Update nuScenes & Waymo Optimization (#47)

* update can bus

* Create LICENSE

* update waymo doc

* protobuf requirement

* just warning

* Add warning for proto

* update PR template

* fix length bug

* try sharing nusc

* imu heading

* fix 161 168

* add badge

* fix doc

* update doc

* format

* update cp

* update nuscenes interface

* update doc

* prediction nuscenes

* use drivable aread for nuscenes

* allow converting prediction

* format

* fix bug

* optimize

* clean RAM

* delete more

* restore to

* add only lane

* use token

* add warning

* format

* fix bug

documentation/nuplan.rst

@@ -27,6 +27,9 @@ First of all, we have to install the ``nuplan-devkit``.
     pip install -r requirements.txt
     pip install -e .
 
+    # additional requirements
+    pip install pytorch-lightning
+
     # 2. or install from PyPI
     pip install nuplan-devkit
 
@@ -51,7 +54,7 @@ Thus please download the following files:
 
 
 We recommend to download the mini split to test and make yourself familiar with the setup process.
-All downloaded files are ``.tgz`` files and can be uncompressed by ``tar -zxf xyz.tgz``.
+All downloaded files are ``.zip`` files and can be uncompressed by ``unzip "*.zip"``.
 All data should be placed to ``~/nuplan/dataset`` and the folder structure should comply `file hierarchy <https://nuplan-devkit.readthedocs.io/en/latest/dataset_setup.html#filesystem-hierarchy>`_.
 
 .. code-block:: text
@@ -85,7 +88,7 @@ All data should be placed to ``~/nuplan/dataset`` and the folder structure shoul
             │     │    ├── 2021.06.09.17.23.18_veh-38_00773_01140.db
             │     │    ├── ...
             │     │    └── 2021.10.11.08.31.07_veh-50_01750_01948.db
-            │     └── trainval
+            │     └── train_boston
             │          ├── 2021.05.12.22.00.38_veh-35_01008_01518.db
             │          ├── 2021.06.09.17.23.18_veh-38_00773_01140.db
             │          ├── ...