ApolloSim

Setup

1. Quick Setup

You can quickly setup this project by running the following commands:

git clone https://github.com/MingfeiCheng/DriveTester.git DriveTester
cd DriveTester
bash scripts/setup_DriveTester.sh

2. Step by Step

You can also config this project and Apollo step by step.

Step 1: Setup Apollo

1. Download Apollo

git clone -b v7.0.0 https://github.com/ApolloAuto/apollo.git Apollo

The apollo is saved at /workspace/DriveTester/Apollo.

2. Build Apollo

(1) Start docker container

cd /workspace/DriveTester/Apollo
bash docker/scripts/dev_start.sh

(2) Compile the Apollo

bash docker/scripts/dev_into.sh
./apollo.sh build

Note that there may has an issue during building Apollo v7.0.0, should be fixed by

vim WORKSPACE
# paste the following patch to line 60
http_archive(
    name = "zlib",
    build_file = "@com_google_protobuf//:third_party/zlib.BUILD",
    sha256 = "629380c90a77b964d896ed37163f5c3a34f6e6d897311f1df2a7016355c45eff",
    strip_prefix = "zlib-1.2.11",
    urls = ["https://github.com/madler/zlib/archive/v1.2.11.tar.gz"],
)

Please refer to ApolloAuto/apollo#14374 and https://github.com/ApolloAuto/apollo/pull/14387/files

Step 2: Setup ApolloSim

1. Download ApolloSim

git clone -b v7.0 https://github.com/MingfeiCheng/ApolloSim.git v7.0

The ApolloSim is saved at /workspace/DriveTester

2. Config Python Environment

The ApolloSim is totally developed by Python. Please ensure you have installed Anaconda before the following steps.

conda env create -f environment.yml

3. Convert the Apollo proto files

cd /workspace/DriveTester
bash scripts/proto_generate.sh

4. Generate maps from Apollo Map

python tools/preprocess_ApolloSim_map.py

Quick Check

You can quickly check the steup by running the following command:

python test/ApolloSim/test_traffic_generator.py

Acknowledgement

We thanks for the following open-source projects: DoppelTest
scenoRITA-7.0
ScenarioRunner