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RTK mode helps developers and partners to better test your perception and control modules without needing to check the planning decisions.
Build Apollo and Launch DreamView on http://localhost:8888
Set the mode as RTK
, and select the vehicle type and map for your specific case
Select Module Controller
from the left-side of Dreamview
Enable all modules under the RTK mode except RTK Player
and RTK Recorder
from the bottom right-hand side of the window
Under the Components section, pause until the Data Recorder
and Localization
both display OK
status.
Note: to activate the localization module with accurate position signal shown on the Dreamview, the driver may need to manually drive the car around your parking lot several times.
Drive the car to the beginning of the desired testing path. The car should currently be in Manual
mode.
Enable the RTK recorder
.
From this moment on, Dreamview enters the Path Recording
mode
Manually drive the car along the desired test path. This path will be recorded automatically
After reaching the end of the desired path, it is important to remember that you must disable the RTK Recorder
module before anything else
Manually drive back to the initial position with both RTK Player
and RTK Recorder
off.
Enable the RTK player
. The driver should be able to see the recorded path trajectory
The driver can then decide if he needs to adjust the car's position to record the path better
Once ready, the driver may click on Start Auto
, and the car will be expected to track the recorded path automatically
Start Auto refers to putting the car into autonomous mode. This can be done by putting the car in neutral and clicking on the Start Auto button present in the Tasks window.
RTK player
or directly return back to the start point for the second/third/… run if appliedNote:
The blue line in the above image is the recorded path
The recorded path will be never be cleared unless you re-record the path, so feel free to repeat the auto-mode path-tracking tests as many times as you may need
If a new path is needed, simply repeat steps 3 - 5 to record the new path. The newly recorded path will overwrite the old path automatically.
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