Apollo

We choose to go to the moon in this decade and do the other things,
not because they are easy, but because they are hard.
-- John F. Kennedy, 1962

Welcome to the Apollo GitHub.

Apollo is an open autonomous driving platform. It is a high performance flexible architecture which supports fully autonomous driving capabilities.

Installation

We strongly recommend building Apollo in our pre-specified Docker environment. See the following instructions on how to set up the docker environment and build from source.

The docker environment can be set by the commands below.

bash docker/scripts/install_docker.sh
# logout and login to make sure to run docker command without sudo
docker ps  # to verify docker works without sudo
bash docker/scripts/dev_start.sh
bash docker/scripts/dev_into.sh

To build from source

bash apollo.sh build

Run Apollo

Follow the steps below to launch Apollo:

Start Apollo

# start Human Machine Interface(HMI)
bash scripts/hmi.sh

Access HMI

Access HMI by openning your favorite browser, e.g. Chrome, go to http://localhost:8887, click Dreamview to start.

Click upper-right Dreamview button

to load Dreamview UI.

Replay demo rosbag

# in a different terminal inside docker
rosbag play -l ./docs/demo_guide/demo.bag

Dreamview should show a running vehicle with trajectory now.

Advanced users who wish to build outside this Docker container can refer to the corresponding Docker specification file (./docker/dev.dockerfile).

Documents

Apollo documents can be found under the docs repository.

quickstart: the quickstart tutorial.
demo_guide: the guide for demonstration.
how to contribute code: the guide for contributing code to Apollo.
howto: tutorials on how to build, run and modify codes.
specs: Specification documents of Apollo 1.0.

Ask Questions

You are welcome to submit questions and bug reports as Github Issues.

Copyright and License

Apollo is provided under the Apache-2.0 license.

Disclaimer

Please refer the Disclaimer of Apollo in Apollo official website.

xiaowei-hu/apollo