Robot: Remove trailing spaces.

docs/FAQs/General_FAQs.md

@@ -39,9 +39,9 @@ Yes, currently all comments need to be made in Doxygen.
 
 ---
 ## If I cannot solve my build problems, what is the most effective way to ask for help?
-Many build problems are related to the environment settings. 
+Many build problems are related to the environment settings.
 
-1. Run the script to get your environment: `bash scripts/env.sh >& env.txt` 
+1. Run the script to get your environment: `bash scripts/env.sh >& env.txt`
 
 2. Post the content of env.txt to our Github issues page and someone from our team will get in touch with you.
 
@@ -52,10 +52,10 @@ Use these ports for HMI and Dreamview:
 
 ---
 ## Why there is no ROS environment in dev docker?
-The ROS package is downloaded when you start to build apollo: 
-`bash apollo.sh build`. 
+The ROS package is downloaded when you start to build apollo:
+`bash apollo.sh build`.
 
-1. Run the following command inside Docker to set up the ROS environment after the build is complete: 
+1. Run the following command inside Docker to set up the ROS environment after the build is complete:
 `source /apollo/scripts/apollo_base.sh`
 
 2. Run ROS-related commands such as rosbag, rostopic and so on.

docs/howto/how_to_build_and_release.md

@@ -12,7 +12,7 @@ The system requirement for building Apollo is Ubuntu 14.04. Using a Docker conta
 
 To install docker, you may refer to
 [Official guide to install the Docker-ce](https://docs.docker.com/install/linux/docker-ce/ubuntu).
-Don't forget to test it using 
+Don't forget to test it using
 [post-installation steps for Linux](https://docs.docker.com/install/linux/linux-postinstall).
 
 ## Build Apollo
@@ -55,26 +55,26 @@ sudo dpkg -i <file>.deb
 sudo apt-get install -f # Install dependencies
 ```
 ### Start VSCode
-Start VSCode with the following command: 
+Start VSCode with the following command:
 ```bash
 code
 ```
 ### Open the Apollo project in VSCode
-Use the keyboard shortcut **(Ctrl+K Ctrl+O)** to open the Apollo project. 
+Use the keyboard shortcut **(Ctrl+K Ctrl+O)** to open the Apollo project.
 ### Build the Apollo project in VSCode
-Use the keyboard shortcut **(Ctrl+Shift+B)** to build the Apollo project. 
+Use the keyboard shortcut **(Ctrl+Shift+B)** to build the Apollo project.
 ### Run all unit tests for the Apollo project in VSCode
-Select the "Tasks->Run Tasks..." menu command and click "run all unit tests for the apollo project" from a popup menu to check the code style for the Apollo project. 
+Select the "Tasks->Run Tasks..." menu command and click "run all unit tests for the apollo project" from a popup menu to check the code style for the Apollo project.
 
 If you are currently developing on 16.04, you will get a build error.
 As seen in the image below, 2 perception tests. To avoid this build error, refer to the [how to build Apollo using Ubuntu 16](how_to_run_apollo_2.5_with_ubuntu16.md).
 
 ![Build error](images/build_fail.png)
 
 ### Run a code style check task for the Apollo project in VSCode
-Select the "Tasks->Run Tasks..." menu command and click "code style check for the apollo project" from a popup menu to check the code style for the Apollo project. 
+Select the "Tasks->Run Tasks..." menu command and click "code style check for the apollo project" from a popup menu to check the code style for the Apollo project.
 ### Clean the Apollo project in VSCode
-Select the "Tasks->Run Tasks..." menu command and click "clean the apollo project" from a popup menu to clean the Apollo project. 
+Select the "Tasks->Run Tasks..." menu command and click "clean the apollo project" from a popup menu to clean the Apollo project.
 ### Change the building option
  You can change the "build" option to another one such as "build_gpu" (refer to the "apollo.sh" file for details) in ".vscode/tasks.json"
 

docs/howto/how_to_debug_dreamview_start_problem.md

@@ -100,7 +100,7 @@ Program terminated with signal SIGILL, Illegal instruction.
 #9  0x0000000000000000 in ?? ()
 (gdb) q
 
-@in_dev_docker:/apollo$ addr2line -C -f -e /usr/local/lib/libpcl_sample_consensus.so.1.7.2 0x375bec 
+@in_dev_docker:/apollo$ addr2line -C -f -e /usr/local/lib/libpcl_sample_consensus.so.1.7.2 0x375bec
 double boost::math::detail::erf_inv_imp<double, boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >(double const&, double const&, boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> const&, mpl_::int_<64> const*)
 ??:?
 ```
@@ -118,7 +118,7 @@ apolloauto/apollo   map_volume-sunnyvale_big_loop-latest   80aca30fa08a        3
 apolloauto/apollo   localization_volume-x86_64-latest      be947abaa650        2 months ago        5.74MB
 apolloauto/apollo   map_volume-sunnyvale_loop-latest       36dc0d1c2551        2 months ago        906MB
 
-build cmd: 
+build cmd:
 in_dev_docker:/apollo$ ./apollo.sh build_no_perception dbg
 ```
 2. Compile pcl and copy the pcl library files to `/usr/local/lib`:
@@ -130,7 +130,7 @@ See [/apollo/WORKSPACE.in](https://github.com/ApolloAuto/apollo/blob/master/WORK
 Inside docker:
 ```
 (to keep pcl in host, we save pcl under /apollo)
-cd /apollo 
+cd /apollo
 git clone https://github.com/PointCloudLibrary/pcl.git
 
 git checkout -b <your pcl-lib version> pcl-<your pcl-lib version>
@@ -145,9 +145,9 @@ index f0a5600..42c182e 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -7,6 +7,15 @@ endif()
- 
+
  set(CMAKE_CONFIGURATION_TYPES "Debug;Release" CACHE STRING "possible configurations" FORCE)
- 
+
 +if (CMAKE_VERSION VERSION_LESS "3.1")
 +# if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
 +    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=gnu++11")
@@ -193,7 +193,7 @@ If CPU does not support AVX instructions, and you gdb the coredump file under /a
 
 ```
 Program terminated with signal SIGILL, Illegal instruction.
-#0  0x000000000112b70a in std::_Hashtable<std::string, std::string, std::allocator<std::string>, std::__detail::_Identity, std::equal_to<std::string>, google::protobuf::hash<std::string>, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, true, true> >::_Hashtable (this=0x3640288, __bucket_hint=10, 
+#0  0x000000000112b70a in std::_Hashtable<std::string, std::string, std::allocator<std::string>, std::__detail::_Identity, std::equal_to<std::string>, google::protobuf::hash<std::string>, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, true, true> >::_Hashtable (this=0x3640288, __bucket_hint=10,
     __h1=..., __h2=..., __h=..., __eq=..., __exk=..., __a=...)
 ---Type <return> to continue, or q <return> to quit---
     at /usr/include/c++/4.8/bits/hashtable.h:828

docs/howto/how_to_run_map_verification_tool.md

@@ -8,7 +8,7 @@ In order to run your data on this tool, please follow the steps below:
 
 1. Build Apollo as recommended in the [Build Guide](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_build_and_release.md) until the `./apollo.sh build` step.
 2. Once instde dev docker and after running `./apollo.sh build` please go to the folder `modules/tools/map_datachecker/`
-3. Starting the server: 
+3. Starting the server:
     ```bash
     bash server.sh start
     ```
@@ -54,5 +54,5 @@ In order to run your data on this tool, please follow the steps below:
 
 ## Tips
 
-1. The default value of `cmd` is `start` 
+1. The default value of `cmd` is `start`
 2. All error messages will be printed to help better prepare your map data. Please follow the error messages exactly as recommended

docs/howto/how_to_run_offline_perception_visualizer.md

@@ -45,7 +45,7 @@ Before running the visualizer, you may setup the data directories and the algori
 ```
 /apollo/bazel-bin/modules/perception/tool/offline_visualizer_tool/offline_lidar_visualizer_tool
 ```
-Now you will see a pop-up window showing the perception result with point cloud frame-by-frame. The obstacles are shown with a purple rectangle bounding boxes. There are three modes to visualize the point cloud with/without the ROI area: 
-* Showing all the point cloud with grey color; 
-* Showing the point cloud of ROI area only with green color; 
+Now you will see a pop-up window showing the perception result with point cloud frame-by-frame. The obstacles are shown with a purple rectangle bounding boxes. There are three modes to visualize the point cloud with/without the ROI area:
+* Showing all the point cloud with grey color;
+* Showing the point cloud of ROI area only with green color;
 * Showing the point cloud of ROI area with green color and that of other areas with grey color. You may press the `S` key on keyboard to switch the modes in turn.

docs/quickstart/apollo_1_0_quick_start_developer.md

@@ -56,7 +56,7 @@ cd install
 sudo ./install_kernel.sh
 ```
 3. Reboot your system by the `reboot` command
-4. Build the ESD CAN driver source code 
+4. Build the ESD CAN driver source code
 Now you need to build the ESD CAN driver source code according to [ESDCAN-README.md](https://github.com/ApolloAuto/apollo-kernel/blob/master/linux/ESDCAN-README.md)
 
 ## Build your own kernel.

docs/quickstart/apollo_1_5_quick_start.md

@@ -13,7 +13,7 @@ This quick start focuses on Apollo 1.5 new features. For general Apollo concepts
     Use your favorite browser to access HMI web service in your host machine browser with URL http://localhost:8887
 
 4. Select Vehicle and Map
-    
+
     You'll be required to setup profile before doing anything else. Click the dropdown menu to select your HDMap and vehicle in use. The list are defined in [HMI config file](https://raw.githubusercontent.com/ApolloAuto/apollo/master/modules/hmi/conf/config.pb.txt).
 
     *Note: It's also possible to change profile on the right panel of HMI, but just remember to click "Reset All" on the top-right corner to restart the system.*

docs/quickstart/apollo_2_5_technical_tutorial.md

@@ -72,4 +72,4 @@
   * [How to use Apollo 2.5 navigation mode](https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_use_apollo_2.5_navigation_mode_cn.md "[How to use Apollo 2.5 navigation mode")
   * [Introduction of Dreamview](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/dreamview_usage_table.md "Introduction of Dreamview")
 
- 
+

docs/specs/Apollo_Sensor_Unit/Apollo_Sensor_Unit_Installation_Guide.md

@@ -2,9 +2,9 @@
 
 Apollo Sensor Unit (ASU) is designed to work with Industrial PC (IPC) to implement sensor fusion, vehicle control and network access in Apollo's autonomous driving platform.
 
-The ASU system provides sensor interfaces to collect data from various sensors, including cameras, Lidars, Radars, and Ultrasonic Sensors. The system also utilizes pulse per second (PPS) and GPRMC signals from GNSS receiver to implement data collection synchronization for the camera and LiDAR sensors. 
+The ASU system provides sensor interfaces to collect data from various sensors, including cameras, Lidars, Radars, and Ultrasonic Sensors. The system also utilizes pulse per second (PPS) and GPRMC signals from GNSS receiver to implement data collection synchronization for the camera and LiDAR sensors.
 
-The communication between the ASU and the IPC is through PCI Express Interface. ASU collects sensor data and passes to IPC via PCI Express Interface, and the IPC uses the ASU to send out Vehicle Control commands in the Controller Area Network (CAN) protocol. 
+The communication between the ASU and the IPC is through PCI Express Interface. ASU collects sensor data and passes to IPC via PCI Express Interface, and the IPC uses the ASU to send out Vehicle Control commands in the Controller Area Network (CAN) protocol.
 
 In addition, Lidar connectivity via Ethernet, WWAN gateway via 4G LTE module, and WiFi access point via WiFi module will be enabled in the future releases.
 
@@ -14,19 +14,19 @@ In addition, Lidar connectivity via Ethernet, WWAN gateway via 4G LTE module, an
 
 #### Front Panel Connectors
 
-1. External GPS PPS / GPRMC Input Port 
+1. External GPS PPS / GPRMC Input Port
 2. FAKRA Camera Data Input Port (5 ports)
-3. 100 Base-TX/1000 Base-T Ethernet Port (2 Ports) 
-4. KL-15 (AKA Car Ignition) Signal Input Port 
+3. 100 Base-TX/1000 Base-T Ethernet Port (2 Ports)
+4. KL-15 (AKA Car Ignition) Signal Input Port
 
-#### Rear Panel Connectors 
+#### Rear Panel Connectors
 
-1. General purpose UART port(reserved) 
+1. General purpose UART port(reserved)
 2. External PCI Express Port (Support X4 or X8) For connections to IPC, please use EXTN port.
 3. GPS PPS/GPRMC Output Rectangular Port (3 Ports) for LiDAR
 4. Power and PPS/GPRMC Cylindrical Output Port for Stereo Camera/LiDAR
 5. CAN Bus (4 Ports)
-6. Main Power Input Connector 
+6. Main Power Input Connector
 
 ### Purchase Channels
 
@@ -36,21 +36,21 @@ The Apollo Sensor Unit is currently only provided to our Partners and certain de
 
 1. Power Cable
 
-   The main power is from vehicle battery, 9V ~ 36V, 120W. 
+   The main power is from vehicle battery, 9V ~ 36V, 120W.
 
    ![conn-DTF13-2P](images/conn-DTF13-2P.jpeg)
 
    |MFR|MPN|Description|
    |---------------|--------|-----------|
    |TE Connectivity|DTF13-2P|DT RECP ASM|
-    
+
 
    | PIN # | NAME | I/O  | Description        |
    | ----- | ---- | ---- | ------------------ |
    | 1     | 12V  | PWR  | 12V (9V~36V, 120W) |
    | 2     | GND  | PWR  | GROUND             |
 
-2. FPD-Link III cameras. 
+2. FPD-Link III cameras.
 
    There are 5 FAKRA connectors for FPD Link III cameras in ASU Front Panel labeled with 1~5, respectively, from right to left. The ASU can support up to 5 cameras by enabling Camera 1 ~ 5 whose deserializers (TI, DS90UB914ATRHSTQ1) convert FPD Link III signals into parallel data signals.
 
@@ -71,7 +71,7 @@ The Apollo Sensor Unit is currently only provided to our Partners and certain de
    | MFR             | MPN       | Description                               |
    | :-------------- | --------- | ----------------------------------------- |
    | TE Connectivity | 1565749-1 | Automotive Connectors 025 CAP ASSY, 4 Pin |
-    
+
 
    | PIN # | NAME  | I/O   | Description                                                  |
    | ----- | ----- | ----- | ------------------------------------------------------------ |
@@ -82,14 +82,14 @@ The Apollo Sensor Unit is currently only provided to our Partners and certain de
 
 4. GPS synchronization output channels
 
-   ASU forwards the duplicated GPS PPS/GPRMC from external GPS to the customized 8 Pin connector. This connector provides 3 sets of PPS/GPRMC output for sensors that need to be synchronized, such as LiDARs, etc. 
+   ASU forwards the duplicated GPS PPS/GPRMC from external GPS to the customized 8 Pin connector. This connector provides 3 sets of PPS/GPRMC output for sensors that need to be synchronized, such as LiDARs, etc.
 
    ![1376350-2](images/1376350-2.jpeg)
 
    |MFR| MPN| Description|
    | --------------- | --------- | ------------------------------------------------- |
    | TE Connectivity | 1376350-2 | Automotive Connectors 025 I/O CAP HSG ASSY, 8 Pin |
-    
+
 
    | PIN # | NAME   | I/O    | Description                                             |
    | ----- | ------ | ------ | ------------------------------------------------------- |
@@ -111,7 +111,7 @@ The Apollo Sensor Unit is currently only provided to our Partners and certain de
    | MFR             | MPN       | Description                                        |
    | --------------- | --------- | -------------------------------------------------- |
    | TE Connectivity | 1318772-2 | Automotive Connectors 025 I/O CAP HSG ASSY, 12 Pin |
-     
+
 
    | PIN # | NAME   | I/O   | Description     |
    | ----- | ------ | ----- | --------------- |
@@ -128,7 +128,7 @@ The Apollo Sensor Unit is currently only provided to our Partners and certain de
    | 11   | CANL-3 | INOUT | Channel 3, CANL |
    | 12   | GND    | PWR   | Ground          |
 
-6. GPS PPS / GPRMC Output Rectangular Port 
+6. GPS PPS / GPRMC Output Rectangular Port
 
     The Connector provides 8 ports for 3 LiDARs
 
@@ -151,7 +151,7 @@ The Apollo Sensor Unit is currently only provided to our Partners and certain de
    | 6    | GND    | PWR   | Ground (ASU) -> Pin3 GND (LiDAR 1,3)      |
    | 7    | GND | PWR | Ground (ASU) -> Pin3 GND (LiDAR 2)  |
    | 8    | PPS | OUT | PPS (ASU) -> Pin1 GPS_PULSE_CNT (LiDAR 3)|
-  
+
 
 7. PPS/GPRMC Cylindrical Output Port for Stereo Camera/ LiDAR
 
@@ -164,7 +164,7 @@ The Apollo Sensor Unit is currently only provided to our Partners and certain de
    | --------------- | --------- | -------------------------------------------------- |
    | Digi-Key | APC1735-ND | CONN RCPT FMALE 8POS SOLDER CUP |
 
-   
+
 
     | PIN # | NAME   | I/O   | Description     |
     | ----- | ------ | ----- | --------------- |
@@ -174,7 +174,7 @@ The Apollo Sensor Unit is currently only provided to our Partners and certain de
 
 
 
-   
+
 ## Disclaimer
 
 This device is `Apollo Platform Supported`

docs/specs/Camera/Leopard_Camera_LI-USB30-AZ023WDR__Installation_Guide.md

@@ -1,8 +1,8 @@
 # Guide for LI-USB30-AZ023WDRB
 
-The cameras used are LI-USB30-AR023ZWDR with standard USB 3.0 case manufactured by Leopard Imaging Inc. This line of product is based on AZ023Z 1080P sensor and AP0202 ISP from ON Semiconductor. It supports external trigger and software trigger. 
+The cameras used are LI-USB30-AR023ZWDR with standard USB 3.0 case manufactured by Leopard Imaging Inc. This line of product is based on AZ023Z 1080P sensor and AP0202 ISP from ON Semiconductor. It supports external trigger and software trigger.
 
-We recommend using two cameras with 6 mm lens and one with 25 mm lens to achieve the required performance for traffic light detection application. 
+We recommend using two cameras with 6 mm lens and one with 25 mm lens to achieve the required performance for traffic light detection application.
 
 ![camera_image](images/LI-USB30-AZ023ZWDRB.png)
 
@@ -12,7 +12,7 @@ This camera can be connected to the IPC through USB 3.0 cable for power and data
 
 You can find additional information regarding the Leopard Imaging Inc. cameras on their [website](https://leopardimaging.com/product/li-usb30-ar023zwdrb/)
 
-* [Data Sheet](https://www.leopardimaging.com/LI-USB30-AR023ZWDRB_datasheet.pdf) 
+* [Data Sheet](https://www.leopardimaging.com/LI-USB30-AR023ZWDRB_datasheet.pdf)
 * [Trigger Cable](https://leopardimaging.com/product/li-usb3-trig_cable/)
 
 ## Disclaimer

docs/specs/Camera/Truly_Argus_Camera_Installation_Guide.md

@@ -1,8 +1,8 @@
 # Guide for Argus Camera
 
-Argus camera is a joint development venture product of Truly Seminconductors Ltd. and Baidu. The Argus camera features high dynamic range (HDR 120dB), internal/external trigger and OTA firmware update. It is well supported by the Apollo Sensor Unit. This line of product is based on ON Semiconductor MARS. 
+Argus camera is a joint development venture product of Truly Seminconductors Ltd. and Baidu. The Argus camera features high dynamic range (HDR 120dB), internal/external trigger and OTA firmware update. It is well supported by the Apollo Sensor Unit. This line of product is based on ON Semiconductor MARS.
 
-We recommend using ```three cameras```, one with **6 mm** lens, one with **12 mm** lens and the last one with **2.33 mm** to achieve the required performance for the traffic light detection application. 
+We recommend using ```three cameras```, one with **6 mm** lens, one with **12 mm** lens and the last one with **2.33 mm** to achieve the required performance for the traffic light detection application.
 
 ![camera_image](images/Argus_pic.png)