LGSVL Simulator change (part 5)

Add new config files for running LGSVL Simulator.

modules/dreamview/conf/hmi_modes/mkz_lgsvl.pb.txt

@@ -0,0 +1,160 @@
+cyber_modules {
+  key: "Camera"
+  value: {
+    dag_files: "/apollo/modules/drivers/camera/dag/camera.dag"
+    dag_files: "/apollo/modules/drivers/video/dag/video.dag"
+  }
+}
+cyber_modules {
+  key: "Canbus"
+  value: {
+    dag_files: "/apollo/modules/canbus/dag/canbus.dag"
+  }
+}
+cyber_modules {
+  key: "Control"
+  value: {
+    dag_files: "/apollo/modules/control/dag/control.dag"
+  }
+}
+cyber_modules {
+  key: "GPS"
+  value: {
+    dag_files: "/apollo/modules/drivers/gnss/dag/gnss.dag"
+  }
+}
+cyber_modules {
+  key: "Guardian"
+  value: {
+    dag_files: "/apollo/modules/guardian/dag/guardian.dag"
+  }
+}
+cyber_modules {
+  key: "Localization"
+  value: {
+    dag_files: "/apollo/modules/localization/dag/dag_streaming_rtk_localization.dag"
+  }
+}
+cyber_modules {
+  key: "Perception"
+  value: {
+    dag_files: "/apollo/modules/perception/production/dag/dag_streaming_perception_lgsvl.dag"
+  }
+}
+cyber_modules {
+  key: "Traffic Light"
+  value: {
+    dag_files: "/apollo/modules/perception/production/dag/dag_streaming_perception_trafficlights.dag"
+  }
+}
+cyber_modules {
+  key: "Planning"
+  value: {
+    dag_files: "/apollo/modules/planning/dag/planning.dag"
+  }
+}
+cyber_modules {
+  key: "Storytelling"
+  value: {
+    dag_files: "/apollo/modules/storytelling/dag/storytelling.dag"
+  }
+}
+cyber_modules {
+  key: "Prediction"
+  value: {
+    dag_files: "/apollo/modules/prediction/dag/prediction.dag"
+  }
+}
+cyber_modules {
+  key: "Radar"
+  value: {
+    dag_files: "/apollo/modules/drivers/radar/conti_radar/dag/conti_radar.dag"
+  }
+}
+cyber_modules {
+  key: "Routing"
+  value: {
+    dag_files: "/apollo/modules/routing/dag/routing.dag"
+  }
+}
+cyber_modules {
+  key: "Transform"
+  value: {
+    dag_files: "/apollo/modules/transform/dag/static_transform.dag"
+  }
+}
+cyber_modules {
+  key: "Velodyne"
+  value: {
+    dag_files: "/apollo/modules/drivers/velodyne/dag/velodyne.dag"
+  }
+}
+cyber_modules {
+  key: "Third Party Perception"
+  value: {
+    dag_files: "/apollo/modules/third_party_perception/dag/third_party_perception.dag"
+  }
+}
+modules {
+  key: "Recorder"
+  value: {
+    start_command: "/apollo/scripts/record_bag.py --start"
+    stop_command: "/apollo/scripts/record_bag.py --stop"
+    process_monitor_config {
+      command_keywords: "cyber_recorder record"
+    }
+  }
+}
+monitored_components {
+  key: "Recorder"
+  value: {
+    process {
+      command_keywords: "cyber_recorder record"
+    }
+    resource {
+      disk_spaces {
+        # For logs.
+        path: "/apollo/data"
+        insufficient_space_warning: 8
+        insufficient_space_error: 2
+      }
+      disk_spaces {
+        # For records.
+        path: "/media/apollo/internal_nvme"
+        insufficient_space_warning: 128
+        insufficient_space_error: 32
+      }
+    }
+  }
+}
+monitored_components {
+  key: "GPS"
+  value: {
+    process {
+      command_keywords: "mainboard"
+      command_keywords: "/apollo/modules/drivers/gnss/dag/gnss.dag"
+    }
+    # We also have a special GPSMonitor to check message status.
+  }
+}
+monitored_components {
+  key: "Localization"
+  value: {
+    # Special LocalizationMonitor.
+  }
+}
+# Disbale ESD-CAN for a while as in some cars we are using B-CAN.
+# monitored_components {
+#   key: "ESD-CAN"
+#   value: {
+#     # Special EsdCanMonitor.
+#   }
+# }
+monitored_components {
+  key: "Lidar 128"
+  value: {
+    channel {
+      name: "/apollo/sensor/lidar128/compensator/PointCloud2"
+    }
+  }
+}

modules/perception/production/conf/perception/lidar/velodyne128_segmentation_conf_lgsvl.pb.txt

@@ -0,0 +1,5 @@
+sensor_name: "velodyne128"
+enable_hdmap: true
+lidar_query_tf_offset: 200
+lidar2novatel_tf2_child_frame_id: "velodyne128"
+output_channel_name: "/perception/inner/SegmentationObjects"

modules/perception/production/dag/dag_streaming_perception_lgsvl.dag

@@ -0,0 +1,71 @@
+module_config {
+  module_library : "/apollo/bazel-bin/modules/perception/onboard/component/libperception_component_lidar.so"
+
+ components {
+    class_name : "SegmentationComponent"
+    config {
+      name: "Velodyne128Segmentation"
+      config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne128_segmentation_conf_lgsvl.pb.txt"
+      flag_file_path: "/apollo/modules/perception/production/conf/perception/perception_common.flag"
+      readers {
+          channel: "/apollo/sensor/lidar128/compensator/PointCloud2"
+        }
+    }
+  }
+
+ components {
+    class_name : "SegmentationComponent"
+    config {
+      name: "Velodyne16Segmentation"
+      config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne16_segmentation_conf.pb.txt"
+      readers {
+          channel: "/apollo/sensor/lidar16/compensator/PointCloud2"
+        }
+    }
+ }
+
+  components {
+    class_name : "RecognitionComponent"
+    config {
+      name: "RecognitionComponent"
+      config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/recognition_conf.pb.txt"
+      readers {
+          channel: "/perception/inner/SegmentationObjects"
+        }
+    }
+  }
+
+  components {
+    class_name: "RadarDetectionComponent"
+    config {
+      name: "FrontRadarDetection"
+      config_file_path: "/apollo/modules/perception/production/conf/perception/radar/front_radar_component_conf.pb.txt"
+      readers {
+          channel: "/apollo/sensor/radar/front"
+        }
+    }
+  }
+
+  components {
+    class_name: "RadarDetectionComponent"
+    config {
+      name: "RearRadarDetection"
+      config_file_path: "/apollo/modules/perception/production/conf/perception/radar/rear_radar_component_conf.pb.txt"
+      readers {
+          channel: "/apollo/sensor/radar/rear"
+        }
+    }
+  }
+
+  components {
+    class_name: "FusionComponent"
+    config {
+      name: "SensorFusion"
+      config_file_path: "/apollo/modules/perception/production/conf/perception/fusion/fusion_component_conf.pb.txt"
+      readers {
+          channel: "/perception/inner/PrefusedObjects"
+        }
+    }
+  }
+
+}

scripts/bootstrap_lgsvl.sh

@@ -0,0 +1,60 @@
+#!/usr/bin/env bash
+
+###############################################################################
+# Copyright 2020 The Apollo Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+###############################################################################
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+DREAMVIEW_URL="http://localhost:8888"
+
+cd "${DIR}/.."
+
+# Make sure supervisord has correct coredump file limit.
+ulimit -c unlimited
+
+source "${DIR}/apollo_base.sh"
+
+function start() {
+    nohup cyber_launch start modules/drivers/tools/image_decompress/launch/image_decompress.launch & 
+    ./scripts/monitor.sh start
+    ./scripts/dreamview.sh start
+    if [ $? -eq 0 ]; then
+        sleep 2  # wait for some time before starting to check
+        http_status="$(curl -o /dev/null -I -L -s -w '%{http_code}' ${DREAMVIEW_URL})"
+        if [ $http_status -eq 200 ]; then
+            echo "Dreamview is running at" $DREAMVIEW_URL
+        else
+            echo "Failed to start Dreamview. Please check /apollo/data/log or /apollo/data/core for more information"
+        fi
+    fi
+}
+
+function stop() {
+    ./scripts/dreamview.sh stop
+    ./scripts/monitor.sh stop
+    cyber_launch stop modules/drivers/tools/image_decompress/launch/image_decompress.launch  
+}
+
+case $1 in
+  start)
+    start
+    ;;
+  stop)
+    stop
+    ;;
+  *)
+    start
+    ;;
+esac