How to Run RTK Localization Module On Your Local Computer

1. Preparation

• Download source code of Apollo from GitHub
• Follow the tutorial to set up docker environment.
• Download localization data from Apollo Data Open Platform（US only).

2. Build Apollo

First check and make sure you are in Apollo Development Docker container before you proceed. Now you will need to build from the source.

# (Optional) To make sure you start clean
bash apollo.sh clean

bash apollo.sh build_opt

3. Run the RTK localization module

cyber_launch start /apollo/modules/localization/launch/rtk_localization.launch

In /apollo/data/log directory, you can see the localization log files.

• localization.INFO : INFO log
• localization.WARNING : WARNING log
• localization.ERROR : ERROR log
• localization.out : Redirect standard output
• localizaiton.flags : A backup of configuration file

5. Play cyber records

In the downloaded data, you can find a folder named apollo3.5. Let's assume the path of this folder as DATA_PATH.

cd DATA_PATH/records
cyber_recorder play -f record.*

6. Record and Visualize localization result (optional)

Visualize Localization result

cyber_launch start /apollo/modules/localization/launch/msf_visualizer.launch

First, the visualization tool will generate a series of cache files from the localization map, which will be stored in the /apollo/cyber/data/map_visual directory.

Then it will receive the topics listed below and draw them on screen.

• /apollo/sensor/lidar128/compensator/PointCloud2
• /apollo/localization/pose

If everything is fine, you should see this on screen.