Navigator

Introduction

The Navigator converts the smoothed navigation data collected by a vehicle into a NavigationInfo format and sends it to the real-time relative map module with the message of FLAGS_navigation_topic for dynamically generating relative maps.

Usage

Example 1:

bash scripts/navigator.sh /apollo/data/bag/path_csc_middle.bag.txt.smoothed /apollo/data/bag/path_csc_left.bag.txt.smoothed  /apollo/data/bag/path_csc_right.bag.txt.smoothed

or

cd /apollo/data/bag
bash /apollo/scripts/navigator.sh path_csc_middle.bag.txt.smoothed path_csc_left.bag.txt.smoothed  path_csc_right.bag.txt.smoothed

Example 2:

bash scripts/navigator.sh data/bag/csc/path_csc_left.bag.txt.smoothed  data/bag/csc/path_csc_right.bag.txt.smoothed

or

cd /apollo/data/bag/csc
bash /apollo/scripts/navigator.sh path_csc_left.bag.txt.smoothed  path_csc_right.bag.txt.smoothed

Other Instructions

You can change the configuration information by modifying the /apollo/modules/map/relative_map/conf/navigator_config.pb.txt file.