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Apollo消息格式.cpp
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Apollo消息格式.cpp
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人工发送prediction::PredictionObstacles消息
为提高消息处理的实时性和灵活性，Apollo 3.5的Planning模块不再基于定时器触发更新，而是基于三个输入消息的改变而动态更新，这三个输入消息分别为：prediction::PredictionObstacles、canbus::Chassis、localization::LocalizationEstimate。也就是说，只有上述三个消息同时存在时，Planning模块的消息处理函数PlanningComponent::Proc()才会被调用，而具体的某一类规划算法（例如OnLanePlanning）才会真正工作。
若某条消息因为特殊原因不能及时发送，解决办法就是人工生成假消息。例如，若不能收到prediction::PredictionObstacles消息，则可在在Docker内部通过如下命令生成假prediction::PredictionObstacles消息：
cyber_launch start /apollo/modules/tools/prediction/fake_prediction/fake_prediction.launch
1
该假消息的具体生成代码见/apollo/modules/tools/prediction/fake_prediction，其他假消息的生成可参照该示例撰写。
3.3.2 人工发送perception::TrafficLightDetection消息
调试规划算法时，需要动态改变红绿灯的信号状态，可以通过如下命令人工发送perception::TrafficLightDetection消息来实现：
cyber_launch start /apollo/modules/tools/manual_traffic_light/manual_traffic_light.launch
5.
protobuffer:
zy@zy:~/Desktop/proto$ protoc addressbook.proto --cpp_out=./
6. the pb.h and pb.cc files generated by bazel are localized in the path below:
root@apollo5-apollo-ubuntu14-1:/apollo/bazel-out/local-dbg/genfiles/modules/localization/proto#
7. IMU publish:
http://git.51vr.local/51World/Cybertron/blob/ue4.22/Modules/BridgeApollo/CybertronBridgeApolloCyber/TaskCyberChassisImu.cpp
mCyberImu.publish(angvelX, angvelY, angvelZ, linAccX, linAccY, linAccZ); # 70
8. http://git.51vr.local/51World/Cybertron/blob/ue4.22/Modules/BridgeApollo/CybertronBridgeApolloCyber/TaskCyberPointCloud.cpp
8.1 mCyberPointCloud.publish(
frame,
mPointCloud.width(),
mPointCloud.height(),
mPointCloud.pointstep(),
mPointCloud.data().data()
); //CyberWriterPointCloud::publish(int sequence, int width, int height, int step, const char *data)
8.2 CyberWriterPointCloud mCyberPointCloud; // CyberWriterPointCloud.hpp
cybertron::proto::sensor::DataPointCloud mPointCloud; // the mPointCloud which has been published
In cyvertron the Lidar protobuf:
cybertron::proto::sensor::DataPointCloud // PointCloud.pb.h
8.4 msg.toProtobuf(mPointCloud)
8.5
http://git.51vr.local/51World/Cybertron/blob/master/Modules/Unreal/UnrealNodeBase/CybertronUnrealNodeBase/UnrealSensorTask.cpp_out
void UnrealSensorTask::UpdateLaserRadarOutput(const UnrealBridge::SensorHeader& sensorHeader, int sensorId,
const std::vector<uint8_t>& pointCloudData,
const UnrealBridge::GroundTruthData& groundTruthData)
9. ROS sensor_msgs/PointCloud
以上是标准头信息的主要部分。seq是消息的顺序标识，不需要手动设置，发布节点在发布消息时，会自动累加。stamp 是消息中与数据相关联的时间戳，例如激光数据中，时间戳对应激光数据的采集时间点。frame_id 是消息中与数据相关联的参考系id，例如在在激光数据中，frame_id对应激光数据采集的参考系
#Standard metadata for higher-level flow data types
#sequence ID: consecutively increasing ID
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id
10. Apollo pointcloud.proto:
syntax = "proto2";
package apollo.drivers;
import "modules/common/proto/header.proto";
// 一帧点云
message PointXYZIT {
optional float x = 1 [default = nan]; //
optional float y = 2 [default = nan]; //
optional float z = 3 [default = nan]; //
optional uint32 intensity = 4 [default = 0]; //激光反射强度（Intensity
optional uint64 timestamp = 5 [default = 0]; // 每一个点的时间戳
}
message PointCloud {
optional apollo.common.Header header = 1; //
optional string frame_id = 2; //
optional bool is_dense = 3; //
repeated PointXYZIT point = 4;
optional double measurement_time = 5; //last_time_stamp_ = pointcloud->measurement_time();
optional uint32 width = 6; //
optional uint32 height = 7; //height与width是指点云数据的高和宽，一般无序点云的高为1，宽为点云中激光点的个数；结构化点云的高和宽均大于1。
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
11. Cybretron PointCloud.proto
syntax = "proto3";
import "Common/Header.proto";
import "Sensor/ObstacleDetect.proto";
package cybertron.proto.sensor;
enum EPointCloudFieldName
{
EPointCloudFieldName_XYZ = 0; // float x 3
EPointCloudFieldName_Intensity = 1; // uint16
EPointCloudFieldName_Ring = 2; // uint16
EPointCloudFieldName_RGB = 3; // uint8 x 3
EPointCloudFieldName_Segmentation = 4; // uint8
EPointCloudFieldName_InstanceId = 5; // Int32
}
// refer to http://docs.ros.org/api/sensor_msgs/html/msg/PointField.html
enum EPointCloudFieldType
{
EPointCloudFieldType_Unused = 0;
EPointCloudFieldType_Int8 = 1;
EPointCloudFieldType_UInt8 = 2;
EPointCloudFieldType_Int16 = 3;
EPointCloudFieldType_UInt16 = 4;
EPointCloudFieldType_Int32 = 5;
EPointCloudFieldType_UInt32 = 6;
EPointCloudFieldType_Float = 7;
EPointCloudFieldType_Double = 8;
}
message PointCloudField{
EPointCloudFieldName name = 1; //name是指点云包含的域的名称，如“x”、“y”、“z”、“intensity”、“ring”等
uint32 offset = 2; //offset是指在data的每个数据中该域的偏移量
EPointCloudFieldType datatype = 3; //datatype是指以上1~8的数据类型
}
message DataPointCloud {
common.CybertronHeader header = 1;
// 2D structure of the point cloud.
// For unordered point cloud, height is 1 and width is point count of the point cloud.
uint32 width = 2;
uint32 height = 3;
// raw data fields definition.
repeated PointCloudField fields = 4;
// Length of a point in bytes
uint32 pointStep = 5; //pointstep表示每个点的字节长度，常见的为32
// raw data, size should be width * height * pointStep
bytes data = 6; //data表示所有的点的数据，以字节存储。uint8[] data代表vector类型，有size、push_back、clear等操作 // for(unsigned int i = 0; i < num_points; ++i){
// cloud.points[i].x = 0.1*i;
// cloud.points[i].y = 0.1*i;
// cloud.points[i].z = 5;
// cloud.channels[0].values[i] = 255;
// } // }
message PointCloudStamped{
common.Header header = 1;
DataPointCloud pointcloud = 2;
}
message PointCloudWithGroundTruth{
DataPointCloud pointcloud = 1;
GroundTruth ground_truth = 2;
}
5.
protobuffer:
zy@zy:~/Desktop/proto$ protoc addressbook.proto --cpp_out=./
6. the pb.h and pb.cc files generated by bazel are localized in the path below:
root@apollo5-apollo-ubuntu14-1:/apollo/bazel-out/local-dbg/genfiles/modules/localization/proto#
7. IMU publish:
http://git.51vr.local/51World/Cybertron/blob/ue4.22/Modules/BridgeApollo/CybertronBridgeApolloCyber/TaskCyberChassisImu.cpp
mCyberImu.publish(angvelX, angvelY, angvelZ, linAccX, linAccY, linAccZ); # 70
8. http://git.51vr.local/51World/Cybertron/blob/ue4.22/Modules/BridgeApollo/CybertronBridgeApolloCyber/TaskCyberPointCloud.cpp
8.1 mCyberPointCloud.publish(
frame,
mPointCloud.width(),
mPointCloud.height(),
mPointCloud.pointstep(),
mPointCloud.data().data()
); //CyberWriterPointCloud::publish(int sequence, int width, int height, int step, const char *data)
8.2 CyberWriterPointCloud mCyberPointCloud; // CyberWriterPointCloud.hpp
cybertron::proto::sensor::DataPointCloud mPointCloud; // the mPointCloud which has been published
In cyvertron the Lidar protobuf:
cybertron::proto::sensor::DataPointCloud // PointCloud.pb.h
8.4 msg.toProtobuf(mPointCloud)
8.5
http://git.51vr.local/51World/Cybertron/blob/master/Modules/Unreal/UnrealNodeBase/CybertronUnrealNodeBase/UnrealSensorTask.cpp_out
void UnrealSensorTask::UpdateLaserRadarOutput(const UnrealBridge::SensorHeader& sensorHeader, int sensorId,
const std::vector<uint8_t>& pointCloudData,
const UnrealBridge::GroundTruthData& groundTruthData)
9. ROS sensor_msgs/PointCloud
以上是标准头信息的主要部分。seq是消息的顺序标识，不需要手动设置，发布节点在发布消息时，会自动累加。stamp 是消息中与数据相关联的时间戳，例如激光数据中，时间戳对应激光数据的采集时间点。frame_id 是消息中与数据相关联的参考系id，例如在在激光数据中，frame_id对应激光数据采集的参考系
#Standard metadata for higher-level flow data types
#sequence ID: consecutively increasing ID
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id
10. Apollo pointcloud.proto:
syntax = "proto2";
package apollo.drivers;
import "modules/common/proto/header.proto";
// 一帧点云
message PointXYZIT {
optional float x = 1 [default = nan]; //
optional float y = 2 [default = nan]; //
optional float z = 3 [default = nan]; //
optional uint32 intensity = 4 [default = 0]; //激光反射强度（Intensity
optional uint64 timestamp = 5 [default = 0]; // 每一个点的时间戳
}
message PointCloud {
optional apollo.common.Header header = 1; //
optional string frame_id = 2; //
optional bool is_dense = 3; //
repeated PointXYZIT point = 4;
optional double measurement_time = 5; //last_time_stamp_ = pointcloud->measurement_time();
optional uint32 width = 6; //
optional uint32 height = 7; //height与width是指点云数据的高和宽，一般无序点云的高为1，宽为点云中激光点的个数；结构化点云的高和宽均大于1。
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
11. Cybretron PointCloud.proto
syntax = "proto3";
import "Common/Header.proto";
import "Sensor/ObstacleDetect.proto";
package cybertron.proto.sensor;
enum EPointCloudFieldName
{
EPointCloudFieldName_XYZ = 0; // float x 3
EPointCloudFieldName_Intensity = 1; // uint16
EPointCloudFieldName_Ring = 2; // uint16
EPointCloudFieldName_RGB = 3; // uint8 x 3
EPointCloudFieldName_Segmentation = 4; // uint8
EPointCloudFieldName_InstanceId = 5; // Int32
}
// refer to http://docs.ros.org/api/sensor_msgs/html/msg/PointField.html
enum EPointCloudFieldType
{
EPointCloudFieldType_Unused = 0;
EPointCloudFieldType_Int8 = 1;
EPointCloudFieldType_UInt8 = 2;
EPointCloudFieldType_Int16 = 3;
EPointCloudFieldType_UInt16 = 4;
EPointCloudFieldType_Int32 = 5;
EPointCloudFieldType_UInt32 = 6;
EPointCloudFieldType_Float = 7;
EPointCloudFieldType_Double = 8;
}
message PointCloudField{
EPointCloudFieldName name = 1; //name是指点云包含的域的名称，如“x”、“y”、“z”、“intensity”、“ring”等
uint32 offset = 2; //offset是指在data的每个数据中该域的偏移量
EPointCloudFieldType datatype = 3; //datatype是指以上1~8的数据类型
}
message DataPointCloud {
common.CybertronHeader header = 1;
// 2D structure of the point cloud.
// For unordered point cloud, height is 1 and width is point count of the point cloud.
uint32 width = 2;
uint32 height = 3;
// raw data fields definition.
repeated PointCloudField fields = 4;
// Length of a point in bytes
uint32 pointStep = 5; //pointstep表示每个点的字节长度，常见的为32
// raw data, size should be width * height * pointStep
bytes data = 6; //data表示所有的点的数据，以字节存储。uint8[] data代表vector类型，有size、push_back、clear等操作 // for(unsigned int i = 0; i < num_points; ++i){
// cloud.points[i].x = 0.1*i;
// cloud.points[i].y = 0.1*i;
// cloud.points[i].z = 5;
// cloud.channels[0].values[i] = 255;
// } // }
message PointCloudStamped{
common.Header header = 1;
DataPointCloud pointcloud = 2;
}
message PointCloudWithGroundTruth{
DataPointCloud pointcloud = 1;
GroundTruth ground_truth = 2;
}