├── README.md └── apollo-src ├── AUTHORS.md ├── BUILD ├── CONTRIBUTING.md ├── CPPLINT.cfg ├── FAQ.md ├── LICENSE ├── README.md ├── README_cn.md ├── WORKSPACE.in ├── apollo.doxygen ├── apollo.sh ├── apollo_docker.sh ├── docker ├── dev.aarch64.dockerfile ├── dev.x86_64.dockerfile ├── run_env.dockerfile └── scripts │ ├── README.md │ ├── dev_commit.sh │ ├── dev_create.sh │ ├── dev_into.sh │ ├── dev_start.sh │ ├── install_docker.sh │ ├── release_commit.sh │ ├── release_into.sh │ ├── release_start.sh │ └── run_env_create.sh ├── docs ├── demo_guide │ ├── README.md │ ├── README_cn.md │ └── images │ │ ├── dreamview_enable.png │ │ ├── dreamview_launch.png │ │ ├── dv_trajectory.png │ │ └── start_hmi.png ├── howto │ ├── how_to_add_a_gps_receiver.md │ ├── how_to_add_a_new_can_card.md │ ├── how_to_add_a_new_control_algorithm.md │ ├── how_to_add_a_new_vehicle.md │ ├── how_to_add_an_external_dependency.md │ ├── how_to_build_and_release.md │ ├── how_to_debug_dreamview_start_problem.md │ ├── how_to_document_code.md │ ├── how_to_save_load_docker_image_locally.md │ ├── how_to_style_check_to_one_dir.md │ ├── how_to_troubleshoot_esdcan.md │ ├── how_to_tune_control_parameters.md │ └── how_to_update_vehicle_calibration.md ├── quickstart │ ├── apollo_1_0_hardware_system_installation_guide.md │ ├── apollo_1_0_quick_start.md │ ├── apollo_1_0_quick_start_cn.md │ ├── apollo_1_0_quick_start_developer.md │ └── images │ │ ├── 4G_network_setup.png │ │ ├── DB9_cable.png │ │ ├── IPC-bolt_down-936x720.jpg │ │ ├── IPC-power-842x636.jpg │ │ ├── IPC-power-cable.jpg │ │ ├── Novatel_imu.png │ │ ├── Novatel_pp6.png │ │ ├── can_card.png │ │ ├── dv_trajectory.png │ │ ├── gps_receiver.png │ │ ├── gps_receiver_on_car.png │ │ ├── hard_drive.png │ │ ├── hard_drive_connect.png │ │ ├── hard_drive_unscrew.png │ │ ├── hmi.png │ │ ├── hmi_open_dreamview.png │ │ ├── hmi_planner_path.png │ │ ├── hmi_play_setup.png │ │ ├── hmi_play_start.png │ │ ├── hmi_play_stop.png │ │ ├── hmi_record_reset.png │ │ ├── hmi_record_setup.png │ │ ├── hmi_record_start.png │ │ ├── hmi_record_stop.png │ │ ├── hmi_start_dv.png │ │ ├── imu_main_cable_connection.png │ │ ├── info_icon.png │ │ ├── insert_can_card.png │ │ ├── ipad_config_wifi.png │ │ ├── ipc_back.png │ │ ├── ipc_connect_power.png │ │ ├── ipc_front.png │ │ ├── ipc_gpu_cassette.png │ │ ├── ipc_gpu_cassette_remove.png │ │ ├── ipc_gpu_cassette_unscrew.png │ │ ├── ipc_gpu_remove.png │ │ ├── ipc_other_cables.png │ │ ├── ipc_power_RB.png │ │ ├── ipc_power_back.png │ │ ├── ipc_power_on.png │ │ ├── major_compoment_side_view.png │ │ ├── major_component_rear_view.png │ │ ├── online_icon.png │ │ ├── prepare_can_card.png │ │ ├── reinstall_gpu_cassette.png │ │ ├── reinstall_ssd.png │ │ ├── start_hmi.png │ │ ├── tip_icon.png │ │ ├── warning_icon.png │ │ └── wiring.png └── specs │ └── coordination.pdf ├── modules ├── canbus │ ├── BUILD │ ├── README.md │ ├── can_client │ │ ├── BUILD │ │ ├── can_client.h │ │ ├── can_client_factory.cc │ │ ├── can_client_factory.h │ │ ├── can_client_factory_test.cc │ │ ├── can_client_tool.cc │ │ ├── esd │ │ │ ├── BUILD │ │ │ ├── esd_can_client.cc │ │ │ ├── esd_can_client.h │ │ │ └── esd_can_client_test.cc │ │ └── fake │ │ │ ├── BUILD │ │ │ ├── fake_can_client.cc │ │ │ ├── fake_can_client.h │ │ │ └── fake_can_client_test.cc │ ├── can_comm │ │ ├── BUILD │ │ ├── can_receiver.cc │ │ ├── can_receiver.h │ │ ├── can_receiver_test.cc │ │ ├── can_sender.cc │ │ ├── can_sender.h │ │ └── can_sender_test.cc │ ├── canbus.cc │ ├── canbus.h │ ├── canbus_test.cc │ ├── common │ │ ├── BUILD │ │ ├── byte.cc │ │ ├── byte.h │ │ ├── byte_test.cc │ │ ├── canbus_consts.h │ │ ├── canbus_gflags.cc │ │ └── canbus_gflags.h │ ├── conf │ │ ├── adapter.conf │ │ ├── adapter_dev.conf │ │ ├── canbus.conf │ │ ├── canbus_conf.pb.txt │ │ ├── canbus_conf_dev.pb.txt │ │ └── canbus_dev.conf │ ├── main.cc │ ├── proto │ │ ├── BUILD │ │ ├── can_card_parameter.proto │ │ ├── canbus_conf.proto │ │ ├── chassis.proto │ │ ├── chassis_detail.proto │ │ └── vehicle_parameter.proto │ ├── testdata │ │ ├── canbus_test.pb.txt │ │ └── conf │ │ │ └── canbus_conf_test.pb.txt │ ├── tools │ │ ├── BUILD │ │ ├── canbus_tester.cc │ │ └── teleop.cc │ └── vehicle │ │ ├── BUILD │ │ ├── abstract_vehicle_factory.cc │ │ ├── abstract_vehicle_factory.h │ │ ├── lincoln │ │ ├── BUILD │ │ ├── lincoln_controller.cc │ │ ├── lincoln_controller.h │ │ ├── lincoln_controller_test.cc │ │ ├── lincoln_message_manager.cc │ │ ├── lincoln_message_manager.h │ │ ├── lincoln_message_manager_test.cc │ │ ├── lincoln_vehicle_factory.cc │ │ ├── lincoln_vehicle_factory.h │ │ ├── lincoln_vehicle_factory_test.cc │ │ └── protocol │ │ │ ├── BUILD │ │ │ ├── accel_6b.cc │ │ │ ├── accel_6b.h │ │ │ ├── accel_6b_test.cc │ │ │ ├── brake_60.cc │ │ │ ├── brake_60.h │ │ │ ├── brake_60_test.cc │ │ │ ├── brake_61.cc │ │ │ ├── brake_61.h │ │ │ ├── brake_61_test.cc │ │ │ ├── brakeinfo_74.cc │ │ │ ├── brakeinfo_74.h │ │ │ ├── brakeinfo_74_test.cc │ │ │ ├── fuellevel_72.cc │ │ │ ├── fuellevel_72.h │ │ │ ├── fuellevel_72_test.cc │ │ │ ├── gear_66.cc │ │ │ ├── gear_66.h │ │ │ ├── gear_66_test.cc │ │ │ ├── gear_67.cc │ │ │ ├── gear_67.h │ │ │ ├── gear_67_test.cc │ │ │ ├── gps_6d.cc │ │ │ ├── gps_6d.h │ │ │ ├── gps_6d_test.cc │ │ │ ├── gps_6e.cc │ │ │ ├── gps_6e.h │ │ │ ├── gps_6e_test.cc │ │ │ ├── gps_6f.cc │ │ │ ├── gps_6f.h │ │ │ ├── gps_6f_test.cc │ │ │ ├── gyro_6c.cc │ │ │ ├── gyro_6c.h │ │ │ ├── gyro_6c_test.cc │ │ │ ├── misc_69.cc │ │ │ ├── misc_69.h │ │ │ ├── misc_69_test.cc │ │ │ ├── steering_64.cc │ │ │ ├── steering_64.h │ │ │ ├── steering_64_test.cc │ │ │ ├── steering_65.cc │ │ │ ├── steering_65.h │ │ │ ├── steering_65_test.cc │ │ │ ├── throttle_62.cc │ │ │ ├── throttle_62.h │ │ │ ├── throttle_62_test.cc │ │ │ ├── throttle_63.cc │ │ │ ├── throttle_63.h │ │ │ ├── throttle_63_test.cc │ │ │ ├── throttleinfo_75.cc │ │ │ ├── throttleinfo_75.h │ │ │ ├── throttleinfo_75_test.cc │ │ │ ├── tirepressure_71.cc │ │ │ ├── tirepressure_71.h │ │ │ ├── tirepressure_71_test.cc │ │ │ ├── turnsignal_68.cc │ │ │ ├── turnsignal_68.h │ │ │ ├── turnsignal_68_test.cc │ │ │ ├── version_7f.cc │ │ │ ├── version_7f.h │ │ │ ├── version_7f_test.cc │ │ │ ├── wheelspeed_6a.cc │ │ │ ├── wheelspeed_6a.h │ │ │ └── wheelspeed_6a_test.cc │ │ ├── message_manager.cc │ │ ├── message_manager.h │ │ ├── message_manager_test.cc │ │ ├── protocol_data.cc │ │ ├── protocol_data.h │ │ ├── protocol_data_test.cc │ │ ├── vehicle_controller.cc │ │ ├── vehicle_controller.h │ │ ├── vehicle_factory.cc │ │ └── vehicle_factory.h ├── common │ ├── BUILD │ ├── README.md │ ├── adapters │ │ ├── BUILD │ │ ├── adapter.h │ │ ├── adapter_gflags.cc │ │ ├── adapter_gflags.h │ │ ├── adapter_manager.cc │ │ ├── adapter_manager.h │ │ ├── adapter_test.cc │ │ ├── message_adapters.h │ │ └── proto │ │ │ ├── BUILD │ │ │ └── adapter_config.proto │ ├── apollo_app.cc │ ├── apollo_app.h │ ├── configs │ │ ├── BUILD │ │ ├── config_gflags.cc │ │ ├── config_gflags.h │ │ ├── proto │ │ │ ├── BUILD │ │ │ ├── config_extrinsics.proto │ │ │ └── vehicle_config.proto │ │ ├── vehicle_config_helper.cc │ │ └── vehicle_config_helper.h │ ├── data │ │ ├── BUILD │ │ └── mkz_config.pb.txt │ ├── log.h │ ├── macro.h │ ├── math │ │ ├── BUILD │ │ ├── aabox2d.cc │ │ ├── aabox2d.h │ │ ├── aabox2d_test.cc │ │ ├── aaboxkdtree2d.h │ │ ├── aaboxkdtree2d_test.cc │ │ ├── angle.cc │ │ ├── angle.h │ │ ├── angle_test.cc │ │ ├── box2d.cc │ │ ├── box2d.h │ │ ├── box2d_test.cc │ │ ├── euler_angles_zxy.h │ │ ├── euler_angles_zxy_test.cc │ │ ├── integral.cc │ │ ├── integral.h │ │ ├── integral_test.cc │ │ ├── kalman_filter.h │ │ ├── kalman_filter_test.cc │ │ ├── line_segment2d.cc │ │ ├── line_segment2d.h │ │ ├── line_segment2d_test.cc │ │ ├── linear_interpolation.cc │ │ ├── linear_interpolation.h │ │ ├── linear_interpolation_test.cc │ │ ├── linear_quadratic_regulator.cc │ │ ├── linear_quadratic_regulator.h │ │ ├── math_utils.cc │ │ ├── math_utils.h │ │ ├── math_utils_test.cc │ │ ├── matrix_operations.h │ │ ├── polygon2d.cc │ │ ├── polygon2d.h │ │ ├── polygon2d_test.cc │ │ ├── quaternion.h │ │ ├── quaternion_test.cc │ │ ├── search.cc │ │ ├── search.h │ │ ├── search_test.cc │ │ ├── sin_table.cc │ │ ├── sin_table.h │ │ ├── vec2d.cc │ │ ├── vec2d.h │ │ └── vec2d_test.cc │ ├── monitor │ │ ├── BUILD │ │ ├── monitor.cc │ │ ├── monitor.h │ │ ├── monitor_buffer.cc │ │ ├── monitor_buffer.h │ │ ├── monitor_buffer_test.cc │ │ ├── monitor_test.cc │ │ └── proto │ │ │ ├── BUILD │ │ │ └── monitor.proto │ ├── proto │ │ ├── BUILD │ │ ├── error_code.proto │ │ ├── geometry.proto │ │ ├── gnss_status.proto │ │ ├── header.proto │ │ └── path_point.proto │ ├── status │ │ ├── BUILD │ │ ├── status.h │ │ └── status_test.cc │ ├── time │ │ ├── BUILD │ │ ├── time.h │ │ └── time_test.cc │ ├── util │ │ ├── BUILD │ │ ├── factory.h │ │ ├── factory_test.cc │ │ ├── file.cc │ │ ├── file.h │ │ ├── file_test.cc │ │ ├── string_tokenizer.cc │ │ ├── string_tokenizer.h │ │ ├── string_tokenizer_test.cc │ │ ├── testdata │ │ │ ├── BUILD │ │ │ └── simple.proto │ │ ├── util.cc │ │ ├── util.h │ │ └── util_test.cc │ └── vehicle_state │ │ ├── BUILD │ │ ├── vehicle_state.cc │ │ ├── vehicle_state.h │ │ └── vehicle_state_test.cc ├── control │ ├── BUILD │ ├── README.md │ ├── common │ │ ├── BUILD │ │ ├── control_gflags.cc │ │ ├── control_gflags.h │ │ ├── hysteresis_filter.cc │ │ ├── hysteresis_filter.h │ │ ├── hysteresis_filter_test.cc │ │ ├── interpolation_1d.cc │ │ ├── interpolation_1d.h │ │ ├── interpolation_1d_test.cc │ │ ├── interpolation_2d.cc │ │ ├── interpolation_2d.h │ │ ├── interpolation_2d_test.cc │ │ ├── pid_controller.cc │ │ ├── pid_controller.h │ │ ├── pid_controller_test.cc │ │ ├── trajectory_analyzer.cc │ │ ├── trajectory_analyzer.h │ │ └── trajectory_analyzer_test.cc │ ├── conf │ │ ├── adapter.conf │ │ ├── control.conf │ │ └── lincoln.pb.txt │ ├── control.cc │ ├── control.h │ ├── control_test.cc │ ├── controller │ │ ├── BUILD │ │ ├── controller.h │ │ ├── controller_agent.cc │ │ ├── controller_agent.h │ │ ├── lat_controller.cc │ │ ├── lat_controller.h │ │ ├── lat_controller_test.cc │ │ ├── lon_controller.cc │ │ ├── lon_controller.h │ │ └── lon_controller_test.cc │ ├── filters │ │ ├── BUILD │ │ ├── digital_filter.cc │ │ ├── digital_filter.h │ │ ├── digital_filter_coefficients.cc │ │ ├── digital_filter_coefficients.h │ │ ├── digital_filter_coefficients_test.cc │ │ ├── digital_filter_test.cc │ │ ├── mean_filter.cc │ │ ├── mean_filter.h │ │ └── mean_filter_test.cc │ ├── integration_tests │ │ ├── BUILD │ │ ├── control_test_base.cc │ │ ├── control_test_base.h │ │ └── simple_control_test.cc │ ├── main.cc │ ├── proto │ │ ├── BUILD │ │ ├── calibration_table.proto │ │ ├── control_cmd.proto │ │ ├── control_conf.proto │ │ ├── lat_controller_conf.proto │ │ ├── lon_controller_conf.proto │ │ └── pad_msg.proto │ ├── testdata │ │ ├── conf │ │ │ ├── adapter.conf │ │ │ └── lincoln.pb.txt │ │ ├── control_tester │ │ │ ├── adapter.conf │ │ │ ├── chassis.pb.txt │ │ │ ├── localization.pb.txt │ │ │ ├── pad_msg.pb.txt │ │ │ └── planning.pb.txt │ │ ├── longitudinal_controller_test │ │ │ ├── 1_chassis.pb.txt │ │ │ ├── 1_localization.pb.txt │ │ │ ├── 1_planning.pb.txt │ │ │ ├── 2_chassis.pb.txt │ │ │ └── 2_localization.pb.txt │ │ └── simple_control_test │ │ │ ├── 1_chassis.pb.txt │ │ │ ├── 1_localization.pb.txt │ │ │ ├── 1_monitor.pb.txt │ │ │ ├── 1_pad.pb.txt │ │ │ ├── 1_planning.pb.txt │ │ │ ├── 2_pad.pb.txt │ │ │ ├── result_monitor_fatal_0.pb.txt │ │ │ ├── result_pad_reset_0.pb.txt │ │ │ ├── result_simple_test_0.pb.txt │ │ │ └── result_state_exact_match_0.pb.txt │ └── tools │ │ ├── BUILD │ │ ├── control_tester.cc │ │ └── terminal.cc ├── decision │ ├── BUILD │ ├── README.md │ ├── common │ │ ├── BUILD │ │ ├── decision_gflags.cc │ │ └── decision_gflags.h │ ├── conf │ │ ├── BUILD │ │ ├── adapter.conf │ │ └── decision.conf │ ├── decision.cc │ ├── decision.h │ ├── main.cc │ └── proto │ │ ├── BUILD │ │ └── decision.proto ├── dreamview │ ├── BUILD │ ├── README.md │ ├── backend │ │ ├── BUILD │ │ ├── server.cc │ │ ├── simulation_world_service.cc │ │ ├── simulation_world_service.h │ │ ├── simulation_world_service_test.cc │ │ ├── trajectory_point_collector.cc │ │ ├── trajectory_point_collector.h │ │ ├── trajectory_point_collector_test.cc │ │ ├── websocket.cc │ │ ├── websocket.h │ │ └── websocket_test.cc │ ├── conf │ │ ├── BUILD │ │ ├── adapter.conf │ │ └── dreamview.conf │ ├── frontend │ │ ├── .eslintrc │ │ ├── .gitignore │ │ ├── .nvmrc │ │ ├── assets │ │ │ ├── images │ │ │ │ ├── brakes │ │ │ │ │ ├── B-0p.png │ │ │ │ │ ├── B-100p.png │ │ │ │ │ ├── B-10p.png │ │ │ │ │ ├── B-20p.png │ │ │ │ │ ├── B-30p.png │ │ │ │ │ ├── B-40p.png │ │ │ │ │ ├── B-50p.png │ │ │ │ │ ├── B-60p.png │ │ │ │ │ ├── B-70p.png │ │ │ │ │ ├── B-80p.png │ │ │ │ │ └── B-90p.png │ │ │ │ ├── ground.png │ │ │ │ ├── ground_old.png │ │ │ │ ├── icons │ │ │ │ │ ├── error.png │ │ │ │ │ └── warning.png │ │ │ │ ├── logo_apollo.png │ │ │ │ ├── status_bar_background.png │ │ │ │ ├── throttles │ │ │ │ │ ├── A-0p.png │ │ │ │ │ ├── A-100p.png │ │ │ │ │ ├── A-10p.png │ │ │ │ │ ├── A-20p.png │ │ │ │ │ ├── A-30p.png │ │ │ │ │ ├── A-40p.png │ │ │ │ │ ├── A-50p.png │ │ │ │ │ ├── A-60p.png │ │ │ │ │ ├── A-70p.png │ │ │ │ │ ├── A-80p.png │ │ │ │ │ └── A-90p.png │ │ │ │ ├── traffic_light_indicator │ │ │ │ │ ├── green.png │ │ │ │ │ ├── green_background.png │ │ │ │ │ ├── red.png │ │ │ │ │ ├── red_background.png │ │ │ │ │ ├── yellow.png │ │ │ │ │ └── yellow_background.png │ │ │ │ └── wheel │ │ │ │ │ ├── left_off.png │ │ │ │ │ ├── left_on.png │ │ │ │ │ ├── right_off.png │ │ │ │ │ ├── right_on.png │ │ │ │ │ ├── wheel.png │ │ │ │ │ └── wheel_background.png │ │ │ └── models │ │ │ │ ├── car.mtl │ │ │ │ └── car.obj │ │ ├── dist │ │ │ ├── 0ccca57f7e42eacf63e554cdd686cc6c.obj │ │ │ ├── 2cff479783c9bacb71df63a81871313d.mtl │ │ │ ├── app.bundle.js │ │ │ ├── app.bundle.js.map │ │ │ ├── assets │ │ │ │ ├── -03Gb-Ccnlif2xWCvLEb.png │ │ │ │ ├── 13lPmuYsGizUIj_HGNYM82.png │ │ │ │ ├── 17skZKs3NLY7bQdfdq7QNA.png │ │ │ │ ├── 19qUvfpSOZll7BKEUACcx.png │ │ │ │ ├── 1BwPHgiZoeqJxVnkbYw856.png │ │ │ │ ├── 1G94wLFxPkwUSLT4LrE2fp.png │ │ │ │ ├── 1_w0Msydxh3ub9kafpa0Gu.png │ │ │ │ ├── 1c7Av1PUXvYHAd5n8t6U4o.png │ │ │ │ ├── 1orGHnvUlCfA61gw1FZWYx.png │ │ │ │ ├── 27-Hzh_fNwj8H0gc92U8pp.png │ │ │ │ ├── 2C7kOrs7d3zNDyCpMtMv6x.png │ │ │ │ ├── 2MeTpGfJssBWq3u6fessLX.png │ │ │ │ ├── 2Mq1Nrif5Fq4_hFDmtgpC8.png │ │ │ │ ├── 2NEFng8KXMmYxDfgmv-0Av.png │ │ │ │ ├── 2ZN7AK83nJeui8fqrKM8Az.png │ │ │ │ ├── 2niKM_f9v0SRFhmbR4Zu5I.png │ │ │ │ ├── 2zhBtRNUBEJUfB_ljrz5Aw.png │ │ │ │ ├── 32EK-Zo6hVHM2q6a0oBqHh.png │ │ │ │ ├── 32bB5SAi3OAcDha9AMuDMU.png │ │ │ │ ├── 35h5001xTSU6LmzSU05wGJ.png │ │ │ │ ├── 36n8psbTKjQQS8UEiNtpDh.png │ │ │ │ ├── 3KvoDJ7b0zI4aIEslU26gl.png │ │ │ │ ├── 3LzEOo29te6Yy-Zj3QF3Bn.png │ │ │ │ ├── 3NYlScYFKaFx1gjoj3mxk1.png │ │ │ │ ├── 3WNj6QfIN0cgE7u5icG0Zx.png │ │ │ │ ├── 3_hkxH3w5KVyM-UMmLhwnh.png │ │ │ │ ├── 3bNUSKsOlfeulunF3xJ_WD.png │ │ │ │ ├── 3l07hkN0ijw_p3p0h5_qan.png │ │ │ │ ├── 3lKgfpv78MV_-6nxKdcSaw.png │ │ │ │ ├── 3rD9-64ZUob_xb2jCpqbVw.png │ │ │ │ ├── C2HhU-Q88UYUOZ6PrRyu1.png │ │ │ │ ├── ZSSfg-gf4YFvCuUgfa3FC.png │ │ │ │ └── ZzXs2hkPaGeWT_N6FgGOx.png │ │ │ ├── icons-96a5961bf2ae84dde1c862df36787eb1 │ │ │ │ ├── .cache │ │ │ │ ├── android-chrome-144x144.png │ │ │ │ ├── android-chrome-192x192.png │ │ │ │ ├── android-chrome-256x256.png │ │ │ │ ├── android-chrome-36x36.png │ │ │ │ ├── android-chrome-384x384.png │ │ │ │ ├── android-chrome-48x48.png │ │ │ │ ├── android-chrome-512x512.png │ │ │ │ ├── android-chrome-72x72.png │ │ │ │ ├── android-chrome-96x96.png │ │ │ │ ├── apple-touch-icon-114x114.png │ │ │ │ ├── apple-touch-icon-120x120.png │ │ │ │ ├── apple-touch-icon-144x144.png │ │ │ │ ├── apple-touch-icon-152x152.png │ │ │ │ ├── apple-touch-icon-167x167.png │ │ │ │ ├── apple-touch-icon-180x180.png │ │ │ │ ├── apple-touch-icon-57x57.png │ │ │ │ ├── apple-touch-icon-60x60.png │ │ │ │ ├── apple-touch-icon-72x72.png │ │ │ │ ├── apple-touch-icon-76x76.png │ │ │ │ ├── apple-touch-icon-precomposed.png │ │ │ │ ├── apple-touch-icon.png │ │ │ │ ├── apple-touch-startup-image-1182x2208.png │ │ │ │ ├── apple-touch-startup-image-1242x2148.png │ │ │ │ ├── apple-touch-startup-image-1496x2048.png │ │ │ │ ├── apple-touch-startup-image-1536x2008.png │ │ │ │ ├── apple-touch-startup-image-320x460.png │ │ │ │ ├── apple-touch-startup-image-640x1096.png │ │ │ │ ├── apple-touch-startup-image-640x920.png │ │ │ │ ├── apple-touch-startup-image-748x1024.png │ │ │ │ ├── apple-touch-startup-image-750x1294.png │ │ │ │ ├── apple-touch-startup-image-768x1004.png │ │ │ │ ├── favicon-16x16.png │ │ │ │ ├── favicon-32x32.png │ │ │ │ ├── favicon.ico │ │ │ │ ├── firefox_app_128x128.png │ │ │ │ ├── firefox_app_512x512.png │ │ │ │ ├── firefox_app_60x60.png │ │ │ │ ├── manifest.json │ │ │ │ └── manifest.webapp │ │ │ └── index.html │ │ ├── package-lock.json │ │ ├── package.json │ │ ├── src │ │ │ ├── app.js │ │ │ ├── components │ │ │ │ ├── Dreamview.js │ │ │ │ ├── Scene │ │ │ │ │ └── index.js │ │ │ │ ├── SideBar │ │ │ │ │ ├── ButtonPanel.js │ │ │ │ │ ├── Console.js │ │ │ │ │ ├── Notification.js │ │ │ │ │ └── index.js │ │ │ │ ├── StatusBar │ │ │ │ │ ├── AutoMeter.js │ │ │ │ │ ├── TrafficLightIndicator.js │ │ │ │ │ ├── Wheel.js │ │ │ │ │ └── index.js │ │ │ │ └── common │ │ │ │ │ ├── Background.js │ │ │ │ │ └── Image.js │ │ │ ├── favicon.png │ │ │ ├── index.hbs │ │ │ ├── renderer │ │ │ │ ├── adc.js │ │ │ │ ├── coordinates.js │ │ │ │ ├── ground.js │ │ │ │ ├── index.js │ │ │ │ └── trajectory.js │ │ │ ├── store │ │ │ │ ├── config │ │ │ │ │ ├── dev.yml │ │ │ │ │ └── parameters.yml │ │ │ │ ├── index.js │ │ │ │ ├── meters.js │ │ │ │ ├── monitor.js │ │ │ │ ├── options.js │ │ │ │ └── websocket.js │ │ │ ├── styles │ │ │ │ ├── main.scss │ │ │ │ └── media-queries.scss │ │ │ └── utils │ │ │ │ ├── draw.js │ │ │ │ └── models.js │ │ ├── webpack.config.js │ │ └── yarn.lock │ └── proto │ │ ├── BUILD │ │ └── simulation_world.proto ├── drivers │ └── gnss │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── conf │ │ ├── gnss_conf_mkz.txt │ │ ├── gnss_conf_mkz8.txt │ │ ├── gnss_conf_mkz9.txt │ │ ├── gnss_conf_mkz_net.txt │ │ └── readme.txt │ │ ├── include │ │ ├── gnss │ │ │ ├── novatel_messages.h │ │ │ ├── parser.h │ │ │ ├── stream.h │ │ │ └── utils.h │ │ └── util │ │ │ ├── macros.h │ │ │ └── time_conversion.h │ │ ├── launch │ │ ├── gnss_driver.launch │ │ └── gnss_driver_bj.launch │ │ ├── nodelets.xml │ │ ├── package.xml │ │ ├── proto │ │ ├── config.proto │ │ ├── gnss.proto │ │ ├── gnss_status.proto │ │ ├── gpgga.proto │ │ ├── imu.proto │ │ └── ins.proto │ │ ├── scripts │ │ └── start_gnss_driver.sh │ │ ├── src │ │ ├── data_parser.cpp │ │ ├── data_parser.h │ │ ├── impl │ │ │ ├── novatel_parser.cpp │ │ │ ├── ntrip_stream.cpp │ │ │ ├── serial_stream.cpp │ │ │ ├── tcp_stream.cpp │ │ │ ├── tcp_stream.h │ │ │ ├── udp_stream.cpp │ │ │ └── utils.cpp │ │ ├── parser_nodelet.cpp │ │ ├── raw_stream.cpp │ │ ├── raw_stream.h │ │ └── stream_nodelet.cpp │ │ ├── test_data │ │ ├── novatel.bin │ │ └── ublox.bin │ │ └── tests │ │ ├── parser_cli.cpp │ │ ├── test_monitor.cpp │ │ ├── unit_test_stream.cpp │ │ └── utils_test.cpp ├── hmi │ ├── README.md │ ├── conf │ │ └── config.pb.txt │ ├── proto │ │ ├── BUILD │ │ ├── config.proto │ │ ├── ros_node.proto │ │ └── runtime_status.proto │ ├── ros_node │ │ ├── BUILD │ │ ├── ros_node_service.cc │ │ └── ros_node_service.h │ ├── utils │ │ ├── BUILD │ │ ├── hmi_status_helper.cc │ │ ├── hmi_status_helper.h │ │ ├── hmi_status_helper.py │ │ ├── restful_client.cc │ │ ├── restful_client.h │ │ └── restful_client_test.cc │ └── web │ │ ├── config.py │ │ ├── handlers.py │ │ ├── hardware_api.py │ │ ├── hmi_main.py │ │ ├── module_api.py │ │ ├── ros_service_api.py │ │ ├── runtime_status.py │ │ ├── runtime_status_api.py │ │ ├── static │ │ ├── images │ │ │ ├── favicon.ico │ │ │ ├── hardware_checking_icon.png │ │ │ ├── hardware_failed_icon.png │ │ │ ├── hardware_healthy_icon.png │ │ │ ├── logo.png │ │ │ └── toolbar_bg.png │ │ └── lib │ │ │ ├── bootstrap │ │ │ └── 3.3.7 │ │ │ │ ├── css │ │ │ │ └── bootstrap.min.css │ │ │ │ ├── fonts │ │ │ │ └── glyphicons-halflings-regular.ttf │ │ │ │ └── js │ │ │ │ └── bootstrap.min.js │ │ │ ├── jquery │ │ │ └── 3.2.1 │ │ │ │ └── jquery.min.js │ │ │ └── socket.io │ │ │ └── 1.3.6 │ │ │ └── socket.io.min.js │ │ ├── system_cmd.py │ │ ├── templates │ │ ├── base.tpl │ │ ├── cards │ │ │ ├── hardware_panel.tpl │ │ │ ├── modules_panel.tpl │ │ │ └── quick_start_panel.tpl │ │ └── index.tpl │ │ └── tool_api.py ├── localization │ ├── BUILD │ ├── README.md │ ├── camera │ │ ├── BUILD │ │ ├── camera_localization.cc │ │ └── camera_localization.h │ ├── common │ │ ├── BUILD │ │ ├── localization_gflags.cc │ │ └── localization_gflags.h │ ├── conf │ │ ├── BUILD │ │ ├── camera_adapter.conf │ │ ├── localization.conf │ │ ├── localization_config.pb.txt │ │ └── rtk_adapter.conf │ ├── localization.cc │ ├── localization.h │ ├── localization_base.h │ ├── main.cc │ ├── proto │ │ ├── BUILD │ │ ├── camera.proto │ │ ├── camera_parameter.proto │ │ ├── gps.proto │ │ ├── imu.proto │ │ ├── localization.proto │ │ ├── localization_config.proto │ │ └── pose.proto │ ├── rtk │ │ ├── BUILD │ │ ├── rtk_localization.cc │ │ ├── rtk_localization.h │ │ └── rtk_localization_test.cc │ └── testdata │ │ ├── 1_imu_1.pb.txt │ │ ├── 1_imu_2.pb.txt │ │ ├── 1_imu_result.pb.txt │ │ ├── 2_imu_1.pb.txt │ │ ├── 2_imu_2.pb.txt │ │ ├── 2_imu_result.pb.txt │ │ ├── 3_gps_1.pb.txt │ │ ├── 3_imu_1.pb.txt │ │ ├── 3_localization_result_1.pb.txt │ │ └── 3_localization_result_2.pb.txt ├── monitor │ ├── README.md │ ├── common │ │ ├── BUILD │ │ ├── annotations.h │ │ ├── common_defs.h │ │ ├── interface │ │ │ ├── hw_checker.h │ │ │ └── hw_status.h │ │ ├── log.cc │ │ ├── log.h │ │ └── tests │ │ │ └── test_log.cc │ └── hwmonitor │ │ ├── hw │ │ ├── BUILD │ │ ├── esdcan │ │ │ ├── BUILD │ │ │ ├── esdcan_checker.cc │ │ │ ├── esdcan_checker.h │ │ │ ├── esdcan_err_str.cc │ │ │ ├── esdcan_err_str.h │ │ │ ├── esdcan_test.cc │ │ │ ├── esdcan_test.h │ │ │ ├── esdcan_test_mock.cc │ │ │ ├── esdcan_utils.cc │ │ │ └── esdcan_utils.h │ │ ├── hw_log_module.cc │ │ ├── hw_log_module.h │ │ └── tools │ │ │ ├── BUILD │ │ │ ├── esdcan_test_app.cc │ │ │ └── readme-esdcan.md │ │ └── hw_check │ │ ├── BUILD │ │ ├── can_check.cc │ │ ├── gps_check.cc │ │ └── hw_chk_utils.h ├── perception │ ├── 1.png │ ├── 2.png │ ├── 3.png │ ├── 4.png │ ├── 5.png │ ├── BUILD │ ├── README.md │ ├── common │ │ ├── BUILD │ │ ├── perception_gflags.cc │ │ └── perception_gflags.h │ ├── conf │ │ ├── BUILD │ │ ├── adapter.conf │ │ └── perception.conf │ ├── main.cc │ ├── perception.cc │ ├── perception.h │ └── proto │ │ ├── BUILD │ │ ├── perception_map_roi.proto │ │ ├── perception_obstacle.proto │ │ └── traffic_light_detection.proto ├── planning │ ├── BUILD │ ├── README.md │ ├── common │ │ ├── BUILD │ │ ├── planning_gflags.cc │ │ └── planning_gflags.h │ ├── conf │ │ ├── BUILD │ │ ├── adapter.conf │ │ └── planning.conf │ ├── data │ │ └── garage.csv │ ├── main.cc │ ├── planner │ │ ├── BUILD │ │ ├── planner.h │ │ ├── rtk_replay_planner.cc │ │ ├── rtk_replay_planner.h │ │ └── rtk_replay_planner_test.cc │ ├── planner_factory.cc │ ├── planner_factory.h │ ├── planning.cc │ ├── planning.h │ ├── planning_node.cc │ ├── planning_node.h │ ├── planning_test.cc │ ├── proto │ │ ├── BUILD │ │ ├── planning.proto │ │ └── planning_internal.proto │ └── testdata │ │ ├── garage.csv │ │ └── garage_error.csv ├── prediction │ ├── BUILD │ ├── README.md │ ├── common │ │ ├── BUILD │ │ ├── prediction_gflags.cc │ │ └── prediction_gflags.h │ ├── conf │ │ ├── adapter.conf │ │ └── prediction.conf │ ├── main.cc │ ├── prediction.cc │ ├── prediction.h │ └── proto │ │ ├── BUILD │ │ └── prediction_obstacle.proto └── tools │ ├── README.md │ ├── calibration │ ├── calibration_data_sample │ │ ├── b13_up.txt │ │ ├── b15_up.txt │ │ ├── b17_up.txt │ │ ├── b20_up.txt │ │ ├── b22_up.txt │ │ ├── t15_down.txt │ │ ├── t15b13.txt │ │ ├── t17_down.txt │ │ ├── t17b13.txt │ │ ├── t20_down.txt │ │ ├── t20b13.txt │ │ ├── t22b30.txt │ │ ├── t25b30.txt │ │ ├── t27b30.txt │ │ ├── t30b30.txt │ │ ├── t35b30.txt │ │ ├── t40b13.txt │ │ ├── t40b15.txt │ │ ├── t40b17.txt │ │ ├── t40b20.txt │ │ ├── t40b22.txt │ │ ├── t40b25.txt │ │ ├── t40b27.txt │ │ ├── t40b30.txt │ │ ├── t40b33.txt │ │ ├── t40b35.txt │ │ ├── t45b30.txt │ │ ├── t50b30.txt │ │ ├── t55b30.txt │ │ ├── t60b30.txt │ │ ├── t65b30.txt │ │ ├── t70b30.txt │ │ ├── t75b30.txt │ │ └── t80b30.txt │ ├── data_collector.py │ ├── plot_data.py │ ├── plot_grid.py │ ├── plot_results.py │ ├── process.py │ ├── process_data.py │ ├── process_data.sh │ ├── result2pb.py │ └── result2pb.sh │ ├── configurator │ ├── ModuleConf.py │ ├── configurator.py │ └── meta.data │ ├── control_info │ ├── control_info.py │ └── run.sh │ ├── diagnostics │ ├── Message.py │ ├── batch_include.py │ ├── diagnostics.py │ └── meta.data │ ├── dump_rosbag │ └── dumpbag.py │ ├── planning_traj_plot │ ├── example_data │ │ ├── 1_localization.pb.txt │ │ └── 1_planning.pb.txt │ ├── main.py │ ├── mkz_polygon.py │ └── run.sh │ ├── plot_control │ ├── plot_control.py │ └── run.sh │ ├── plot_trace │ └── plot_trace.py │ ├── py27_requirements.txt │ ├── realtime_plot │ ├── item.py │ ├── realtime_plot.py │ ├── stitem.py │ └── xyitem.py │ ├── record_play │ ├── README.md │ ├── logger.py │ ├── rtk_player.py │ └── rtk_recorder.py │ └── setup_pythonpath.sh ├── scripts ├── AGREEMENT.txt ├── apollo_base.sh ├── apollo_init.sh ├── apollo_record.sh ├── canbus.sh ├── canbus_teleop.sh ├── canbus_tester.sh ├── configurator.sh ├── control.sh ├── control_info.sh ├── decision.sh ├── diagnostics.sh ├── docker_adduser.sh ├── dreamview.sh ├── env.sh ├── gps.sh ├── gps_bj.sh ├── gps_sunnyvale.sh ├── hmi.sh ├── hw_check.sh ├── localization.sh ├── pad.sh ├── perception.sh ├── planning.sh ├── plot_trace.sh ├── prediction.sh ├── realtime_plot.sh ├── run_rtk_player.sh ├── run_rtk_recorder.sh ├── stop_rtk_player.sh └── stop_rtk_recorder.sh ├── third_party ├── ACKNOWLEDGEMENT.txt ├── benchmark.BUILD ├── can_card_library │ └── esd_can │ │ ├── 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