apollo_2.5_technical_tutorial.md

Apollo 2.5 Technical Tutorial

Overview

Learn Apollo basic concepts and Apollo 2.5 quick start

• Apollo 2.5 quick start

Hardware system installation

Learn the procedure of Apollo 2.5 hardware system installation

• Apollo 2.5 hardware system installation guide

Calibration

Learn the process of the calibration service

• Calibration guide between LiDAR and INS
• Guide for Camera-to-Camera calibration, Camera-to-LiDAR calibration, Radar-to-Camera calibration, IMU-to-Vehicle calibration
• Multiple-LiDAR GNSS calibration guide
• Apollo coordination

Software installation

Learn the procedure of Apollo 2.5 software system installation

• Apollo software installation guide
• How to Debug a Dreamview Start Problem
• Run offline demo

Software architecture and principles

Learn Apollo software architecture and principles of core modules

• Apollo software architecture
• 3D Obstacle Perception
• Apollo 2.5 Perception
• QP-Spline-Path Optimizer
• QP-Spline-ST-Speed Optimizer
• Reference Line Smoother
• Traffic Light Perception

Software modules and extension

Learn Apollo software modules and extension

• Canbus module

• Common module

• Control module

• Data module

• Localization module

• Perception module

• Planning module

• Prediction module

• Routing module

• How to Add a New GPS Receiver

• How to Add a New CAN Card

• How to Add a New Control Algorithm

• How to Add a New Evaluator in Prediction Module

• How to Add a New Predictor in Prediction Module

• How to Add a New Vehicle

• How to Add a New External Dependency

Developer-Friendliness

Learn Apollo developer tools

• Apollo 2.5 map collection guide
• How to build and debug Apollo in VSCode
• How to use Apollo 2.5 navigation mode
• Introduction of Dreamview