Non-real-time execution support of Apollo

[ZiwenWan]

Hi Apollo team, thanks for making this awesome software! I tried to run Apollo 5.0 with LGSVL in a non-real-time simulation mode. I found that the control module can not correctly control the car to follow the trajectory. I want to know is there any support to run Apollo along with a non-real-time simulation (slower than the real-time)? If not, can you give some instructions about how to change the clock function to support it?

System information

• OS Platform and Distribution Linux 14.04 (inside the container):
• Apollo installed from source and cloned from LGSVL repo https://github.com/lgsvl/apollo-5.0:
• Apollo version 5.0:

Steps to reproduce the issue: Modifications I made in Apollo:

• Change the clock in all modules to be MOCK
• Update the time based on the localization or GPS timestamp for all the modules
• Change the related configuration in the control module: e.g., control period.

Supporting materials (screenshots, command lines, code/script snippets): Observation: The planning result is correct based on the dreamview's visualization result. The control module can not follow the planning trajectory, especially the steering control is wrong. Also, I can not find some detailed information about the control configuration. That could be helpful if you can tell me the details of the control configuration, fox example, control period.

Thanks for your time!

[rongguodong]

I am facing the same problem. Anyone can give some suggestions on this?

[jilinzhou]

1. The control period can be easily changed in the config file for either lateral controller or longitudinal controller.
2. Take a look of LGSVL source code about how steering cmd is parsed out and how they are actually applied to the simulation model. It might help the debugging.