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LGSVL and Apollo-3.5 interfaces #262
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@Prj1508 Apollo 3.5 replaced ROS with CyberRT. Conceptually the protocol does same things - pub/sub, topics, messages, nodes. Its just that the code is completely rewritten and API is different. The good thing is that in simulator there is almost no difference of using it - see example code daohu527 is showing above - this kind of code will work with any - ros1, ros2 or cyberRT bridge. Only difference is different topic name and message type. |
Thank you. Could not initialize GLX Thanks for your help |
To run cyber_visualizer you need to unset LD_PRELOAD env variable. But don't do it permanently as this variable is needed for perception module. |
Thank you. As I am fairly new to this, please let me know how to unset
LD_PRELOAD variable
…On Mon, Aug 5, 2019 at 4:07 PM Martins Mozeiko ***@***.***> wrote:
To run cyber_visualizer you need to unset LD_PRELOAD env variable. But
don't do it permanently as this variable is needed for perception module.
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Execute following line in terminal:
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thanks again. This solved it and I can bring up cyber visualizer. However, I am not able to launch two docker terminals. If I do, the one I launched first freezes to respond |
When you say "launch docker terminals" how exactly are you doing this? |
I am running docker/scripts/dev_into.sh.
After I have one docker terminal, if I open another terminal and run
docker/scripts/dev_into.sh,
the previous docker terminal freezes.
…On Mon, Aug 5, 2019 at 6:05 PM Martins Mozeiko ***@***.***> wrote:
When you say "launch docker terminals" how exactly are you doing this?
Running docker/scripts/dev_into.sh should work regardless of how many
times you run it.
Alternative is to install tmux inside docker. And then use tmux to open
multiple windows/panes for running scripts.
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Are you sure you are running dev_into.sh and not dev_start.sh second time? |
My bad. Thank you. Its working now
…On Mon, Aug 5, 2019 at 6:22 PM Martins Mozeiko ***@***.***> wrote:
Are you sure you are running dev_into.sh and not dev_start.sh second time?
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I am now debugging the issue of car crashing in some route request due to frame rate mismatch. I have Apollo in debug mode connected to simulator. I have these questions
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I am trying to understand the interfaces between LGSVL and Apollo from both the ends. I understand LGSVL subs/pubs topics from/to Apollo, but is it implemented as a typical ROS sub/pub in Simulator? What are the main changes done to base Apollo to enable this data exchange with simulator?
I would also like to know how to add a new topic for this interface? Please let me know
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