Apollo: Questions about hardware and installing

[AshleyRoth]

Hello. I found your wonderful repository. In the process of reading the instructions, I had some questions. Could you please answer them? Thank you in advance:

1. IMU necessary? I do not have such a device unfortunately, can I work without it?
2. I have only vlp16, can I work with it? the instructions say about 64
3. should be two pc? PC with a powerful video card on the car and a regular PC in the office?
4. ESD CAN Driver. If I do not have a CAN card from ESD Electronics. And can i connect CAN to the computer in another way. In this case, what about the kernel? In instruction says about build with drivers from ESD. (i don't have CAN cart, it's real build with vector or something like?)
5. where is the apollo itself (mean https://github.com/ApolloAuto/apollo/) ? the kernel of the apollo is put on the PC which will be on the machine if I understood correctly, but himself apollo?

Thanks!

[YangHan101]

I will try to answer your questions to my best knowledge. I am sure your questions could apply to many developers.

1. Without IMU, the localization would depend on GPS system which only updates once per second. On top of that, you wouldn't have velocity and heading information of your vehicle. That is probably not a good idea unless you have other solutions. If you can solve the problem without it, I would love to learn more about your solution.
2. HDL64 provides a much denser point cloud than VLP-16 can. It gives a further detection range for obstacles. That is why we recommend it in the reference design. Whether VLP-16 works for your project, you will need to find out. We are not sure of your application scenario.
3. We only use one PC on the vehicle to handle all the calculations right now.
4. You can, of course, explore the usage of other CAN interfaces. But then you will also need to handle the integration effort.
5. Apollo should be installed onto the PC in the vehicle. Apollo-kernel is just a RT patch on Ubuntu 14.04

[AshleyRoth]

@YangHan101 Thanks for your answers!

1. So i can use without IMU?
2. I know about the cloud of points, in 16 it will be less. Since now I have only 16 wanted to clarify, can I connect to the program 16?
3. I would like to know if I can connect CAN via vector or stm? What to advise if I do not have a card from esd? Another question I wanted to ask. Did I understand correctly, can I connect directly to the computer?
4. If I use ubuntu 16.04 I also need to install apollo kernel?

@YangHan101 UPD. I want to add one more question to the above. Read the instructions for adding new gps and can devices. Perhaps I missed something, but I would like to know for sure (for example how_to_add_a_new_can_card.md) where or where all this code is inserted or created new .cpp files? I apologize if my question sounds silly

[AshleyRoth]

@YangHan101 Hello again! In addition to the previous questions, I had another question. Can I connect to apollo using a CAN2USB device (for example, from Kvaser) CAN? I apologize for the huge number of questions and will be waiting for answers from you soon! Thanks in advance!

[YangHan101]

Hi @AshleyRoth,
The answer to the 2nd batch of questions:

1. I wouldn't recommend that. But you can try to look up possible solutions in the literatures. I am sure someone did some research on it.
2. The VLP-16 driver is included in the Apollo platform and it should work.
3. Other CAN interface devices should work as well if you can set up the drivers correctly. But I personally don't recommend USB-CAN devices. They are good for diagnostics. But if you want to have a reliable connection, you should try other connectors than USB.
4. We have not tested 16.04 extensively. Perhaps use 14.04? If you want to try 16.04 out of curiosity, I am very interested whether that would work for you.
5. From my humble knowledge of the code, I believe the CAN clients and CANClientFactory are here. https://github.com/ApolloAuto/apollo/tree/master/modules/drivers/canbus/can_client
   under the folders with brand names. You will need to make a new folder and implement your own driver inside. @jinghaomiao please correct me if I am giving out wrong information.

[AshleyRoth]

@YangHan101

I am very grateful to your detailed response. now I decided to install apollo on my laptop, because the laptop is more suitable for system requirements. I turn back to the same question about CAN, I have a device from Kvaser (https://www.kvaser.com/product/kvaser-leaf-light-hs-v2/) can I use it as a device to create a connection between my laptop and car? Can you give an answer to this question? At the moment, it's a little difficult for me to ask questions about CAN

Once again, thank you very much for your answers.

[YangHan101]

We used Kvaser's USB can interface for CAN diagnostics before. But I am not sure how to use it under Ubuntu.

[AshleyRoth]

@YangHan101 In this case, what can you advise? As I said, I'll try on a laptop, how can I connect CAN? I have stm and vector, I already wrote about them. but I want to clarify again, can I connect them with their help?

[YangHan101]

Do you have the model number of your device? I can have a look at the data sheet.

[AshleyRoth]

@YangHan101 Thanks! let me tell you later about the models. Now, could not tell me how to use Kvaser to connect to the CAN car? You said you used it already. I installed the linuxcan drivers on Ubuntu

[YangHan101]

I assume you have modified your car with something like this for the vehicle control, right?

[AshleyRoth]

@YangHan101 , Yes, car is modified.

1. Now I want to try connect car's CAN to my notebook with Kvaser (only first time). I installed linuxcan drivers, but until I understand, can I connect with this equipment or do I need some changes specifically for kvaser. if I connect CAN using Kvaser Leaf Light v2 to my laptop, then in dreamviwer I also get CAN status "Unknown". unfortunately at the moment to work with CAN, I have only Kvaser and Peak (

2. Additionally about GNSS there was a question. I do not have GNSS from Novatel, and unlike the one you are using it is connected via Ethernet. Will I have problems with connecting to Apollo?

3. I apologize for the large number of questions, but in the process of launching apollo found that every time when I start the terminal on my hard drive, about 3-4 GB of memory is lost. Why is that?

Thank you!

[YangHan101]

Hi,

1. If you use a different CAN interface, the hardware monitor won't recognize it until you implement the CANBUS checker yourself. It should be different for each CAN interface. So it shows up as unknown. I suggest you try to check if there is any CAN message outside the docker environment first to make sure your CAN device is working and also the CAN interface is configured properly at the lower level. when that is done, you need to follow the "How to add a CAN card" documentation and check the rostopic of the device if everything works, you should see some output.

1. NovAtel's receivers send messages to us in a specific format. If your GNSS sends out messages in the same format, it should be able to plug in the system and work. Otherwise, you need to modify the GNSS driver portion of the code to make sure all the necessary quantity are parsed from your receiver's messages.

2. I'm not sure. Let me ask around and get back to you.

[AshleyRoth]

Hello @YangHan101

Thank you so much! let me clarify, did I understand correctly, specifically kvaser equipment without problems will allow connecting CAN if adjusted?

About GNSS, so if my GNSS sends out messages in the same format, then I do not need to add a new GPS device?

[YangHan101]

1. Kvaser CAN interface, I believe so. But you'll have to test it. My experience with it is limited.
2. GNSS, that is correct.

[AshleyRoth]

@YangHan101 Thanks for answers!

I tried adding a new CAN device as written in the instructions. I took the following steps:

1. create file example_can_client.cc using the code from step 1 and put in folder "apollo/modules/drivers/canbus/can_client"
2. make step 2 and step 3

got this message

Can you help me please? I think I'm doing something wrong

[AshleyRoth]

@Capri2014 @YangHan101
Hello, again!
Does apollo support these PCI CAN cards:

• https://esd.eu/en/products/can-pci402
• https://www.peak-system.com/PCAN-PCI.207.0.html?&L=1

Will wait for your answer. Early thanks

[YangHan101]

Please check the official website for supported hardware.
http://apollo.auto/platform/hardware.html

[YangHan101]

Closing the ticket. Feel free to reopen if you have more questions