apollo_standalone

Tested OS: ubuntu 16.04 LTS

This is a cmake version of the Apollo5.0 release. The project structure is much more clear and simpler than our previous work – port_apollo. Every CMakelists.txt file corresponds to a bazel BUILD file in the same folder.

Dependencies

• protobuf(3.3.0)
• gflags(2.2.0), glog(0.3.5)
• qpOASES(master)
• osqp(0.4.1)
• curlpp(dev)
• tinyxml2(master)
• proj4(4.9.3)
• ipopt(3.12.11)
• adol-c(2.6.3)
• Eigen(dev)
• Cuda(optional, 9.0)

Some of these libraries may have already been installed to your system. You still need to run the install_dependencies.sh to reinstall them, since apollo include directories in the source codes are different from the standard ones.

Installation

git clone --recursive [email protected]:yuzhangbit/apollo_standalone.git
cd apollo_standalone
## install all the dependencies
bash scripts/install_dependencies.sh

Build

mkdir -p src/apollo/build && cd src/apollo/build
cmake ..
make -j$(nproc)
sudo make install

All the test binary and library targets, config files and testdata will be installed to /apollo.

If you have followed the instruction and installed the cuda, you can enable cuda by

mkdir -p src/apollo/build && cd src/apollo/build
cmake -DENABLE_CUDA=ON ..
make -j$(nproc)
sudo make install

Run Tests

bash run_all_test.bash

Since apollo tests need to load test data in /apollo directory to run, you have to do sudo make install first.

Example

We provide a simple example for open_space planner, here is the result.

NOTE: Not all the modules of apollo have been converted to cmake projects. We only convert codes related to open space planners under apollo/modules/planning directory. But by referring to our CMakeLists examples, you can convert interested apollo modules to cmake projects with ease. Below is the current converting status of apollo_standalone.

• apollo/cyber (done)
• apollo/modules/common (done)
• apollo/modules/planning (most of the functions are enabled)
• apollo/modules/xxx (only proto interfaces are enabled)

Use Apollo in Other CMake Projects

Once the installation is done successfully, the apollo codes can be used in other cmake projects via find_package as below:

cmake_minimum_required(VERSION 3.5.1)
project(example_project)

set(CMAKE_CXX_STANDARD 11)

list(APPEND CMAKE_PREFIX_PATH "/apollo")

find_package(apollo 5.0.0 CONFIG REQUIRED)

add_executable(listener src/listener.cc)
target_link_libraries(listener apollo::cyber)

add_executable(talker src/talker.cc)
target_link_libraries(talker apollo::cyber)

An example_project is provided at src/example_project.

Modules Exported

Core Libraries

• apollo::cyber
• apollo::planning
• apollo::common For these three targets, the protobuf interfaces are included.

Module Interfaces

• apollo::cyber_proto
• apollo::planning_proto
• apollo::common_proto
• apollo::canbus_proto
• apollo::dreamview_proto
• apollo::localization_proto
• apollo::map_proto
• apollo::perception_proto
• apollo::prediction_proto
• apollo::routing_proto

Steps:

1. Find the apollo targets via the config mode.

   list(APPEND CMAKE_PREFIX_PATH "/apollo")
   find_package(apollo 5.0.0 CONFIG REQUIRED)
   

2. Link against the targets you need. For example, if you call some functions from modules/planning, you can link against apollo::planning as below:

   add_executable(foo src/foo.cc)
   target_link_libraries(foo apollo::planning)
   # or
   add_library(foo src/foo.cc)
   target_link_libraries(foo apollo::planning)

   If you only use the protobuf interface of a module, link against the corresponding interface library:

   add_executable(foo src/foo.cc)
   target_link_libraries(foo apollo::perception_proto)

   No need to worry about the dependencies. They are also exported along with these apollo targets.