feat: release 9.0.0-rc

- dreamview-plus: Add real-car mode; fix existing bugs
- pnc: Refactoring planning module for easier secondary development
- perception: bugs fix
- docs: Completion of missing documents
- framework: installation script optimization

Change-Id: I12b55900933fe942c9f090c0ba6c4e0f98cee311

Author: WildBeast114514

.gitignore

@@ -81,4 +81,7 @@ tools/FlameGraph
 # jetbrain profiler
 .DS_Store
 
+# dv plugins
+modules/studio_connector
+
 #WORKSPACE

README.md

@@ -46,9 +46,9 @@ 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.
-  ([Web link](https://www.nvidia.com/Download/index.aspx?lang=en-us))
+   ([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:
+   logging into Apollo Development container:
 
 ```bash
 # Remove Bazel output of previous builds
@@ -59,20 +59,19 @@ rm -rf /apollo/.cache/{bazel,build,repos}
 
 ---
 
+- The vehicle equipped with the by-wire system, including but not limited to brake-by-wire, steering-by-wire, throttle-by-wire and shift-by-wire (Apollo is currently tested on Lincoln MKZ)
 
-* The vehicle equipped with the by-wire system, including but not limited to brake-by-wire, steering-by-wire, throttle-by-wire and shift-by-wire (Apollo is currently tested on Lincoln MKZ)
+- A machine with a 8-core processor and 16GB memory minimum
 
-* A machine with a 8-core processor and 16GB memory minimum
+- NVIDIA Turing GPU / AMD GFX9/RDNA/CDNA GPU is strongly recommended
 
-* NVIDIA Turing GPU / AMD GFX9/RDNA/CDNA GPU is strongly recommended
+- Ubuntu 18.04
 
-* Ubuntu 18.04
+- 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 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.
+- Docker-CE version 19.03 and above ([Official doc](https://docs.docker.com/engine/install/ubuntu/))
 
-* Docker-CE version 19.03 and above ([Official doc](https://docs.docker.com/engine/install/ubuntu/))
-
-* NVIDIA Container Toolkit ([Official doc](https://github.com/NVIDIA/nvidia-docker))
+- NVIDIA Container Toolkit ([Official doc](https://github.com/NVIDIA/nvidia-docker))
 
 **Please note**, it is recommended that you install the versions of Apollo in the following order: **1.0 -> whichever version you would like to test out**. The reason behind this recommendation is that you need to confirm whether individual hardware components and modules are functioning correctly, and clear various version test cases before progressing to a higher and more capable version for your safety and the safety of those around you.
 
@@ -96,7 +95,7 @@ Apollo 1.5 is meant for fixed lane cruising. With the addition of LiDAR, vehicle
 
 [**Apollo 2.0:**](docs/11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_2_0_hardware_system_installation_guide_v1.md#key-hardware-components)
 
-Apollo 2.0 supports vehicles autonomously driving on simple urban roads. Vehicles are able to cruise on roads safely, avoid collisions with obstacles, stop at traffic lights, and change lanes if needed to reach their destination.  Please note, the modules highlighted in Red are additions or upgrades for version 2.0.
+Apollo 2.0 supports vehicles autonomously driving on simple urban roads. Vehicles are able to cruise on roads safely, avoid collisions with obstacles, stop at traffic lights, and change lanes if needed to reach their destination. Please note, the modules highlighted in Red are additions or upgrades for version 2.0.
 
 ![](docs/02_Quick%20Start/demo_guide/images/Apollo_2.png)
 
@@ -151,85 +150,92 @@ Apollo 7.0 incorporates 3 brand new deep learning models to enhance the capabili
 
 [**Apollo 8.0:**](docs/02_Quick%20Start/apollo_8_0_quick_start.md)
 
-Apollo 8.0 is an effort to provide an extensible software framework and complete development cycle for Autonomous Driving developer. Apollo 8.0 introduces easily-reused “Package” to organize software modules.  Apollo 8.0 integrates the whole process of perception development ,by combining model training service, model deployment tool and end-to-end visual validation tool . And another 3 new deep learning models are incorporated in Apollo 8.0 for perception module. Simulation service is upgraded by integrating local simulator in Dreamview to provide powerful debug tool for PnC developer.
+Apollo 8.0 is an effort to provide an extensible software framework and complete development cycle for Autonomous Driving developer. Apollo 8.0 introduces easily-reused “Package” to organize software modules. Apollo 8.0 integrates the whole process of perception development ,by combining model training service, model deployment tool and end-to-end visual validation tool . And another 3 new deep learning models are incorporated in Apollo 8.0 for perception module. Simulation service is upgraded by integrating local simulator in Dreamview to provide powerful debug tool for PnC developer.
 
 ![](docs/02_Quick%20Start/demo_guide/images/Apollo_8_0.png)
 
+[**Apollo 9.0:**](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 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.
+
+![](docs/02_Quick%20Start/demo_guide/images/Apollo_9_0.png)
+
 ## Architecture
 
-* **Hardware/ Vehicle Overview**
+- **Hardware/ Vehicle Overview**
 
 ![](docs/02_Quick%20Start/demo_guide/images/Hardware_overview_3_5.png)
 
-* **Hardware Connection Overview**
+- **Hardware Connection Overview**
 
 ![](docs/02_Quick%20Start/demo_guide/images/Hardware_connection_3_5_1.png)
 
-* **Software Overview**
+- **Software Overview**
 
 ![](docs/02_Quick%20Start/demo_guide/images/Apollo_3_5_software_architecture.png)
 
 ## Installation
 
-* [Hardware installation guide](docs/11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md)
-* [Software installation guide](docs/01_Installation%20Instructions/apollo_software_installation_guide_package_method.md) - **This step is required**
-* [Launch and run Apollo](docs/03_Package%20Management/launch_and_run_apollo_package_method.md)
+- [Hardware installation guide](docs/11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md)
+- [Software installation_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) - **This step is required**
 
 Congratulations! You have successfully built out Apollo without Hardware. If you do have a vehicle and hardware setup for a particular version, please pick the Quickstart guide most relevant to your setup:
 
 ## Quick Starts:
 
-* [Apollo 8.0 QuickStart Guide](docs/02_Quick%20Start/apollo_8_0_quick_start.md)
+- [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 8.0 QuickStart Guide](docs/02_Quick%20Start/apollo_8_0_quick_start.md)
 
-* [Apollo 6.0 QuickStart Guide](docs/02_Quick%20Start/apollo_6_0_quick_start.md)
+- [Apollo 6.0 QuickStart Guide](docs/02_Quick%20Start/apollo_6_0_quick_start.md)
 
-* [Apollo 5.5 QuickStart Guide](docs/02_Quick%20Start/apollo_5_5_quick_start.md)
+- [Apollo 5.5 QuickStart Guide](docs/02_Quick%20Start/apollo_5_5_quick_start.md)
 
-* [Apollo 5.0 QuickStart Guide](docs/02_Quick%20Start/apollo_5_0_quick_start.md)
+- [Apollo 5.0 QuickStart Guide](docs/02_Quick%20Start/apollo_5_0_quick_start.md)
 
-* [Apollo 3.5 QuickStart Guide](docs/02_Quick%20Start/apollo_3_5_quick_start.md)
+- [Apollo 3.5 QuickStart Guide](docs/02_Quick%20Start/apollo_3_5_quick_start.md)
 
-* [Apollo 3.0 QuickStart Guide](docs/02_Quick%20Start/apollo_3_0_quick_start.md)
+- [Apollo 3.0 QuickStart Guide](docs/02_Quick%20Start/apollo_3_0_quick_start.md)
 
-* [Apollo 2.5 QuickStart Guide](docs/02_Quick%20Start/apollo_2_5_quick_start.md)
+- [Apollo 2.5 QuickStart Guide](docs/02_Quick%20Start/apollo_2_5_quick_start.md)
 
-* [Apollo 2.0 QuickStart Guide](docs/02_Quick%20Start/apollo_2_0_quick_start.md)
+- [Apollo 2.0 QuickStart Guide](docs/02_Quick%20Start/apollo_2_0_quick_start.md)
 
-* [Apollo 1.5 QuickStart Guide](docs/02_Quick%20Start/apollo_1_5_quick_start.md)
+- [Apollo 1.5 QuickStart Guide](docs/02_Quick%20Start/apollo_1_5_quick_start.md)
 
-* [Apollo 1.0 QuickStart Guide](docs/02_Quick%20Start/apollo_1_0_quick_start.md)
+- [Apollo 1.0 QuickStart Guide](docs/02_Quick%20Start/apollo_1_0_quick_start.md)
 
 ## Documents
 
-* [Installation Instructions](docs/01_Installation%20Instructions/)
+- [Installation Instructions](docs/01_Installation%20Instructions/)
 
-* [Quick Start](docs/02_Quick%20Start/)
+- [Quick Start](docs/02_Quick%20Start/)
 
-* [Package Management](docs/03_Package%20Management/)
+- [Package Management](docs/03_Package%20Management/)
 
-* [CyberRT](docs/04_CyberRT/)
+- [CyberRT](docs/04_CyberRT/)
 
-* [Localization](docs/05_Localization/)
+- [Localization](docs/05_Localization/)
 
-* [Perception](docs/06_Perception/)
+- [Perception](docs/06_Perception/)
 
-* [Prediction](docs/07_Prediction/)
+- [Prediction](docs/07_Prediction/)
 
-* [Planning](docs/08_Planning/)
+- [Planning](docs/08_Planning/)
 
-* [Decider](docs/09_Decider/)
+- [Decider](docs/09_Decider/)
 
-* [Control](docs/10_Control/)
+- [Control](docs/10_Control/)
 
-* [Hardware Integration and Calibration](docs/11_Hardware%20Integration%20and%20Calibration/)
+- [Hardware Integration and Calibration](docs/11_Hardware%20Integration%20and%20Calibration/)
 
-* [Map acquisition](docs/12_Map%20acquisition/)
+- [Map acquisition](docs/12_Map%20acquisition/)
 
-* [Apollo Tool](docs/13_Apollo%20Tool/)
+- [Apollo Tool](docs/13_Apollo%20Tool/)
 
-* [Others](docs/14_Others/)
+- [Others](docs/14_Others/)
 
-* [FAQs](docs/15_FAQS/README.md)
+- [FAQs](docs/15_FAQS/README.md)
 
 ## Questions
 
@@ -246,9 +252,10 @@ Apollo open source platform only has the source code for models, algorithms and
 Please refer to the Disclaimer of Apollo in [Apollo's official website](https://developer.apollo.auto/docs/disclaimer.html).
 
 ## Connect with us
-* [Have suggestions for our GitHub page?](https://github.com/ApolloAuto/apollo/issues)
-* [Twitter](https://twitter.com/apolloplatform)
-* [YouTube](https://www.youtube.com/channel/UC8wR_NX_NShUTSSqIaEUY9Q)
-* [Blog](https://www.medium.com/apollo-auto)
-* [Newsletter](http://eepurl.com/c-mLSz)
-* Interested in our turnKey solutions or partnering with us Mail us at: [email protected]
+
+- [Have suggestions for our GitHub page?](https://github.com/ApolloAuto/apollo/issues)
+- [Twitter](https://twitter.com/apolloplatform)
+- [YouTube](https://www.youtube.com/channel/UC8wR_NX_NShUTSSqIaEUY9Q)
+- [Blog](https://www.medium.com/apollo-auto)
+- [Newsletter](http://eepurl.com/c-mLSz)
+- Interested in our turnKey solutions or partnering with us Mail us at: [email protected]