Apollo 1.0 Quick Start Guide
- About This Guide
- Overview of Apollo
- Description of the Vehicle Environment
- Hardware Installation
- Apollo Software Installation
- Run the Demo on Vehicle
- Run Offline Demo
About This Guide
The Apollo 1.0 Quick Start Guide provides all of the basic instructions to understand, install, and build Apollo.
The following table lists the conventions that are used in this document:
About Apollo 1.0
Apollo 1.0, also referred to as the Automatic GPS Waypoint Following, works in an enclosed venue such as a test track or parking lot. It accurately replays a trajectory and the speed of that trajectory that a human driver has traveled in an enclosed, flat area on solid ground.
At this stage of development, Apollo 1.0 cannot perceive obstacles in close proximity, drive on public roads, or drive in areas without GPS signals.
Description of the Vehicle Environment
The Lincoln MKZ, enhanced by Autonomous Stuff, provides users with an accessible autonomous vehicle platform. The platform supplies users with a comprehensive stack of hardware and software solutions.
Users gain direct access to vehicle controls such as gear selection, speed, and indicator lights. Software interfaces have been created for steering, braking, acceleration, and gear selection to provide Developers with a workable user interface.
Additional features include:
- Power distributor terminals
- Integrated PC with ROS pre-installed and configured
- Emergency Stop using a drive-by-wire system
- Ethernet network and USB connections (to PC)
Please refer to Apollo 1.0 Hardware and System Installation Guide for the steps to install the hardware components and the system software.
Apollo Software Installation
Please refer to Apollo Software Installation Guide.
Run Demo on Vehicle
This section provides the instructions to run the Apollo 1.0 Demo on Vehicle.
- Set up the hardware:
Power-on the platform vehicle.
Power-on the modem by pressing and holding the power button until the lights turn on.
Set up the network configuration for the IPC: static IP (for example, 192.168.10.6), subnet mask (for example, 255.255.255.0), and gateway (for example, 192.168.10.1)
- Configurate your DNS server IP (for example, 22.214.171.124).
- Use a tablet to access Settings and connect to MKZ wifi:
Start the HMI in Docker using Chrome only:
Launch the Local release env Docker Image
Run the following commands:
cd $APOLLO_HOME bash docker/scripts/release_start.sh local_release
When Docker starts, it creates a port mapping, which maps the Docker internal port 8887 to the host port 8887. You can then visit the HMI web service in your host machine browser:
Record the Driving Trajectory
Follow these steps to record the driving trajectory:
- In the Apollo HMI, under Quick Record, click Setup to start all modules and perform the hardware health check.
- If the hardware health check passes, click the Start button to start to record the driver trajectory.
- After arriving at a destination, click the Stop button to stop recording.
- If you want to record a different trajectory, click the New button to initiate recording again.
Perform Autonomous Driving
Follow these steps to perform autonomous driving:
If the vehicle successfully passes the Setup step, it is ready to enter the Autonomous mode. MAKE SURE DRIVER IS READY! Click the Start button to start the autonomous driving.
Shut down the system from a terminal:
sudo shutdown now
Power-off the IPC (locate the icon on the top right of the desktop to click Shut Down).
Turn off the modem by pressing and holding the power button until the lights turn off.
Turn off the car.