导航

Apollo Tools

Prerequisites

The tools are mostly written in Python and relying on compiled proto modules. So generally you need to do the following steps to make it function well.

Note that all scripts in this page are referenced from Apollo root directory.

# Compile everything including python proto libs.
apollo.sh build

# Setup PYTHONPATH properly.
source scripts/apollo_base.sh

Highlight Tools

  • Diagnostics

    shortcuts: scripts/diagnostics.sh

    Display input/output protobuf messages for modules.

  • Plot_control

    Subscribe control command message and plot recent x steering, throttle, and brake values.

  • Realtime_plot

    shortcuts: scripts/realtime_plot.sh

    Subscribe planning & control messages and plot real time trajectory, speed, curvature/ST-graph, and acceleration/heading.

  • Record_play

    • Rtk_recorder

      shortcuts: scripts/run_rtk_recorder.sh

    Record vehicle trajectory and save it into a file.

    • Rtk_player

      shortcuts: scripts/run_rtk_player.sh

    Read recorded trajectory and publish it as a planning trajectory.

上一页

tools

下一页

Gen Vehicle Protocol Tool