ApolloAuto
diff --git a/‎.teamcity/coverage_diff.py‎
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diff --git a/‎.teamcity/coverage_lines.py‎
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diff --git a/‎.teamcity/pull_request.py‎
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diff --git a/‎BUILD‎
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diff --git a/‎README.md‎
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diff --git a/‎RELEASE.md‎
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diff --git a/‎aem/activate.sh‎
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diff --git a/‎aem/aem-bootstrap‎
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diff --git a/‎aem/aem-create‎
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diff --git a/‎aem/ansible/env-minimal.yml‎
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@@ -1,5 +1,5 @@
 
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 
 # Copyright (c) 2021 Apollo Authors. All Rights Reserved.
 
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 
 # Copyright (c) 2021 Apollo Authors. All Rights Reserved.
 
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 
 # Copyright (c) 2021 Apollo Authors. All Rights Reserved.
 
@@ -26,7 +26,7 @@ install(
             "//third_party/gtest:install",
             "//third_party/ipopt:install",
             "//third_party/libtorch:install",
-            "//third_party/fastrtps:install",
+            "//third_party/fastdds:install",
             "//third_party/gflags:install",
             "//third_party/glog:install",
             "//third_party/nlohmann_json:install",
@@ -74,7 +74,7 @@ install(
             "//third_party/gtest:install",
             "//third_party/ipopt:install",
             "//third_party/libtorch:install",
-            "//third_party/fastrtps:install",
+            "//third_party/fastdds:install",
             "//third_party/gflags:install",
             "//third_party/glog:install",
             "//third_party/nlohmann_json:install",
@@ -133,7 +133,7 @@ install_src_files(
             "//third_party/gtest:install_src",
             "//third_party/ipopt:install_src",
             "//third_party/libtorch:install_src",
-            "//third_party/fastrtps:install_src",
+            "//third_party/fastdds:install_src",
             "//third_party/gflags:install_src",
             "//third_party/glog:install_src",
             "//third_party/nlohmann_json:install_src",
@@ -181,7 +181,7 @@ install_src_files(
             "//third_party/centerpoint_infer_op:install_src",
             "//third_party/ipopt:install_src",
             "//third_party/libtorch:install_src",
-            "//third_party/fastrtps:install_src",
+            "//third_party/fastdds:install_src",
             "//third_party/gflags:install_src",
             "//third_party/glog:install_src",
             "//third_party/nlohmann_json:install_src",
 
@@ -35,26 +35,30 @@ Apollo is loaded with new modules and features but needs to be calibrated and co
 
 ## Prerequisites
 
-**[New 2021-01]** The Apollo platform (stable version) is now upgraded with
+**[New 2024-11]** The Apollo platform (stable version) is now upgraded with
 software packages and library dependencies of newer versions including:
 
-1. CUDA upgraded to version 11.1 to support Nvidia Ampere (30x0 series) GPUs,
-   with NVIDIA driver >= 455.32
-2. LibTorch (both CPU and GPU version) bumped to version 1.7.0 accordingly.
+1. CUDA upgraded to version 11.8 to support Nvidia Ada Lovelace (40x0 series) GPUs,
+   with NVIDIA driver >= 520.61.05
+2. LibTorch (only for arm64, both CPU and GPU version) bumped to version 1.11.0 accordingly, and for x86_64, still version 1.7.0.
 
 We do not expect a disruption to your current work, but to ease your life of
 migration, you would need to:
 
-1. Update NVIDIA driver on your host to version >= 455.32.
+1. Update NVIDIA driver on your host to version >= 510.61.05.
    ([Web link](https://www.nvidia.com/Download/index.aspx?lang=en-us))
 2. Pull latest code and run the following commands after restarting and
    logging into Apollo Development container:
 
 ```bash
 # Remove Bazel output of previous builds
 rm -rf /apollo/.cache/{bazel,build,repos}
-# Re-configure bazelrc.
-./apollo.sh config --noninteractive
+```
+
+3. Restart dev container
+
+```bash
+./docker/scripts/dev_start.sh
 ```
 
 ---
@@ -65,9 +69,9 @@ rm -rf /apollo/.cache/{bazel,build,repos}
 
 - NVIDIA Turing GPU / AMD GFX9/RDNA/CDNA GPU is strongly recommended
 
-- Ubuntu 18.04
+- Ubuntu 18.04, 20.04, 22.04 are supported
 
-- NVIDIA driver version 455.32.00 and above ([Web link](https://www.nvidia.com/Download/index.aspx?lang=en-us)) or [ROCm v5.1](https://docs.amd.com/bundle/ROCm-Installation-Guide-v5.1/page/Prerequisite_Actions.html) and above.
+- NVIDIA driver version 520.61.05 and above ([Web link](https://www.nvidia.com/Download/index.aspx?lang=en-us)) or [ROCm v5.1](https://docs.amd.com/bundle/ROCm-Installation-Guide-v5.1/page/Prerequisite_Actions.html) and above.
 
 - Docker-CE version 19.03 and above ([Official doc](https://docs.docker.com/engine/install/ubuntu/))
 
@@ -160,6 +164,12 @@ Apollo Open Source Platform 9.0 further focuses on enhancing the development and
 
 ![](docs/02_Quick%20Start/demo_guide/images/Apollo_9_0.png)
 
+[**Apollo 10.0:**](http://172.20.102.14:8802/docs/apollo/latest/md_docs_2_xE5_x8F_x91_xE7_x89_x88_xE8_xAF_xB4_xE6_x98_x8E_2_xE6_x96_xB0_xE7_x89_x88_xE8_xAF_xB4_xE6_x98_x8E.html)
+
+In Apollo 8.0, the concept of package management tailored for user learning scenarios was introduced to enable users to deploy and use Apollo more conveniently and efficiently. In Apollo 9.0, the package management tool was updated to Version 2.0, making it easier for users to conduct secondary development and effortlessly build their own autonomous driving applications based on Apollo. In Apollo 10.0, we realize that autonomous driving cannot remain at the stage of local validation. Instead, it requires a comprehensive upgrade, and needs to be applied to scenarios on a large scale. In terms of performance, the performance and stability of various layers and modules are optimied, and extensive tools are provided to improve optimization efficiency. At the cost level, the hardware costs are recuded by enriching the hardware ecosystem which provides users with more options. Besides, the software development costs are lowered by upgrading the operating system, establishing communication with other frameworks, and reusing ecological software capabilities. Regarding safety, functional safety strategies and functional safety framework capabilities are reinforced. See [Release Notes](./RELEASE.md) for more details.
+
+![](docs/02_Quick%20Start/demo_guide/images/Apollo_10_0.png)
+
 ## Architecture
 
 - **Hardware/ Vehicle Overview**
@@ -183,7 +193,9 @@ Congratulations! You have successfully built out Apollo without Hardware. If you
 
 ## Quick Starts:
 
-- [Apollo 9.0 QuickStart Guide](https://apollo.baidu.com/docs/apollo/9.0/md_docs_2_xE5_xAE_x89_xE8_xA3_x85_xE6_x8C_x87_xE5_x8D_x97_2_xE5_x8C_x85_xE7_xAE_xA1_xE7_x90_x86_410bb1324792103828eeacd86377c551.html)
+- [Apollo 10.0 QuickStart Guide](https://apollo.baidu.com/docs/apollo/10.x/md_docs_2_xE5_xAE_x89_xE8_xA3_x85_xE6_x8C_x87_xE5_x8D_x97_2_xE5_x8C_x85_xE7_xAE_xA1_xE7_x90_x86_410bb1324792103828eeacd86377c551.html)
+
+- [Apollo 9.0 QuickStart Guide](https://apollo.baidu.com/docs/apollo/9.x/md_docs_2_xE5_xAE_x89_xE8_xA3_x85_xE6_x8C_x87_xE5_x8D_x97_2_xE5_x8C_x85_xE7_xAE_xA1_xE7_x90_x86_410bb1324792103828eeacd86377c551.html)
 
 - [Apollo 8.0 QuickStart Guide](docs/02_Quick%20Start/apollo_8_0_quick_start.md)
 
 
@@ -1,3 +1,26 @@
+# Release 10.0
+
+In Apollo 8.0, the concept of package management tailored for user learning scenarios was introduced to enable users to deploy and use Apollo more conveniently and efficiently. In Apollo 9.0, the package management tool was updated to Version 2.0, making it easier for users to conduct secondary development and effortlessly build their own autonomous driving applications based on Apollo. In Apollo 10.0, we realize that autonomous driving cannot remain at the stage of local validation. Instead, it requires a comprehensive upgrade, and needs to be applied to scenarios on a large scale. In terms of performance, the performance and stability of various layers and modules are optimied, and extensive tools are provided to improve optimization efficiency. At the cost level, the hardware costs are recuded by enriching the hardware ecosystem which provides users with more options. Besides, the software development costs are lowered by upgrading the operating system, establishing communication with other frameworks, and reusing ecological software capabilities. Regarding safety, functional safety strategies and functional safety framework capabilities are reinforced.
+
+## Major New Features and Improvements:
+
+Better performance and enhanced stability to comprehensively reinforce Apollo's autonomous driving capabilities
+
+- CyberRT Framework Upgrade: With industry-leading framework capabilities, low latency and low consumption, the performance is improved by 10 times, and the communication is more reliable. Apollo 10.0 features zero-copy communication, which ensures high performance and low consumption and achieves microsecond-level transmission latency. During inter-process communication, message are read and written directly on shared memory, avoiding memory copying, serialization, deserialization, and other resource-intensive operations. See [CyberRT Performance Report](docs/%E9%99%84%E5%BD%95/CyberRT%20Performance%20Report.md) for more details.
+- Comprehensive and Detailed Performance Analysis Tool: It empowers developers to create high-quality autonomous driving system applications. Five key resources including CPU, GPU, memory, graphics memory, and IO are comprehensively monitored and tracked in real time with a visual interface to identify issues immediately. Function-level analysis capabilities ensure precise localization. Intuitively analysis of resource consumption distribution at the function-level granularity helps developers conduct in-depth optimizations to improve performance. See [Cyber RT Performance Analysis Tool](docs/%E6%A1%86%E6%9E%B6%E8%AE%BE%E8%AE%A1/%E8%BD%AF%E4%BB%B6%E6%A0%B8%E5%BF%83/CyberRT/Cyber%20RT%20Performance%20Analysis%20Tool.md) for more details.
+
+Stronger capabilities, More various ecological support to significantly reduce R&D costs for both software and hardware
+
+- Pure Vision Perception Solution with Low Cost and High Ceiling: The mainstream perception paradigms of visual BEV (Bird's Eye View) object detection and occupancy network are introduced into the Apollo open-source framework, and optimizations are performed based on industry-standard models, with each paradigm surpassing the industry-standard models in performance. Deployment is also extensively optimized, and now the inference frame rate can reach 5Hz on a single Orin platform. See [The Introduction and tutorials of vision object detection and occpancy prediction model](docs/%E5%BA%94%E7%94%A8%E5%AE%9E%E8%B7%B5/%E5%BC%80%E5%8F%91%E8%B0%83%E8%AF%95%E6%95%99%E7%A8%8B/Apollo%E6%84%9F%E7%9F%A5%E5%AE%9E%E8%B7%B5/%E6%84%9F%E7%9F%A5%E6%A8%A1%E5%9E%8B%E9%83%A8%E7%BD%B2%E8%AE%AD%E7%BB%83/The_introduction_and_tutorials_of_vision_obejct_detection_and_occpancy_prediction_model.md) for more details.
+- Various Software Ecosystem and Accelerated Iteration Efficiency to Reduce Software Development and Deployment Costs: By integrating with the ROS ecosystem at the framework level, software reuse costs are lowered, R&D efficiency is enhanced, and more use scenarios are catered. The plugin engineering design simplifies expansion. Meanwhile, typical universal modules are ready to use at zero cost, while modules with customized capabilities can be integrated at low cost through conversion. Besides, it is more convenient and efficient to directly install and deploy multiple system versions on physical machines. Also, the deployment tool offers one-click packaging, enabling batch deployment of secondary development components. See [Cyber RT Communication with ROS](docs/%E6%A1%86%E6%9E%B6%E8%AE%BE%E8%AE%A1/%E8%BD%AF%E4%BB%B6%E6%A0%B8%E5%BF%83/CyberRT/Cyber%20RT%20Communication%20with%20ROS.md) and [Installation Guide](docs/%E5%AE%89%E8%A3%85%E6%8C%87%E5%8D%97/Installation%20Guide.md) for more details.
+- Broader Hardware Ecosystem Support Offering More Options and More Suitable Scenarios to Reduce Hardware Selection Costs: An industry-leading hardware ecosystem is built through collaborations with over 32 manufacturers, supporting more than 73 devices and adding over 20 new models in our list. Particularly, the number of core devices (such as domain controllers, LiDARs, and inertial navigation systems) has doubled or tripled. We also provide a new hardware adaptation guide. All these provide a more convenient access mechanism for hardware ecosystem partners to connect with a broader market, fostering a collaborative ecosystem model.
+
+Comprehensive Safety Coverage for More Stable and Reliable Autonomous Driving
+
+- Compliance with Industry Safety Standards for Autonomous Driving: Functional safety software modules are designed and implemented based on relevant standards and specifications in ISO 26262 Road vehicles – Functional safety and ISO 21448 Road vehicles – Safety of the intended functionality.
+- Comprehensive Functional Safety Strategies: These include hardware safety monitoring of sensors, computing units, chassis, vehicles, and other related components; full-link anomaly monitoring of sensor input to perception, prediction, planning, control, and chassis communication modules; runtime dependency environment anomaly monitoring, including system anomalies, resource occupancy, network, and IO; and independent capabilities for detecting collisions, traffic rule violations, and accidents.
+- Robust Functional Safety Framework: With various detection items and easy expandability, the framework offers access standards for users to customize detection items at low cost. Besides, it is highly real-time, taking less than 1ms from anomaly detection to MRC (Minimum Risk Condition) strategy implementation. Meanwhile, it boasts diverse MRC strategy capabilities, with built-in configurations such as warnings, gentle braking, and emergency braking, and suopports custom development.
+
 # Release 9.0
 
 Apollo Open Source Platform 9.0 further focuses on enhancing the development and debugging experience, dedicated to provide autonomous driving developers with a unified development tool platform and easy-to-extend PnC and perception software framework interfaces. The new version reshapes the PnC and perception extension development method based on package management. It optimizes component splitting and configuration management according to business logic, simplifying the process of calling. In addition to the component extension method, a more lightweight plugin extension method has been added, simplifying the process of extending. The new version introduces Dreamview Plus, a brand-new developer tool that introduces modes for convenient multi-scenario use, a panel layout customizing visualization, and a resource center providing richer development resources. Furthermore, the LiDAR and Camera detection models in the new version have been upgraded for improved results, and incremental training methods have been opened up for easy extension. At the same time, support for 4D millimeter-wave radar has been added. Finally, the new version is adapted to the ARM architecture, and supports compilation and running on Orin, providing developers with additional device options.
 
@@ -62,10 +62,12 @@ function pathappend() {
 }
 
 function generate_ld_library_path() {
-  cat ${APOLLO_ENV_ROOT}/etc/ld.so.conf.d/apollo.conf |
-    grep -v -E '^\s*$' |
-    grep -v -E '^\s*#.*$' |
-    tr '\n' ':'
+  if [[ -e "${APOLLO_ENV_ROOT}/etc/ld.so.conf.d/apollo.conf" ]]; then
+    cat ${APOLLO_ENV_ROOT}/etc/ld.so.conf.d/apollo.conf |
+      grep -v -E '^\s*$' |
+      grep -v -E '^\s*#.*$' |
+      tr '\n' ':'
+  fi
 }
 
 deactivate() {
@@ -99,11 +101,11 @@ restore_env() {
 
 deactivate
 
-# export APOLLO_ENV_WORKROOT="${APOLLO_ENV_ROOT}"
+export APOLLO_ENV_WORKROOT="${APOLLO_ENV_WORKSPACE}"
 
 # paths
 export APOLLO_MODEL_PATH="${APOLLO_ENV_ROOT}/apollo/modules/perception/data/models"
-export APOLLO_LIB_PATH="${APOLLO_ENV_ROOT}/lib"
+export APOLLO_LIB_PATH="${APOLLO_ENV_ROOT}/opt/apollo/neo/lib"
 export APOLLO_DAG_PATH="${APOLLO_ENV_ROOT}/apollo"
 export APOLLO_FLAG_PATH="${APOLLO_ENV_ROOT}/apollo"
 export APOLLO_CONF_PATH="${APOLLO_ENV_ROOT}/apollo"
@@ -112,10 +114,11 @@ export APOLLO_RUNTIME_PATH="${APOLLO_ENV_ROOT}/apollo"
 # TODO: set `/apollo/apollo/neo` as prefix
 export APOLLO_PLUGIN_INDEX_PATH="${APOLLO_ENV_ROOT}/opt/apollo/neo/share/cyber_plugin_index"
 export APOLLO_PLUGIN_LIB_PATH="${APOLLO_ENV_ROOT}/opt/apollo/neo/lib"
-export APOLLO_PLUGIN_DESCRIPTION_PATH="${APOLLO_ENV_ROOT}/opt/apollo/neo/share"
+export APOLLO_PLUGIN_DESCRIPTION_PATH="${APOLLO_ENV_ROOT}/opt/apollo/neo"
 
 # runtime variables
 export AEM_HOST_VIRTUALENV=1
+export APOLLO_DISTRIBUTION_VERSION="${APOLLO_DISTRIBUTION_VERSION:-9.0}"
 export APOLLO_DISTRIBUTION_HOME="${APOLLO_DISTRIBUTION_HOME:-${APOLLO_ENV_ROOT}/opt/apollo/neo}"
 export APOLLO_SYSROOT_DIR="${APOLLO_SYSROOT_DIR:-/opt/apollo/sysroot}"
 export APOLLO_CACHE_DIR="${APOLLO_CACHE_DIR:-./.cache}"
@@ -130,14 +133,17 @@ export APOLLO_CONFIG_HOME="${APOLLO_CONFIG_HOME:-${HOME}/.apollo}"
 
 # TODO: detect automatically
 backup_env TENSORRT_VERSION
-export TENSORRT_VERSION=7.2.1
+export TENSORRT_VERSION=8.6.1.6
+backup_env CUDNN_VERSION
+export CUDNN_VERSION=8.9.7.29
 
 backup_env LD_LIBRARY_PATH
 # pathprepend "${APOLLO_LIB_PATH}" LD_LIBRARY_PATH
 # pathprepend "${APOLLO_PLUGIN_LIB_PATH}" LD_LIBRARY_PATH
 # # TODO: move to APOLLO_ENV_ROOT
 # pathprepend "/usr/local/fast-rtps/lib" LD_LIBRARY_PATH
 # pathprepend "/usr/local/libtorch_gpu/lib" LD_LIBRARY_PATH
+export LD_LIBRARY_PATH="$(generate_ld_library_path)"
 
 backup_env PYTHONPATH
 pathprepend "${APOLLO_ENV_ROOT}/opt/apollo/neo/python" PYTHONPATH
@@ -151,6 +157,7 @@ PS1="\[\e[31m\][\[\e[m\]\[\e[32m\]\u\[\e[m\]\[\e[33m\]@\[\e[m\]\[\e[35m\]\h\[\e[
 
 alias ls='ls --color=auto'
 alias buildtool='_abt() {
+    export LD_LIBRARY_PATH="$(generate_ld_library_path)"
     command buildtool "$@"
     export LD_LIBRARY_PATH="$(generate_ld_library_path)"
 };_abt'
@@ -161,3 +168,4 @@ mkdir -p "${CYBER_PATH}"
 mkdir -p "${APOLLO_ENV_ROOT}/apollo/data/log"
 mkdir -p "${APOLLO_ENV_ROOT}/apollo/data/core"
 mkdir -p "${APOLLO_ENV_ROOT}/apollo/data/bag"
+mkdir -p "${APOLLO_ENV_ROOT}/apollo/modules/map/data"
@@ -21,7 +21,7 @@
 #set -x
 
 # global variables
-DV_URL="http://localhost1"
+DV_URL="http://localhost"
 DV_ORIG_PORT=8899
 DV_PLUS_PORT=8888
 
 
@@ -125,6 +125,9 @@ parse_arguments() {
         ;;
       -b | --backend)
         export APOLLO_ENV_BACKEND="$1"
+        if [[ "${APOLLO_ENV_BACKEND}" == "host" ]]; then
+          export APOLLO_ENV_WORKROOT="${APOLLO_ENV_WORKSPACE}"
+        fi
         shift
         ;;
       -c | --cross-platform)
@@ -170,6 +173,9 @@ parse_arguments() {
         ;;
       -w | --workspace)
         export APOLLO_ENV_WORKSPACE="$1"
+        if [[ "${APOLLO_ENV_BACKEND}" == "host" ]]; then
+          export APOLLO_ENV_WORKROOT="${APOLLO_ENV_WORKSPACE}"
+        fi
         shift
         ;;
       --image)
 
@@ -23,10 +23,10 @@
       include_role:
         name: apolloauto.dev_env.cyber_deps
 
-#    - name: Install Modules Base Dependencies
-#      include_role:
-#        name: apolloauto.dev_env.modules_base
-#
+    - name: Install Modules Base Dependencies
+      include_role:
+        name: apolloauto.dev_env.modules_base
+
     - name: Install Oridinary Modules Dependencies
       include_role:
         name: apolloauto.dev_env.ordinary_modules
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-#!/usr/bin/env python`
	`1`	`+#!/usr/bin/env python3`
`2`	`2`	`# -- coding: utf-8 --`
`3`	`3`
`4`	`4`	`# Copyright (c) 2021 Apollo Authors. All Rights Reserved.`