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"
    }
  }
]