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ApolloAuto / apollo

An open autonomous driving platform
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How can I test the control module without a real car? #7442

Closed Younch-15 closed 5 years ago

Younch-15 commented 5 years ago

I have been trying to test the performance of the sample vehicle lincoln mx8 under a given complex path. After I compiled control_component_test.cc in apollo/modules/control and manually input a straight path which started at (0,0,0) and ended at (4.6,0,0), I found the .INFO file like this:

Log file created at: 2019/03/25 13:34:28 Running on machine: in_dev_docker Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg I0325 13:34:28.812129 11484 control_component.cc:42] Control init, starting ... I0325 13:34:28.837960 11484 control_component.cc:48] Conf file: /apollo/modules/control/testdata/conf/control_conf.pb.txt is loaded. I0325 13:34:28.837970 11484 control_component.cc:50] Conf file: is loaded. I0325 13:34:28.837975 11484 controller_agent.cc:36] Only support MPC controller or Lat + Lon controllers as of now I0325 13:34:28.838163 11484 lat_controller.cc:84] Using LQR-based Lateral Controller I0325 13:34:28.838241 11484 lon_controller.cc:76] LON_CONTROLLER used. I0325 13:34:28.838587 11484 lat_controller.cc:250] Lateral control gain scheduler loaded I0325 13:34:28.838889 11484 lat_controller.cc:155] LQR-based Lateral Controller begin. I0325 13:34:28.838897 11484 latcontroller.cc:156] [LatController parameters] mass: 2080, iz: 4208.3, lf: 1.4224, lr_: 1.4224 I0325 13:34:28.838944 11484 controller_agent.cc:94] Controller init done! I0325 13:34:28.838956 11484 lon_controller.cc:128] Control calibration table loaded I0325 13:34:28.838973 11484 lon_controller.cc:129] Control calibration table size is 2694 I0325 13:34:28.840996 11484 controller_agent.cc:94] Controller init done! I0325 13:34:28.850347 11484 control_component.cc:98] Control resetting vehicle state, sleeping for 1000 ms ... I0325 13:34:29.850587 11484 control_component.cc:104] Control default driving action is STOP E0325 13:34:29.852226 11491 control_component.cc:265] Chassis msg is not ready! I0325 13:34:29.868499 11495 lon_controller.cc:413] the last point found in path and speed > speed_deadzone I0325 13:34:29.874752 11493 lon_controller.cc:413] the last point found in path and speed > speed_deadzone I0325 13:34:29.885205 11491 lon_controller.cc:413] the last point found in path and speed > speed_deadzone I0325 13:34:29.896140 11501 lon_controller.cc:413] the last point found in path and speed > speed_deadzone I0325 13:34:29.907552 11500 lon_controller.cc:413] the last point found in path and speed > speed_deadzone I0325 13:34:29.917747 11486 lon_controller.cc:413] the last point found in path and speed > speed_deadzone ...

Now I'm wondering if I have missed some important configuration, or it's just unable to test the control module without a real car (with real GPS message input)?

Any help would be appreciated!

Capri2014 commented 5 years ago

Not as of now, but stay tuned ! :)

natashadsouza commented 5 years ago

Hi @Younch-15 thank you for using Apollo and for submitting this request. We will let you know when you would be able to test the control module without a vehicle. Thanks and stay tuned!

Younch-15 commented 5 years ago

@natashadsouza @Capri2014 Thanks for the reply! Can I get a control command just using those planning/chassis/localization/pad .pb.txt files? Or is there any other information, such as map or GPS, which the control module also uses as input?