![dreamview_2_5_setup_profile](images/dreamview_2_5_setup_profile.png) Note\: You'll be required to setup profile before doing anything else. Click the dropdown menu to select **Navigation** mode, the HDMap and vehicle you @@ -65,21 +65,21 @@ For questions regarding Dreamview icons refer to the Click the `Setup` button. - ![](images/dreamview_2_5_setup.png) + ![dreamview_2_5_setup](images/dreamview_2_5_setup.png) 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.) - ![](images/dreamview_2_5_module_controller.png) + ![dreamview_2_5_module_controller](images/dreamview_2_5_module_controller.png) 7. Under `Default Routing` select your desired route. 8. Under Tasks click `Start Auto`. (Note: Be cautious when starting the autonomous driving, you should now be in autonomous mode.) - ![](images/dreamview_2_5_start_auto.png) + ![dreamview_2_5_start_auto](images/dreamview_2_5_start_auto.png) 9. After the autonomous testing is complete, under Tasks click `Reset All`, close all windows and shutdown the machine. diff --git a/docs/quickstart/apollo_3_0_quick_start_cn.md b/docs/quickstart/apollo_3_0_quick_start_cn.md index fd666362287f74304eea26aedc2ef4527201392a..684c7fbe6a515fd9d709ff556e4bebd488444edb 100644 --- a/docs/quickstart/apollo_3_0_quick_start_cn.md +++ b/docs/quickstart/apollo_3_0_quick_start_cn.md @@ -5,51 +5,56 @@ 这个快速入门指南专注于Apollo 3.0新功能的介绍。对于Apollo的通用概念，请参考[Apollo 1.0 快速入门指南](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_1_0_quick_start_cn.md)。 ## 内容 + - [车辆校准指南](#车辆校准指南) - [硬件和软件安装](#硬件和软件安装) - [DreamView的使用](#硬件和软件安装) - [上车测试](#上车测试) ## 车辆校准指南 + 在进行车辆测试前必须确保已经校准了所有的传感器，关于传感器校准，请参考[Apollo 2.0 传感器标定方法使用指南](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_2_0_sensor_calibration_guide_cn.md)。 ## 硬件和软件安装 + 请参考[Apollo 3.0 硬件与系统安装指南](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_3_0_hardware_system_installation_guide_cn.md)获取安装硬件组件的步骤，参考[Apollo软件安装指南](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_software_installation_guide_cn.md)获取软件安装步骤。 ## DreamView的使用 + 关于DreamView使用时的相关问题请参考[DreamView用法介绍](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/dreamview_usage_table_cn.md)。 ## 上车测试 + 1. 将一个外部磁盘驱动器接入主机任一可用USB接口。 2. 首先启动车辆，然后启动主机。 3. 启动发布版本的Docker容器。 4. 启动DreamView。 - 打开浏览器（譬如Chrome）然后在地址栏输入 http://localhost:8888 - - ![](images/dreamview_2_5.png) - + 打开浏览器（譬如Chrome）然后在地址栏输入 + + ![dreamview_2_5](images/dreamview_2_5.png) + 5. 选择模式、车辆和地图。 - ![](images/dreamview_2_5_setup_profile.png) - + ![dreamview_2_5_setup_profile](images/dreamview_2_5_setup_profile.png) + 附注：在进行任何测试前会要求使用者设置参数。点击下拉列表并选择想要使用的导航模式，高清地图和车辆。该列表数据在[HMI config file](https://raw.githubusercontent.com/ApolloAuto/apollo/master/modules/dreamview/conf/hmi.conf)中定义。 - + 附注：允许使用者在HMI的右侧面板中更改参数，但是需要点击右上角的Reset All按钮重启该系统以使参数生效。 - + 6. 启动模块。 - 点击 `Setup `按钮。 - - ![](images/dreamview_2_5_setup.png) - + 点击 `Setup`按钮。 + + ![dreamview_2_5_setup](images/dreamview_2_5_setup.png) + 附注：进入 **Module Controller** 面板，检查是否所有的模块和硬件已经准备好（在离线环境中，某些硬件模块如GPS， CANBus， Velodyne，Camera和Radar不会显示）（为了获得更佳的GPS信号，可能需要车辆运行一段距离。） -7. 在 `Default Routing `中选择期望的路线。 +7. 在 `Default Routing`中选择期望的路线。 -8. 在Tasks面板中，点击 `Start Auto `（将要进入自动驾驶模式时需要十分小心谨慎）。 +8. 在Tasks面板中，点击 `Start Auto`（将要进入自动驾驶模式时需要十分小心谨慎）。 - ![](images/dreamview_2_5_start_auto.png) + ![dreamview_2_5_start_auto](images/dreamview_2_5_start_auto.png) -9. 自动驾驶测试结束后，在Tasks面板中点击 `Reset All `，关闭所有窗口，关闭主机。 +9. 自动驾驶测试结束后，在Tasks面板中点击 `Reset All`，关闭所有窗口，关闭主机。 10. 移除磁盘驱动器。 diff --git a/docs/quickstart/apollo_3_5_quick_start.md b/docs/quickstart/apollo_3_5_quick_start.md index b0c9e1505e102159ee044dcb139100faf8e29509..146e1cb01c0cb0bd7346deea0e3145ab36ffb35c 100644 --- a/docs/quickstart/apollo_3_5_quick_start.md +++ b/docs/quickstart/apollo_3_5_quick_start.md @@ -42,13 +42,13 @@ For questions regarding Dreamview icons refer to the 4. Launch DreamView. Note\: Use your favorite browser to access Dreamview web service in your host - machine browser with URL http://localhost:8888. + machine browser with URL - ![](images/dreamview_2_5.png) + ![dreamview_2_5](images/dreamview_2_5.png) 5. Select Mode, Vehicle and Map. - ![](images/dreamview_2_5_setup_profile.png) + ![dreamview_2_5_setup_profile](images/dreamview_2_5_setup_profile.png) Note\: You'll be required to setup profile before doing anything else. Click the dropdown menu to select **Navigation** mode, the HDMap and vehicle you @@ -63,21 +63,21 @@ For questions regarding Dreamview icons refer to the Click the `Setup` button. - ![](images/dreamview_2_5_setup.png) + ![dreamview_2_5_setup](images/dreamview_2_5_setup.png) 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.) - ![](images/dreamview_2_5_module_controller.png) + ![dreamview_2_5_module_controller](images/dreamview_2_5_module_controller.png) 7. Under `Default Routing` select your desired route. 8. Under Tasks click `Start Auto`. (Note: Be cautious when starting the autonomous driving, you should now be in autonomous mode.) - ![](images/dreamview_2_5_start_auto.png) + ![dreamview_2_5_start_auto](images/dreamview_2_5_start_auto.png) 9. After the autonomous testing is complete, under Tasks click `Reset All`, close all windows and shutdown the machine. diff --git a/docs/quickstart/apollo_5_0_quick_start.md b/docs/quickstart/apollo_5_0_quick_start.md index 5bd196f67a6b9aa0a4bec042ca124ac66b37c2c0..b6a4cc28fade10d3bac2f8b95858ba67de256e48 100644 --- a/docs/quickstart/apollo_5_0_quick_start.md +++ b/docs/quickstart/apollo_5_0_quick_start.md @@ -40,13 +40,13 @@ For questions regarding Dreamland and the scenario editor, please visit our [Dre 4. Launch DreamView Note\: Use your favorite browser to access Dreamview web service in your host - machine browser with URL http://localhost:8888 + machine browser with URL - ![](images/dreamview_2_5.png) + ![dreamview_2_5](images/dreamview_2_5.png) 5. Select Mode, Vehicle and Map - ![](images/dreamview_2_5_setup_profile.png) + ![dreamview_2_5_setup_profile](images/dreamview_2_5_setup_profile.png) Note\: You'll be required to setup profile before doing anything else. Click the dropdown menu to select **Navigation** mode, the HDMap and vehicle you @@ -61,21 +61,21 @@ For questions regarding Dreamland and the scenario editor, please visit our [Dre Click the `Setup` button - ![](images/dreamview_2_5_setup.png) + ![dreamview_2_5_setup](images/dreamview_2_5_setup.png) 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) - ![](images/dreamview_2_5_module_controller.png) + ![dreamview_2_5_module_controller](images/dreamview_2_5_module_controller.png) 7. Under `Default Routing` select your desired route 8. Under Tasks click `Start Auto`. (Note: Be cautious when starting the autonomous driving, you should now be in autonomous mode) - ![](images/dreamview_2_5_start_auto.png) + ![dreamview_2_5_start_auto](images/dreamview_2_5_start_auto.png) 9. After the autonomous testing is complete, under `Tasks` click `Reset All`, close all windows and shutdown the machine diff --git a/docs/quickstart/apollo_5_5_quick_start.md b/docs/quickstart/apollo_5_5_quick_start.md index cb859765c18493d56aea2bc0627729330692bb1a..a3829b05614bbe50747d4328b3f2ade1fbab5702 100644 --- a/docs/quickstart/apollo_5_5_quick_start.md +++ b/docs/quickstart/apollo_5_5_quick_start.md @@ -40,13 +40,13 @@ For questions regarding Dreamland and the scenario editor, please visit our [Dre 4. Launch DreamView Note\: Use your favorite browser to access Dreamview web service in your host - machine browser with URL http://localhost:8888 + machine browser with URL - ![](images/dreamview_2_5.png) + ![dreamview_2_5](images/dreamview_2_5.png) 5. Select Mode, Vehicle and Map - ![](images/dreamview_2_5_setup_profile.png) + ![dreamview_2_5_setup_profile](images/dreamview_2_5_setup_profile.png) Note\: You'll be required to setup profile before doing anything else. Click the dropdown menu to select **Navigation** mode, the HDMap and vehicle you @@ -61,21 +61,21 @@ For questions regarding Dreamland and the scenario editor, please visit our [Dre Click the `Setup` button - ![](images/dreamview_2_5_setup.png) + ![dreamview_2_5_setup](images/dreamview_2_5_setup.png) 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) - ![](images/dreamview_2_5_module_controller.png) + ![dreamview_2_5_module_controller](images/dreamview_2_5_module_controller.png) 7. Under `Default Routing` select your desired route 8. Under Tasks click `Start Auto`. (Note: Be cautious when starting the autonomous driving, you should now be in autonomous mode) - ![](images/dreamview_2_5_start_auto.png) + ![dreamview_2_5_start_auto](images/dreamview_2_5_start_auto.png) 9. After the autonomous testing is complete, under `Tasks` click `Reset All`, close all windows and shutdown the machine