2 Apollo on the same Simualtion about apollo HOT 6 OPEN

Self-driving cars obtain surrounding environment information through perception modules. That is to say, the perception module will detect vehicles and pedestrians and provide feedback to the self-driving car to avoid them.

Back to your question, you can parse the autonomous car's perception messages(topic: /apollo/perception/obstacles) to see if another car is detected.

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I think you may need to identify it automatically. You can use the simulator to obtain the position of the self-driving vehicle, and then compare it with the perceived results. For example, use IOU to determine whether it is the same car.

from apollo.

https://github.com/Software-Aurora-Lab/DoppelTest This project allows multiple Apollo instances to be simulated in SimControl. The underlying mechanism passes one Apollo's localization as perception to other instances, so all the instances can see each other.

from apollo.

https://github.com/Software-Aurora-Lab/DoppelTest This project allows multiple Apollo instances to be simulated in SimControl. The underlying mechanism passes one Apollo's localization as perception to other instances, so all the instances can see each other.

So are there no other NPCs? All vehicles are Apollo self-driving cars?

from apollo.

https://github.com/Software-Aurora-Lab/DoppelTest This project allows multiple Apollo instances to be simulated in SimControl. The underlying mechanism passes one Apollo's localization as perception to other instances, so all the instances can see each other.

So are there no other NPCs? All vehicles are Apollo self-driving cars?

Not exactly. In this implementation, all vehicles are Apollo self driving cars, pedestrians can be included and they walk around crosswalks (didn’t have a better way to simulate realistic pedestrian), no bicycle, with valid traffic lights (conflicting ones won’t be green at the same time).

from apollo.

What I want to express is that there will be conflicts between groundtruth and perception modules. It is best for them to choose 1 from 2.

from apollo.

I see. Yes, in the project linked above, perception module is replaced by ground truth perception messages generated by the project.

from apollo.