龙头标示的亚洲彩票网站

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  • Message communication
  • Map format porting
  • Configuration changes to adapt to your internal vehicle and sensor stack

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Apollo ROS Bridge 龙头标示的亚洲彩票网站

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零点棋牌网址
An example application of Apollo-ROS bridge: Test perception and prediction modules of Apollo with the rest of your stack

Main components of the bridge龙头标示的亚洲彩票网站

  • yaml_defs/*.yaml: a configuration file (YAML) for the user to list down the CyberRT and ROS topics that need conversion
  • launch/*.launch: Launch file to start the bridge node with a list of configuration files consisting of topics and parameter information
  • core/cyber_ros_bridge_core.cpp: Core class of the bridge containing structures for storing Apollo data and ROS data, template callback functions for Apollo and ROS msgs, subscribers and publishers
  • core/parse_yaml.cpp: To parse config files and fill in the data structures of Apollo and ROS topics
  • lib/cyber_ros_bridge_lib.hpp: A library consisting of math/conversion functions that can be reused while adding new topic conversions. These functions handle coordinate frame conversions, sl-frame to waypoint conversions, etc.
  • cyber_ros_bridge_node.cpp:The main executable that creates both cyber and ROS node handles for initiating the subscription and publishing of messages on both sides

Design choices龙头标示的亚洲彩票网站

  1. Modularity:The bridge has launch files and configuration files to initiate different configurations of topic conversions for testing different modules of Apollo. For example, one configuration can be where only Apollo Planner is running with corresponding modules of your stack. Another possible configuration can be where Apollo Routing + Planner + Prediction is running with corresponding modules of your stack.
  2. Library of converter functions for re-usability: Topic conversions with Apollo are rarely based on 1:1 mapping. Hence, we’re writing re-usable math functions as a library for converting to or from Apollo topics handling coordinate frame conversions, sl-frame to waypoint conversions, etc.
  3. Docker Environment with pre-built dependencies: We built a docker environment for the bridge where the cyber, ROS core (header) dependencies, the apollo cyber msgs, and ROS msgs are pre-built into the image. The bridge node resides in this docker container. But, if the user prefers, the bridge can be run from Apollo docker itself.
Lidar Point cloud message converted from CyberRT to ROS
Lidar Pointcloud received from Apollo, converted and published as a ROS message. [Left] Cyber_visualizer tool showing cyber point cloud message. [Right] Rviz showing ROS point cloud message.

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满堂红彩票店网址”钟晖称由于今年疫情的突袭,电商意外受益颇多,Shopify就是其中一个,数据显示,目前已有逾100万个商家入驻了该平台,而自今年3月以来,Shopify在多伦多和纽约证券交易所的股价也已经翻了3倍