Prerequisites

Software requirements

Before trying out the CoSim framework yourself, ensure that the following software packages are installed.

Simulation machine

• Operating system: Windows 10/11 or Ubuntu 20.04
• Python 3.8.10
• NumPy
• opencv-python
• pandas
• transforms3d
• Netstruct
• protobuf 3.14

ADS machine

• Operating system: Ubuntu 20.04
• Apollo 8.0
  • Install prerequisites for Apollo as described here
  • Install Apollo as described here
• Python 3.8.10
• netstruct

Apollo flag configuration to enable planning module with Carla bridge

On the Apollo machine, set the enable_map_reference_unify flag as 'false' in apollo/modules/common/configs/config_gflags.cc

Once set as 'false', it should look like this:

DEFINE_bool(enable_map_reference_unify, false, "enable IMU data convert to map reference");

Now, rebuild Apollo using ./apollo.sh build_opt_gpu.

Hardware recommendations

Simulation machine

• CPU - A modern AMD or Intel CPU with good single and multithreaded performance
• GPU - A modern AMD or Nvidia GPU supporting Vulkan and DX12
• Memory - At least 16GB
• Storage - At least 500GB
• Network - At least 1GbE

ADS machine

• CPU - At least an 8-core AMD or Intel CPU with good single and multithreaded performance
• GPU - NVIDIA Turing GPU or AMD GFX9/RDNA/CDNA GPU
• Memory - At least 16GB
• Storage - At least 500GB
• Network - At least 1GbE