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docs/quickstart/apollo_updated_hardware_system_installation_guide.md
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| # Apollo Upgraded Hardware and System Installation Guide | ||
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| * [About This Guide](#about-this-guide) | ||
| * [Document Conventions](#document-conventions) | ||
| * [Introduction](#introduction) | ||
| * [Documentation](#documentation) | ||
| * [Key Hardware Components](#key-hardware-components) | ||
| * [Additional Components Required](#additional-components-required) | ||
| * [Steps for the Installation Tasks](#steps-for-the-installation-tasks) | ||
| * [At the Office](#at-the-office) | ||
| * [In the Vehicle](#in-the-vehicle) | ||
| * [Prerequisites](#prerequisites) | ||
| * [Diagrams of the Major Component Installations](#diagrams-of-the-major-component-installations) | ||
| * [Additional Tasks Required](#additional-tasks-required) | ||
| * [Next Steps](#next-steps) | ||
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| ## About This Guide | ||
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| The *Apollo upgraded Hardware and System Installation Guide* provides the instructions to install all of the hardware components and system software for the **Apollo Project**. The system installation information included pertains to the procedures to download and install the Apollo Linux Kernel. | ||
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| ### Document Conventions | ||
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| The following table lists the conventions that are used in this document: | ||
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| | **Icon** | **Description** | | ||
| | ----------------------------------- | ---------------------------------------- | | ||
| | **Bold** | Emphasis | | ||
| | `Mono-space font` | Code, typed data | | ||
| | _Italic_ | Titles of documents, sections, and headings Terms used | | ||
| |  | **Info** Contains information that might be useful. Ignoring the Info icon has no negative consequences. | | ||
| |  | **Tip**. Includes helpful hints or a shortcut that might assist you in completing a task. | | ||
| |  | **Online**. Provides a link to a particular web site where you can get more information. | | ||
| |  | **Warning**. Contains information that must **not** be ignored or you risk failure when you perform a certain task or step. | | ||
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| ## Introduction | ||
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| The **Apollo Project** is an initiative that provides an open, complete, and reliable software platform for Apollo partners in the automotive and autonomous driving industries. The aim of this project is to enable these entities to develop their own self-driving systems based on the Apollo software stack. | ||
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| ### Documentation | ||
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| The following set of documentation describes Apollo 3.0: | ||
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| - ***<u>[Apollo Hardware and System Installation Guide]</u>*** ─ Links to the Hardware Development Platform Documentation in Specs | ||
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| - **Vehicle**: | ||
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| - [Industrial PC (IPC)](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/IPC/Nuvo-6108GC_Installation_Guide.md) | ||
| - [Global Positioning System (GPS)](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Navigation/README.md) | ||
| - [Inertial Measurement Unit (IMU)](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Navigation/README.md) | ||
| - Controller Area Network (CAN) card | ||
| - GPS Antenna | ||
| - GPS Receiver | ||
| - [Light Detection and Ranging System (LiDAR)](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Lidar/README.md) | ||
| - [Camera](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Camera/README.md) | ||
| - [Radar](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Radar/README.md) | ||
| - [Apollo Sensor Unit (ASU)](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Apollo_Sensor_Unit/Apollo_Sensor_Unit_Installation_Guide.md) | ||
| - Apollo Extension Unit (AXU) | ||
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| - **Software**: Refer to the [Software Installation Guide](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Software_and_Kernel_Installation_guide.md) for information on the following: | ||
| - Ubuntu Linux | ||
| - Apollo Linux Kernel | ||
| - NVIDIA GPU Driver | ||
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| - ***<u>[Apollo Quick Start Guide]</u>*** ─ The combination of a tutorial and a roadmap that provides the complete set of end-to-end instructions. The Quick Start Guide also provides links to additional documents that describe the conversion of a regular car to an autonomous-driving vehicle. | ||
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| ## Key Hardware Components | ||
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| The key hardware components to install include: | ||
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| - Onboard computer system ─ Neousys Nuvo-6108GC (2) | ||
| - Controller Area Network (CAN) Card ─ ESD CAN-PCIe/402-B4 | ||
| - Global Positioning System (GPS) and Inertial Measurement Unit (IMU) ─ | ||
| You can select one of the following options: | ||
| - NovAtel SPAN-IGM-A1 | ||
| - NovAtel SPAN® ProPak6™ and NovAtel IMU-IGM-A1 | ||
| - NovAtel SPAN® PwrPak7™ | ||
| - Navtech NV-GI120 | ||
| - Light Detection and Ranging System (LiDAR) ─ You can select one of the following options, please note Apollo upgrade uses VLS-128 LiDAR: | ||
| - [Velodyne VLS-128](https://github.com/ApolloAuto/apollo2/blob/master/docs/specs/Lidar/VLS_128_Installation_Guide.md) | ||
| - Velodyne HDL-64E S3 | ||
| - Velodyne Puck series | ||
| - Innovusion LiDAR | ||
| - Hesai's Pandora | ||
| - Cameras — You can select one of the following options: | ||
| - Leopard Imaging LI-USB30-AR023ZWDR with USB 3.0 case | ||
| - Argus Camera (FPD-Link) | ||
| - Wissen Camera | ||
| - Radar — You can select one of the following options: | ||
| - Continental ARS408-21 | ||
| - Racobit B01HC | ||
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| ### Additional Components Required | ||
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| You need to provide these additional components for the Additional Tasks Required: | ||
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| - Apollo Sensor Unit (ASU) | ||
| - Apollo Extension Unit (AXU) | ||
| - A 4G router for Internet access | ||
| - A USB hub for extra USB ports | ||
| - A monitor, keyboard, and mouse for debugging at the car onsite | ||
| - Cables: a Digital Visual Interface (DVI) cable (optional), a customized cable for GPS-LiDAR time synchronization | ||
| - Apple iPad Pro: 9.7-inch, Wi-Fi (optional) | ||
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| The features of the key hardware components are presented in the subsequent sections. | ||
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| ## Steps for the Installation Tasks | ||
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| This section describes the steps to install: | ||
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| - The key hardware and software components | ||
| - The hardware in the vehicle | ||
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| ### At the Office | ||
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| Perform the following tasks: | ||
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| - Prepare the IPC: | ||
| - Install the CAN card | ||
| - Install or replace the hard drive | ||
| - Prepare the IPC for powering up | ||
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| - Install the software for the IPC: | ||
| - Ubuntu Linux | ||
| - Apollo Kernel | ||
| - Nvidia GPU Driver | ||
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| The IPC is now ready to be mounted on the vehicle. | ||
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| ### In the Vehicle | ||
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| Perform these tasks: | ||
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| - Make the necessary modifications to the vehicle as specified in the list of prerequisites | ||
| - Install the major components: | ||
| - GPS Antenna | ||
| - IPC | ||
| - GPS Receiver and IMU | ||
| - LiDAR | ||
| - Cameras | ||
| - Radar | ||
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| #### Prerequisites | ||
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| **WARNING**: Prior to mounting the major components (GPS Antenna, IPC, and GPS Receiver) in the vehicle, perform certain modifications as specified in the list of prerequisites. The instructions for making the mandatory changes in the list are outside the scope of this document. | ||
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| The list of prerequisites are as follows: | ||
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| - The vehicle must be modified for “drive-by-wire” technology by a professional service company. Also, a CAN interface hookup must be provided in the trunk where the IPC will be mounted. | ||
| - A power panel must be installed in the trunk to provide power to the IPC and the GPS-IMU. The power panel would also service other devices in the vehicle such as a 4G LTE router. The power panel should be hooked up to the power system in the vehicle. | ||
| - A custom-made rack must be installed to mount the GPS-IMU Antenna, the cameras and the LiDAR's on top of the vehicle. | ||
| - A custom-made rack must be installed to mount the GPS-IMU in the trunk. | ||
| - A custom-made rack must be installed in front of the vehicle to mount the front-facing radar. | ||
| - A 4G LTE router must be mounted in the trunk to provide Internet access for the IPC. The router must have built-in Wi-Fi access point (AP) capability to connect to other devices, such as an iPad, to interface with the autonomous driving (AD) system. A user would be able to use the mobile device to start AD mode or monitor AD status, for example. | ||
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| #### Diagrams of the Major Component Installations | ||
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| The following two diagrams indicate the locations of where the three major components (GPS Antenna, IPC, GPS Receiver and LiDAR) should be installed on the vehicle: | ||
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| ## Additional Tasks Required | ||
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| Use the components that you were required to provide to perform the following tasks: | ||
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| 1. Connect a monitor using the DVI or the HDMI cables and connect the keyboard and mouse to perform debugging tasks at the car onsite. | ||
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| 2. Establish a Wi-Fi connection on the Apple iPad Pro to access the HMI and control the Apollo ADS that is running on the IPC. | ||
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| ## Time Sync Script Setup [Optional] | ||
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| In order to, sync the computer time to the NTP server on the internet, you could use the [Time Sync script](https://github.com/ApolloAuto/apollo/blob/master/scripts/time_sync.sh) | ||
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| ## Next Steps | ||
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| After you complete the hardware installation in the vehicle, see the [Apollo Quick Start](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_3_5_quick_start.md) for the steps to complete the software installation. | ||
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| # Apollo Upgrade Quick Start Guide | ||
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| The following guide serves as a user manual for launching the Apollo upgraded software and hardware stack on vehicle. | ||
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| The the latest Apollo upgrade, Quick Start Guide focuses on the new features. For general Apollo concepts, please refer to | ||
| [Apollo 1.0 Quick Start](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_1_0_quick_start.md). | ||
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| ## Contents | ||
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| - [Calibration Guide](#calibration-guide) | ||
| - [Hardware and Software Installation](#hardware-and-software-installation) | ||
| - [Dreamview Usage Table](#dreamview-usage-table) | ||
| - [Onboard Test](#onboard-test) | ||
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| ## Calibration Guide | ||
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| For the vehicle's onboard testing make sure you have calibrated all the sensors. For | ||
| sensor calibration, please refer to | ||
| [Apollo 2.0 Sensor Calibration Guide](apollo_2_0_sensor_calibration_guide.md) | ||
| before you proceed. | ||
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| ## Hardware and Software Installation | ||
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| Please refer to | ||
| [Apollo Upgraded Hardware and System Installation Guide](apollo_3_5_hardware_system_installation_guide.md) | ||
| for the steps to install the hardware components and the system software, as well as | ||
| [Apollo Software Installation Guide](apollo_software_installation_guide.md). | ||
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| ## Dreamview Usage Table | ||
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| For questions regarding Dreamview icons refer to the | ||
| [Dreamview Usage Table](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/dreamview_usage_table.md). | ||
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| ## Onboard Test | ||
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| 1. Plug-in an external hard-drive to any available USB port in the host machine. | ||
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| 2. Turn on the vehicle, and then the host machine. | ||
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| 3. Launch Docker Release Container. | ||
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| 4. Launch DreamView. | ||
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| Note\: Use your favorite browser to access Dreamview web service in your host | ||
| machine browser with URL http://localhost:8888. | ||
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|  | ||
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| 5. Select Mode, Vehicle and Map. | ||
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| Note\: You'll be required to setup profile before doing anything else. Click | ||
| the dropdown menu to select **Navigation** mode, the HDMap and vehicle you | ||
| want to use. The lists are defined in | ||
| [HMI config file](https://raw.githubusercontent.com/ApolloAuto/apollo/master/modules/dreamview/conf/hmi.conf). | ||
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| Note\: It's also possible to change the profile on the right panel of the | ||
| HMI, but just remember to click `Reset All` on the top-right corner to | ||
| restart the system. | ||
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| 6. Start the Modules. | ||
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| Click the `Setup` button. | ||
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| Go to **Module Controller** tab, check if all modules and hardware are ready. | ||
| (Note\: In your offline environment, the hardware modules such as GPS, | ||
| CANBus, Velodyne, Camera and Radar cannot be brought up.) | ||
| (Note\: You may need to drive around a bit to get a good GPS signal.) | ||
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|  | ||
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| 7. Under `Default Routing` select your desired route. | ||
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| 8. Under Tasks click `Start Auto`. (Note: Be cautious when starting the autonomous | ||
| driving, you should now be in autonomous mode.) | ||
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|  | ||
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| 9. After the autonomous testing is complete, under Tasks click `Reset All`, close all | ||
| windows and shutdown the machine. | ||
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| 10. Remove the hard drive. |