Apollo car very unstable using 2021.1 SVL simulator

[MartinaB85]

Hi, I'm currently using the SVL simulator (version 2021.1) together with Apollo 5.0, both on Ubuntu 20.04. With previous version of the simulator the apollo car was working ok, even if the frame rate was not the best, but now under this version it gets very unstable (see video in attached). It is unstable even using the standalone version and not the unity editor. I tried to reduce the maximum speed but it did not work. In the apollo sensors configuration I do have a clock sensor but not sure if I need to do anything else ?

• As for instructions for previous version of the simulator, as soon as I modifies the file cyber.pb.conf adding clock_mode: MODE_MOCK below run_mode: MODE_REALITY, Dreamview fails to start. I also tried rebuilding Apollo after modifying the cyber.pb.conf file but Dreamview still fails to load. Do I need to do so even with this version of the simulator?

• I set --use_cyber_time in planning.conf and --use_cyber_time=true in control.conf but the car is still very unstable.

How can I get a decent behavior of the car.?? I really need to make it work asap, so please tell me if there is anything I can do to improve it.

https://user-images.githubusercontent.com/73334464/138090164-869bf566-9810-4b69-b90e-e560cab63ed8.mp4

Thanks,

Martina

[daohu527]

There may be some problems.

1. If running on the same machine, is the computer's resources insufficient?
2. If it is not the same, is there a problem with the network

[AIasd]

@MartinaB85 I thought MODE_MOCK needs the clock sensor which requires Apollo6.0? Can this be a cause?

[josh-wende]

@MartinaB85 Did you ever solve this?

[ntutangyun]

looks like a latency problem...

[MartinaB85]

The car, after reducing the "heaviness" of the scenario, is performing well in the standalone build but in the unity editor is still quite unstable. However, I haven't solved the issue regarding the simulation time. The simulation time is not used by the ego vehicle as checking the time used by the NPCs, it is different from the time used by the ego vehicle. As nobody replied to solve the issue related to the MODE_MOCK and the clock sensor I did what I could to keep performing my simulations, even if the issue is not solved.