自动驾驶Apollo源码注释.(annotated Apollo 1.0 source code).zip

# Apollo [](https://travis-ci.org/ApolloAuto/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](http://apollo.auto) 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 opening 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, in the apollo directory bash docker/scripts/dev_into.sh # jump into the docker container 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](https://github.com/ApolloAuto/apollo/blob/master/docs/) repository. * [quickstart](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/): the quickstart tutorial. * [demo_guide](https://github.com/ApolloAuto/apollo/blob/master/docs/demo_guide/): the guide for demonstration. * [](https://www.youtube.com/watch?v=Q4BawiLWl8c) * [how to contribute code](https://github.com/ApolloAuto/apollo/blob/master/CONTRIBUTING.md): the guide for contributing code to Apollo. * [howto](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/): tutorials on how to build, run and modify codes. * [specs](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/): Specification documents of Apollo 1.0. ## Ask Questions You are welcome to submit questions and bug reports as [Github Issues](https://github.com/ApolloAuto/apollo/issues). ## Copyright and License Apollo is provided under the [Apache-2.0 license](LICENSE). ## Disclaimer Please refer the Disclaimer of Apollo in [Apollo official website](http://apollo.auto/docs/disclaimer.html).