Steps for

• Generating navigation data from bag and
• Manually sending the data to /apollo/navigation topic

Step 1: In dev docker, extract path data from bags

dev_docker:/apollo$cd /modules/tools/navigator
dev_docker:/apollo/modules/tools/navigator$python extractor.py path-to-bags/*.bag

A path file will be generated in

dev_docker:/apollo/modules/tools/navigator$

With format of

path_[first_bag_name].bag.txt

Step2: (Optional) Verify the extracted path is correct

dev_docker:/apollo/modules/tools/navigator$python viewer_raw.py path_[bag_name].bag.txt

Step3: Smooth the path

dev_docker:/apollo/modules/tools/navigator$./smooth.sh /apollo/modules/tools/navigator/path_[first_bag_name].bag.txt 200

200 is the parameter for smooth length. If the smooth is failed, try to change this parameter to make the smooth pass. The preferred number is between 150 and 200.

A smoothed data file, path_[first_bag_name].bag.txt.smoothed, is generated under folder

dev_docker:/apollo/modules/tools/navigator$

Step4: (Optional) Verify the smoothed data

dev_docker:/apollo/modules/tools/navigator$ python viewer_smooth.py path[first_bag_name].bag.txt path[first_bag_name].bag.txt.smoothed

Step5: Send /apollo/navigation topic

Run follow command to send /apollo/navigation data

dev_docker:/apollo/modules/tools/navigator$python navigator.py path_[first_bag_name].bag.txt.smoothed