Using Cyber Bridge
==================
In this tutorial, we will discuss how to use our Python implementation of cyber
brdge implemented in :ref:`internals/apollo:apollo.CyberBridge` to communicate
with Baidu Apollo. To make this a more hands-on experience, we will programatically
reproduce a bug reported in `Issue #14551 <https://github.com/ApolloAuto/apollo/issues/14551>`_
Step 0: Imports first!
----------------------
Create a python script at the root directory of DoppelTest and use the following input statements to
import the appropriate modules needed for this tutorial
.. code-block:: python
from time import sleep, time
from modules.common.proto.header_pb2 import Header
from modules.common.proto.geometry_pb2 import PointENU
from modules.localization.proto.localization_pb2 import LocalizationEstimate
from modules.routing.proto.routing_pb2 import RoutingRequest, LaneWaypoint
from apollo.ApolloContainer import ApolloContainer
from apollo.CyberBridge import CyberBridge, Topics
Step 1: Initialize Apollo
-------------------------
Starting Apollo, Dreamview, and cyber bridge.
.. code-block:: python
# continued
ctn = ApolloContainer('APOLLO ROOT', 'REPRODUCE')
print('starting docker instance')
ctn.start_instance()
print('starting dreamview')
ctn.start_dreamview()
print('starting cyberRT bridge')
ctn.start_bridge()
print(f'Dreamview at http://{ctn.ip}:{ctn.port}')
At this point, you should expect the following output
.. code-block:: python
Dreamview at https://172.17.0.2:8888
And you can access Dreamview at the URL provided above.
.. note:: Remember to replace ``'APOLLO ROOT'`` with the actual location of Apollo!
Step 2: Start Required Modules
------------------------------
In order for Apollo to respond to any routing request and make
planning decisions to reach its destination, you have to enable
3 modules: Routing, Prediction, and Planning.
.. code-block:: python
# continued
print('starting routing, prediction, planning')
ctn.start_modules()
Step 3: Start up SimControl
---------------------------
SimControl is a feature built-in to Apollo. It is intended to simulate
control of the ADS. Upon receiving new planning decisions, SimControl
moves the vehicle according to the planned trajectory.
To start SimControl, we have to first publish some localization messages
so that SimControl knows where the vehicle is.
.. code-block:: python
# continued
cyber_client = CyberBridge(ctn.ip, ctn.bridge_port)
cyber_client.add_publisher(Topics.Localization)
ctn.dreamview.stop_sim_control()
for i in range(5):
localization_message = LocalizationEstimate()
localization_message.header.sequence_num = i
localization_message.header.module_name = 'Reproduction'
localization_message.header.timestamp_sec = time()
localization_message.pose.position.x = 586952.4339599609
localization_message.pose.position.y = 4141242.6538391113
localization_message.pose.heading = -0.3024105043029949
cyber_client.publish(Topics.Localization, localization_message.SerializeToString())
sleep(0.5)
ctn.dreamview.start_sim_control()
Step 4: Send a routing request
------------------------------
Similar to when publishing localization messages, we can use similar code structure
to publish routing request message
.. code-block:: python
cyber_client.add_publisher(Topics.RoutingRequest)
routing_request = RoutingRequest()
routing_request.header.sequence_num = 0
routing_request.header.module_name = 'Reproduction'
routing_request.header.timestamp_sec = time()
routing_request = RoutingRequest(
header=Header(
timestamp_sec=time(),
module_name="Reproduction",
sequence_num=0
),
waypoint=[
LaneWaypoint(
pose=PointENU(
x=586952.4339599609,
y=4141242.6538391113,
),
),
LaneWaypoint(
pose=PointENU(
x=586993.905385346,
y=4141232.039176395
)
)
]
)
sleep(2)
cyber_client.publish(Topics.RoutingRequest, routing_request.SerializeToString())
At this point, you should be able to visualize (in Dreamview) the ADS instance sitting
on top of a stop line associated with a stop sign. As discussed in
`Issue #14551 <https://github.com/ApolloAuto/apollo/issues/14551>`_, since Apollo was
initialized on top of a stop line, a bug is preventing it from moving forward and leaving
this stop-sign-controlled junction.
.. figure:: /images/reproduction.png
Screenshot of Dreamview when reproducing this bug
Step 5: Same routing request, different initial location
--------------------------------------------------------
To reproduce the bug, we need to initialize Apollo on top of the stop line and send a
routing request to the same destination.
.. code-block:: python
ctn.dreamview.stop_sim_control()
for i in range(5):
localization_message = LocalizationEstimate()
localization_message.header.sequence_num = i
localization_message.header.module_name = 'Reproduction'
localization_message.header.timestamp_sec = time()
localization_message.pose.position.x = 586948.6158271139
localization_message.pose.position.y = 4141243.845017862
localization_message.pose.heading = -0.3024105043029949
cyber_client.publish(Topics.Localization, localization_message.SerializeToString())
sleep(0.5)
ctn.dreamview.start_sim_control()
routing_request = RoutingRequest(
header=Header(
timestamp_sec=time(),
module_name="Reproduction",
sequence_num=0
),
waypoint=[
LaneWaypoint(
pose=PointENU(
x=586948.6158271139,
y=4141243.845017862,
),
),
LaneWaypoint(
pose=PointENU(
x=586993.905385346,
y=4141232.039176395
)
)
]
)
sleep(2)
cyber_client.publish(Topics.RoutingRequest, routing_request.SerializeToString())
At this point, you should be able to observe Apollo moving towards its destination. For
the 2 scenairos above, the only difference is where Apollo was initialized at.
Recap: The complete code example
--------------------------------
.. code-block:: python
from time import sleep, time
from modules.common.proto.header_pb2 import Header
from modules.common.proto.geometry_pb2 import PointENU
from modules.localization.proto.localization_pb2 import LocalizationEstimate
from modules.routing.proto.routing_pb2 import RoutingRequest, LaneWaypoint
from apollo.ApolloContainer import ApolloContainer
from apollo.CyberBridge import CyberBridge, Topics
# STEP 1
ctn = ApolloContainer('/home/yuqi/ResearchWorkspace/BaiduApollo/D_Apollo_2', 'REPRODUCE')
print('starting docker instance')
ctn.start_instance()
print('starting dreamview')
ctn.start_dreamview()
print('starting cyberRT bridge')
ctn.start_bridge()
print(f'Dreamview at http://{ctn.ip}:{ctn.port}')
# STEP 2
print('starting routing, prediction, planning')
ctn.start_modules()
# STEP 3
cyber_client = CyberBridge(ctn.ip, ctn.bridge_port)
cyber_client.add_publisher(Topics.Localization)
ctn.dreamview.stop_sim_control()
for i in range(5):
localization_message = LocalizationEstimate()
localization_message.header.sequence_num = i
localization_message.header.module_name = 'Reproduction'
localization_message.header.timestamp_sec = time()
localization_message.pose.position.x = 586952.4339599609
localization_message.pose.position.y = 4141242.6538391113
localization_message.pose.heading = -0.3024105043029949
cyber_client.publish(Topics.Localization, localization_message.SerializeToString())
sleep(0.5)
ctn.dreamview.start_sim_control()
# STEP 4
cyber_client.add_publisher(Topics.RoutingRequest)
routing_request = RoutingRequest()
routing_request.header.sequence_num = 0
routing_request.header.module_name = 'Reproduction'
routing_request.header.timestamp_sec = time()
routing_request = RoutingRequest(
header=Header(
timestamp_sec=time(),
module_name="Reproduction",
sequence_num=0
),
waypoint=[
LaneWaypoint(
pose=PointENU(
x=586952.4339599609,
y=4141242.6538391113,
),
),
LaneWaypoint(
pose=PointENU(
x=586993.905385346,
y=4141232.039176395
)
)
]
)
sleep(2)
cyber_client.publish(Topics.RoutingRequest, routing_request.SerializeToString())
print('Observe a stop sign decision is built, but Apollo does not move forward.')
input('Press enter to continue: ')
# STEP 5
print('Moving Apollo away from stop line and sending routing request to the same destination')
ctn.dreamview.stop_sim_control()
for i in range(5):
localization_message = LocalizationEstimate()
localization_message.header.sequence_num = i
localization_message.header.module_name = 'Reproduction'
localization_message.header.timestamp_sec = time()
localization_message.pose.position.x = 586948.6158271139
localization_message.pose.position.y = 4141243.845017862
localization_message.pose.heading = -0.3024105043029949
cyber_client.publish(Topics.Localization, localization_message.SerializeToString())
sleep(0.5)
ctn.dreamview.start_sim_control()
routing_request = RoutingRequest(
header=Header(
timestamp_sec=time(),
module_name="Reproduction",
sequence_num=0
),
waypoint=[
LaneWaypoint(
pose=PointENU(
x=586948.6158271139,
y=4141243.845017862,
),
),
LaneWaypoint(
pose=PointENU(
x=586993.905385346,
y=4141232.039176395
)
)
]
)
sleep(2)
cyber_client.publish(Topics.RoutingRequest, routing_request.SerializeToString())
print('Observe Apollo completes the routing request.')