From 0fe6d355d032e6e669ab2433514f077c95223b79 Mon Sep 17 00:00:00 2001
From: liuxu <759587231@qq.com>
Date: Wed, 16 Sep 2020 23:17:57 -0700
Subject: [PATCH] docs: format some quick start docs
---
..._3_0_hardware_system_installation_guide.md | 96 +++++++++----------
docs/quickstart/apollo_3_0_quick_start.md | 12 +--
docs/quickstart/apollo_3_0_quick_start_cn.md | 37 +++----
docs/quickstart/apollo_3_5_quick_start.md | 12 +--
docs/quickstart/apollo_5_0_quick_start.md | 12 +--
docs/quickstart/apollo_5_5_quick_start.md | 12 +--
6 files changed, 91 insertions(+), 90 deletions(-)
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 d962e1756d..a3c6656276 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 a512ae5b8b..d6572d9c30 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 fd66636228..684c7fbe6a 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 b0c9e1505e..146e1cb01c 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 5bd196f67a..b6a4cc28fa 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 cb859765c1..a3829b0561 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
--
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