Vehicle Calibration Configs¶
HMI will list the subfolders as vehicles available to use.
For a well functioning vehicle, generally you need the following config files:
<vehicle_dir>
- vehicle_param.pb.txt # Instance of apollo.common.VehicleParam
- calibration_table.pb.txt # Instance of apollo.control.ControlConf
- velodyne_params # Params for velodyne
- 64E_S3_calibration_example.yaml
- velodyne64_novatel_extrinsics_example.yaml
- start_velodyne.launch # Velodyne launch file for ROS.
- gnss_params # Params for GNSS
- gnss_conf.pb.txt # GNSS config file
Take mkz8 as an example, but don’t forget to fill the rtk_from.ntrip in gnss_params/gnss_conf.pb.txt.