¶
Steps for¶
Generating navigation data from bag and
Manually sending the data to /apollo/navigation topic
Step 1: In dev docker, extract path data from bags¶
dev_docker:/apollo$cd /modules/tools/navigator
dev_docker:/apollo/modules/tools/navigator$python extractor.py path-to-bags/*.bag
A path file will be generated in
dev_docker:/apollo/modules/tools/navigator$
With format of
path_[first_bag_name].bag.txt
Step2: (Optional) Verify the extracted path is correct¶
dev_docker:/apollo/modules/tools/navigator$python viewer_raw.py path_[bag_name].bag.txt
Step3: Smooth the path¶
dev_docker:/apollo/modules/tools/navigator$./smooth.sh /apollo/modules/tools/navigator/path_[first_bag_name].bag.txt 200
200 is the parameter for smooth length. If the smooth is failed, try to change this parameter to make the smooth pass. The preferred number is between 150 and 200.
A smoothed data file, path_[first_bag_name].bag.txt.smoothed, is generated under folder
dev_docker:/apollo/modules/tools/navigator$
Step4: (Optional) Verify the smoothed data¶
dev_docker:/apollo/modules/tools/navigator$ python viewer_smooth.py path[first_bag_name].bag.txt path[first_bag_name].bag.txt.smoothed