Example JSON Configuration for an Apollo 6.0 Vehicle

Bridge Type top#

CyberRT

Published Topics top#

Topic	Sensor Name
/apollo/canbus/chassis	CAN Bus
/apollo/sensor/gnss/best_pose	GPS
/apollo/sensor/gnss/odometry	GPS Odometry
/apollo/sensor/gnss/ins_stat	GPS INS Status
/apollo/sensor/gnss/imu	IMU
/apollo/sensor/gnss/corrected_imu	IMU
/apollo/perception/obstacles	3D Ground Truth Sensor
/apollo/perception/traffic_light	Signal Sensor
/apollo/sensor/conti_radar	Radar (optional)
/apollo/sensor/lidar128/compensator/PointCloud2	Lidar (optional)
/apollo/sensor/camera/front_6mm/image/compressed	Main Camera (optional)
/apollo/sensor/camera/front_12mm/image/compressed	Telephoto Camera (optional)

Note: The Radar, LiDAR, and Cameras are not needed for modular testing since the perception module in Apollo will not be running. We suggest against including them unless their data is needed for other reasons.

Subscribed Topics top#

Topic	Sensor Name
/apollo/control	Apollo Car Control

Complete JSON Configuration excluding optional sensorstop#

[
  {
    "type": "CanBusSensor",
    "name": "CAN Bus",
    "params": {
      "Frequency": 10,
      "Topic": "/apollo/canbus/chassis"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "GpsSensor",
    "name": "GPS",
    "params": {
      "Frequency": 12.5,
      "Topic": "/apollo/sensor/gnss/best_pose",
      "Frame": "gps"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0.070351,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "GpsOdometrySensor",
    "name": "GPS Odometry",
    "params": {
      "Frequency": 12.5,
      "Topic": "/apollo/sensor/gnss/odometry",
      "Frame": "gps"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0.070351,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "GpsInsSensor",
    "name": "GPS INS Status",
    "params": {
      "Frequency": 12.5,
      "Topic": "/apollo/sensor/gnss/ins_stat",
      "Frame": "gps"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0.070351,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "ImuSensor",
    "name": "IMU",
    "params": {
      "Topic": "/apollo/sensor/gnss/imu",
      "Frame": "imu",
      "CorrectedTopic": "/apollo/sensor/gnss/corrected_imu",
      "CorrectedFrame": "imu"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0.070351,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "PerceptionSensor3D",
    "name": "3D Ground Truth",
    "params": {
      "Frequency": 10,
      "MaxDistance": 100,
      "Topic": "/apollo/perception/obstacles"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "SignalSensor",
    "name": "Signal Sensor",
    "params": {
      "Frequency": 10,
      "MaxDistance": 100,
      "Topic": "/apollo/perception/traffic_light"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "KeyboardControlSensor",
    "name": "Keyboard Car Control"
  },
  {
    "type": "WheelControlSensor",
    "name": "Wheel Car Control"
  },
  {
    "type": "ApolloControlSensor",
    "name": "Apollo Car Control",
    "params": {
      "Topic": "/apollo/control"
    }
  }
]

Complete JSON Configuration including optional sensorstop#

[
  {
    "type": "CanBusSensor",
    "name": "CAN Bus",
    "params": {
      "Frequency": 10,
      "Topic": "/apollo/canbus/chassis"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "GpsSensor",
    "name": "GPS",
    "params": {
      "Frequency": 12.5,
      "Topic": "/apollo/sensor/gnss/best_pose",
      "Frame": "gps"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0.070351,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "GpsOdometrySensor",
    "name": "GPS Odometry",
    "params": {
      "Frequency": 12.5,
      "Topic": "/apollo/sensor/gnss/odometry",
      "Frame": "gps"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0.070351,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "GpsInsSensor",
    "name": "GPS INS Status",
    "params": {
      "Frequency": 12.5,
      "Topic": "/apollo/sensor/gnss/ins_stat",
      "Frame": "gps"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0.070351,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "ImuSensor",
    "name": "IMU",
    "params": {
      "Topic": "/apollo/sensor/gnss/imu",
      "Frame": "imu",
      "CorrectedTopic": "/apollo/sensor/gnss/corrected_imu",
      "CorrectedFrame": "imu"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0.070351,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "PerceptionSensor3D",
    "name": "3D Ground Truth",
    "params": {
      "Frequency": 10,
      "MaxDistance": 100,
      "Topic": "/apollo/perception/obstacles"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "SignalSensor",
    "name": "Signal Sensor",
    "params": {
      "Frequency": 10,
      "MaxDistance": 100,
      "Topic": "/apollo/perception/traffic_light"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "RadarSensor",
    "name": "Radar",
    "params": {
      "Frequency": 13.4,
      "Topic": "/apollo/sensor/conti_radar"
    },
    "transform": {
      "x": 0,
      "y": 0.337,
      "z": 3.691,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "LidarSensor",
    "name": "Lidar",
    "params": {
      "LaserCount": 32,
      "MinDistance": 0.5,
      "MaxDistance": 100,
      "RotationFrequency": 10,
      "MeasurementsPerRotation": 360,
      "FieldOfView": 41.33,
      "CenterAngle": 10,
      "Compensated": true,
      "PointColor": "#ff000000",
      "Topic": "/apollo/sensor/lidar128/compensator/PointCloud2",
      "Frame": "velodyne"
    },
    "transform": {
      "x": 0,
      "y": 1.96,
      "z": 1.0510799,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "ColorCameraSensor",
    "name": "Main Camera",
    "params": {
      "Width": 1920,
      "Height": 1080,
      "Frequency": 15,
      "JpegQuality": 75,
      "FieldOfView": 50,
      "MinDistance": 0.1,
      "MaxDistance": 2000,
      "Topic": "/apollo/sensor/camera/front_6mm/image/compressed"
    },
    "transform": {
      "x": 0,
      "y": 1.348,
      "z": 1.219,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "ColorCameraSensor",
    "name": "Telephoto Camera",
    "params": {
      "Width": 1920,
      "Height": 1080,
      "Frequency": 15,
      "JpegQuality": 75,
      "FieldOfView": 10,
      "MinDistance": 0.1,
      "MaxDistance": 2000,
      "Topic": "/apollo/sensor/camera/front_12mm/image/compressed"
    },
    "transform": {
      "x": 0,
      "y": 1.348,
      "z": 1.219,
      "pitch": -4,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "KeyboardControlSensor",
    "name": "Keyboard Car Control"
  },
  {
    "type": "WheelControlSensor",
    "name": "Wheel Car Control"
  },
  {
    "type": "ApolloControlSensor",
    "name": "Apollo Car Control",
    "params": {
      "Topic": "/apollo/control"
    }
  }
]