LGSVL Fork of Apollo 5.0

This repository is a fork of Apollo maintained by LG Electronics which has been modified and configured to be used with SVL Simulator.

The software and source code in this repository are intended only for use with SVL Simulator and should not be used in a real vehicle.

How to Use

Instructions for using this repository appear in the Running Apollo 5.0 with SVL Simulator section of the SVL Simulator documentation.

Other Information

Building and Publishing a Standalone Runtime Docker Image

After you have tested your changes to Apollo 5.0 using your local cluster, you can create a much smaller Docker image, which cannot be used to re-build modified Apollo, but can be shared with other people to run Apollo without the need to build it locally. You can also publish it to a publicly accessible Docker registry (e.g., Docker Hub).

To build the Docker image, run:

docker/build/standalone.x86_64.sh

If the development container is not running, you will see this message:

Error: No such container: apollo_5.0_dev_USER
ERROR: apollo_5.0_dev_USER isn't running or doesn't have /apollo/bazel directory
       make sure it's running (you can use docker/scripts/dev_start.sh)
       and build Apollo there or add "rebuild" parameter to this script
       and it will be started and built automatically

Upon successful completion, you will see:

...
Docker image with prebuilt files was built and tagged as lgsvl/apollo-5.0:standalone-x86_64-14.04-5.0-20210319, you can start it with:
  docker/scripts/runtime_start.sh
and switch into it with:
  docker/scripts/runtime_into_standalone.sh

Confirm operation of the image by starting it:

docker/scripts/runtime_start.sh

entering into it:

docker/scripts/runtime_into_standalone.sh

and running the appropriate commands to verify its functionality.

Finally, tag the image and push it to the publicly accessible Docker registry:

docker image tag lgsvl/apollo-5.0:standalone-x86_64-14.04-5.0-20210319 REGISTRY/IMAGE:TAG
docker image push REGISTRY/IMAGE:TAG

To use such an image (without having to clone this repository):

docker image pull REGISTRY/IMAGE:TAG
docker image tag REGISTRY/IMAGE:TAG lgsvl/apollo-5.0:standalone-x86_64-14.04-5.0-20210319

docker run --rm lgsvl/apollo-5.0:standalone-x86_64-18.04-5.0-20210319 sh -c 'tar -cf - -C /apollo standalone-scripts' | tar -xf -
cd standalone-scripts

mkdir -p modules/map/data

bash docker/scripts/runtime_start.sh
bash docker/scripts/runtime_into_standalone.sh

The modules/map/data directory is used as a volume for maps. You can either use the maps included in simulator branch of the LGSVL fork of Apollo 5.0 or download individual HD Maps.