#Exclusive

ROS1 Port of Apollo 3.0.0 Autonomous Driving System with Simulation Tools

This project is a ported version of ‘ros1’ based on [apollo 3.0.0] (https://github.com/ApolloAuto/apollo/tree/v3.0.0), and the main purpose of the porting is as follows:
– Learn the ‘apollo’ framework design
– Learn the control algorithms in ‘apollo’
– Learn the planning algorithm in ‘apollo’
At present, only some modules in ‘apollo’ have been ported, and the ported modules are:
“`shell
.
├── docker
│   ├── build
│   └── scripts
├── images
├── LICENSE
├── modules
│   ├── apollo_common
│   ├── apollo_control
│   ├── apollo_map
│   ├── apollo_msgs
│   ├── apollo_planning
│   ├── apollo_routing
│   └── apollo_simulator
└── README.md
“`
At present, the ported version can realize the ‘routing’, ‘planning’ and ‘control’ simulation tests of the vehicle under the high-precision map, and the changes from the original version are as follows:
– Use native ‘ros’ (based on ‘noetic’) instead of ‘ros’ changed in ‘apollo’
– Encapsulate the ‘module’ in ‘Apollo’ with ‘ros pkg’
– Use the std_msgs/string in ‘ros’ instead of the ‘pd_msgs/xxx’ message for ‘apollo’
– Use ‘cmake’ for compilation
– Upgraded ‘protobuff’ to ‘3.6.1’
– Added ‘sim_control’ and ‘sim_pnc’ simulation toolkits apollo_simulator’
– Added high-precision map ‘rviz’ display
– Added static obstacle ‘rviz’ setting
– More high-precision map test data
> this ported version, you can add your own algorithm to the framework and apply it to robots or unmanned driving. At the same time, due to the abstraction of modules in ‘apollo’, there is no coupling between each module and middleware, and the middleware can be easily replaced from ‘ros1’ to ‘ros2’, ‘LCM’, etc., and the specific development can be magically modified according to your own needs.