如何在apollo中添加新车辆

参考：https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_add_a_new_vehicle.md

apollo 默认支持的车辆是lincoln mkz

添加新车辆时，如果您的车辆需要与阿波罗控制算法提供的属性不同，请考虑：

1.使用合适你的载具的算法

2.修正现存算法的参数去实现更好的结果

具体添加过程：

（1）应用新车的控制器

新的控制器是从VehicleController类继承的，示例头文件如下：

/**
* @class NewVehicleController
*
* @brief this class implements the vehicle controller for a new vehicle.
*/
class NewVehicleController final : public VehicleController {
public:
/**
   * @brief initialize the new vehicle controller.
   * @return init error_code
   */
::apollo::common::ErrorCode Init(
      const VehicleParameter& params, CanSender* const can_sender,
      MessageManager* const message_manager) override;

/**
   * @brief start the new vehicle controller.
   * @return true if successfully started.
   */
bool Start() override;

/**
   * @brief stop the new vehicle controller.
   */
void Stop() override;

/**
   * @brief calculate and return the chassis.
   * @returns a copy of chassis. Use copy here to avoid multi-thread issues.
   */
Chassis chassis() override;

// more functions implemented here
...

};

（2）应用新的消息管理器

新的消息管理器是从MessageManager类继承的，示例头文件如下：

/**
 * @class NewVehicleMessageManager
 *
 * @brief implementation of MessageManager for the new vehicle
 */
class NewVehicleMessageManager : public MessageManager {
 public:
  /**
   * @brief construct a lincoln message manager. protocol data for send and
   * receive are added in the construction.
   */
  NewVehicleMessageManager();
  virtual ~NewVehicleMessageManager();

  // define more functions here.
  ...
};

（3）应用新的车辆factory

新的消息管理器是从AbstractVehicleFactory类继承的，示例头文件如下：

/**
 * @class NewVehicleFactory
 *
 * @brief this class is inherited from AbstractVehicleFactory. It can be used to
 * create controller and message manager for lincoln vehicle.
 */
class NewVehicleFactory : public AbstractVehicleFactory {
 public:
  /**
  * @brief destructor
  */
  virtual ~NewVehicleFactory() = default;

  /**
   * @brief create lincoln vehicle controller
   * @returns a unique_ptr that points to the created controller
   */
  std::unique_ptr<VehicleController> CreateVehicleController() override;

  /**
   * @brief create lincoln message manager
   * @returns a unique_ptr that points to the created message manager
   */
  std::unique_ptr<MessageManager> CreateMessageManager() override;
};

有一个example.cc文件

std::unique_ptr<VehicleController>
NewVehicleFactory::CreateVehicleController() {
  return std::unique_ptr<VehicleController>(new lincoln::LincolnController());
}

std::unique_ptr<MessageManager> NewVehicleFactory::CreateMessageManager() {
  return std::unique_ptr<MessageManager>(new lincoln::LincolnMessageManager());
}

（4）注册新载具

注册新载具的路径为 modules/canbus/vehicle/vehicle_factory.cc. 以下为示例头文件

void VehicleFactory::RegisterVehicleFactory() {
  Register(VehicleParameter::LINCOLN_MKZ, []() -> AbstractVehicleFactory* {
    return new LincolnVehicleFactory();
  });

  // register the new vehicle here.
  Register(VehicleParameter::NEW_VEHICLE_BRAND, []() -> AbstractVehicleFactory* {
    return new NewVehicleFactory();
  });
}

（5）更新配置文件

更新配置文件modules/canbus/conf/canbus_conf.pb.txt去在阿波罗中激活新载具
vehicle_parameter {
  brand: NEW_VEHICLE_BRAND
  // put other parameters below
  ...
}

如何在apollo中添加新车辆

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