Apollo 11.0
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adapter_gflags.cc
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2 * Copyright 2017 The Apollo Authors. All Rights Reserved.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *****************************************************************************/
16
17#include "modules/common/adapters/adapter_gflags.h"
18
19DEFINE_bool(enable_adapter_dump, false,
20 "Whether enable dumping the messages to "
21 "/tmp/adapters/<topic_name>/<seq_num>.txt for debugging purposes.");
22DEFINE_string(gps_topic, "/apollo/sensor/gnss/odometry", "GPS topic name");
23DEFINE_string(imu_topic, "/apollo/sensor/gnss/corrected_imu", "IMU topic name");
24DEFINE_string(raw_imu_topic, "/apollo/sensor/gnss/imu", "Raw IMU topic name");
25DEFINE_string(audio_detection_topic, "/apollo/audio_detection",
26 "audio detection topic name");
27DEFINE_string(chassis_topic, "/apollo/canbus/chassis", "chassis topic name");
28DEFINE_string(chassis_detail_topic, "/apollo/canbus/chassis_detail",
29 "chassis detail topic name");
30DEFINE_string(chassis_detail_sender_topic,
31 "/apollo/canbus/chassis_detail_sender",
32 "chassis detail sender_topic name");
33DEFINE_string(chassis_command_topic, "/apollo/chassis_control",
34 "chassis command topic name");
35DEFINE_string(localization_topic, "/apollo/localization/pose",
36 "localization topic name");
37DEFINE_string(planning_learning_data_topic, "/apollo/planning/learning_data",
38 "planning learning data");
39DEFINE_string(planning_trajectory_topic, "/apollo/planning",
40 "planning trajectory topic name");
41DEFINE_string(planning_command, "/apollo/planning/command",
42 "Topic name of input command to planning module.");
43DEFINE_string(planning_command_status, "/apollo/planning/command_status",
44 "Topic name of planning command status.");
45DEFINE_string(monitor_topic, "/apollo/monitor", "Monitor");
46DEFINE_string(pad_topic, "/apollo/control/pad",
47 "control pad message topic name");
48DEFINE_string(control_command_topic, "/apollo/control",
49 "control command topic name");
50DEFINE_string(control_debug_info_topic, "/apollo/control/debug",
51 "control debug info topic name");
52DEFINE_string(control_interative_topic, "/apollo/control/interactive",
53 "control interactive info to others topic name");
54DEFINE_string(control_preprocessor_topic, "/apollo/control/preprocessor",
55 "control preprocessor topic name");
56DEFINE_string(control_local_view_topic, "/apollo/control/localview",
57 "control local view topic name");
58DEFINE_string(control_core_command_topic, "/apollo/control/controlcore",
59 "control command core algorithm topic name");
60DEFINE_string(pointcloud_topic,
61 "/apollo/sensor/lidar128/compensator/PointCloud2",
62 "pointcloud topic name");
63DEFINE_string(pointcloud_16_topic,
64 "/apollo/sensor/lidar16/compensator/PointCloud2",
65 "16 beam Lidar pointcloud topic name");
66DEFINE_string(pointcloud_16_raw_topic, "/apollo/sensor/lidar16/PointCloud2",
67 "16 beam Lidar raw pointcloud topic name");
68DEFINE_string(pointcloud_16_front_left_raw_topic,
69 "/apollo/sensor/lidar16/left/PointCloud2",
70 "16 left beam Lidar raw pointcloud topic name");
71DEFINE_string(pointcloud_16_front_right_raw_topic,
72 "/apollo/sensor/lidar16/right/PointCloud2",
73 "16 left beam Lidar raw pointcloud topic name");
74DEFINE_string(pointcloud_16_front_up_topic,
75 "/apollo/sensor/lidar16/front/up/compensator/PointCloud2",
76 "Front up 16 beam Lidar pointcloud topic name");
77DEFINE_string(pointcloud_64_topic,
78 "/apollo/sensor/velodyne64/compensator/PointCloud2",
79 "pointcloud topic name");
80DEFINE_string(pointcloud_128_topic,
81 "/apollo/sensor/lidar128/compensator/PointCloud2",
82 "pointcloud topic name for 128 beam lidar");
83DEFINE_string(pointcloud_hesai_40p_topic,
84 "/apollo/sensor/hesai40/compensator/PointCloud2",
85 "pointcloud topic name for hesai40p lidar");
86DEFINE_string(pointcloud_raw_topic, "/apollo/sensor/velodyne64/PointCloud2",
87 "pointcloud raw topic name");
88DEFINE_string(velodyne_raw_topic,
89 "/apollo/sensor/velodyne64/VelodyneScanUnified",
90 "velodyne64 raw data topic name");
91DEFINE_string(pointcloud_fusion_topic,
92 "/apollo/sensor/velodyne64/fusion/PointCloud2",
93 "pointcloud fusion topic name");
94DEFINE_string(vlp16_pointcloud_topic,
95 "/apollo/sensor/velodyne16/compensator/PointCloud2",
96 "16 beam Lidar pointcloud topic name");
97DEFINE_string(lidar_16_front_center_topic,
98 "/apollo/sensor/lidar16/front/center/PointCloud2",
99 "front center 16 beam lidar topic name");
100DEFINE_string(lidar_16_front_up_topic,
101 "/apollo/sensor/lidar16/front/up/PointCloud2",
102 "front up 16 beam lidar topic name");
103DEFINE_string(lidar_16_rear_left_topic,
104 "/apollo/sensor/lidar16/rear/left/PointCloud2",
105 "rear left 16 beam lidar topic name");
106DEFINE_string(lidar_16_rear_right_topic,
107 "/apollo/sensor/lidar16/rear/right/PointCloud2",
108 "rear right 16 beam lidar topic name");
109DEFINE_string(lidar_16_fusion_topic,
110 "/apollo/sensor/lidar16/fusion/PointCloud2",
111 "16 beam lidar fusion topic name");
112DEFINE_string(lidar_16_fusion_compensator_topic,
113 "/apollo/sensor/lidar16/fusion/compensator/PointCloud2",
114 "16 beam lidar fusion compensator topic name");
115DEFINE_string(lidar_128_topic, "/apollo/sensor/lidar128/PointCloud2",
116 "128 beam lidar topic name");
117DEFINE_string(prediction_topic, "/apollo/prediction", "prediction topic name");
118DEFINE_string(prediction_container_topic, "/apollo/prediction_container",
119 "prediction container submodule topic name");
120DEFINE_string(perception_obstacle_topic, "/apollo/perception/obstacles",
121 "perception obstacle topic name");
122DEFINE_string(drive_event_topic, "/apollo/drive_event",
123 "drive event topic name");
124DEFINE_string(traffic_light_detection_topic, "/apollo/perception/traffic_light",
125 "traffic light detection topic name");
126DEFINE_string(perception_lane_mask_segmentation_topic,
127 "/apollo/perception/lane_mask",
128 "lane mask segmentation topic name");
129DEFINE_string(routing_response_topic, "/apollo/routing_response",
130 "routing response topic name");
131DEFINE_string(routing_response_history_topic,
132 "/apollo/routing_response_history",
133 "routing response history topic name");
134DEFINE_string(relative_odometry_topic, "/apollo/calibration/relative_odometry",
135 "relative odometry topic name");
136DEFINE_string(ins_stat_topic, "/apollo/sensor/gnss/ins_stat",
137 "ins stat topic name");
138DEFINE_string(ins_status_topic, "/apollo/sensor/gnss/ins_status",
139 "ins status topic name");
140DEFINE_string(gnss_status_topic, "/apollo/sensor/gnss/gnss_status",
141 "gnss status topic name");
142DEFINE_string(system_status_topic, "/apollo/monitor/system_status",
143 "System status topic name");
144DEFINE_string(static_info_topic, "/apollo/monitor/static_info",
145 "Static info topic name");
146DEFINE_string(mobileye_topic, "/apollo/sensor/mobileye", "mobileye topic name");
147DEFINE_string(smartereye_obstacles_topic, "/apollo/sensor/smartereye/obstacles",
148 "smartereye obstacles topic name");
149DEFINE_string(smartereye_lanemark_topic, "/apollo/sensor/smartereye/lanemark",
150 "smartereye lanemark topic name");
151DEFINE_string(smartereye_image_topic, "/apollo/sensor/smartereye/image",
152 "smartereye image topic name");
153DEFINE_string(delphi_esr_topic, "/apollo/sensor/delphi_esr",
154 "delphi esr radar topic name");
155DEFINE_string(conti_radar_topic, "/apollo/sensor/conti_radar",
156 "continental radar topic name");
157DEFINE_string(racobit_radar_topic, "/apollo/sensor/racobit_radar",
158 "racobit radar topic name");
159DEFINE_string(ultrasonic_radar_topic, "/apollo/sensor/ultrasonic_radar",
160 "ultrasonic esr radar topic name");
161DEFINE_string(front_radar_topic, "/apollo/sensor/radar/front",
162 "front radar topic name");
163DEFINE_string(rear_radar_topic, "/apollo/sensor/radar/rear",
164 "rear radar topic name");
165// TODO(Authors): Change the topic name
166DEFINE_string(compressed_image_topic, "camera/image_raw",
167 "CompressedImage topic name");
168DEFINE_string(image_front_topic, "/apollo/sensor/camera/front_6mm/image",
169 "front camera image topic name for obstacles from camera");
170DEFINE_string(image_short_topic,
171 "/apollo/sensor/camera/front_6mm/image/compressed",
172 "short camera image topic name");
173DEFINE_string(image_long_topic, "/apollo/sensor/camera/traffic/image_long",
174 "long camera image topic name");
175DEFINE_string(image_usb_cam_topic, "/apollo/sensor/camera/image_usb_cam",
176 "USB camera image topic name");
177DEFINE_string(camera_image_long_topic, "/apollo/sensor/camera/image_long",
178 "long camera image topic name");
179DEFINE_string(camera_image_short_topic, "/apollo/sensor/camera/image_short",
180 "short camera image topic name");
181DEFINE_string(camera_front_6mm_topic, "/apollo/sensor/camera/front_6mm/image",
182 "front 6mm camera topic name");
183DEFINE_string(camera_front_6mm_2_topic,
184 "/apollo/sensor/camera/front_6mm_2/image",
185 "front 6mm camera topic name 2");
186DEFINE_string(camera_front_12mm_topic, "/apollo/sensor/camera/front_12mm/image",
187 "front 12mm camera topic name");
188DEFINE_string(camera_front_6mm_compressed_topic,
189 "/apollo/sensor/camera/front_6mm/image/compressed",
190 "front 6mm camera compressed topic name");
191DEFINE_string(camera_front_12mm_compressed_topic,
192 "/apollo/sensor/camera/front_12mm/image/compressed",
193 "front 12mm camera compressed topic name");
194DEFINE_string(camera_left_fisheye_compressed_topic,
195 "/apollo/sensor/camera/left_fisheye/image/compressed",
196 "left fisheye camera compressed topic name");
197DEFINE_string(camera_right_fisheye_compressed_topic,
198 "/apollo/sensor/camera/right_fisheye/image/compressed",
199 "right fisheye camera compressed topic name");
200DEFINE_string(camera_rear_6mm_compressed_topic,
201 "/apollo/sensor/camera/rear_6mm/image/compressed",
202 "front 6mm camera compressed topic name");
203DEFINE_string(camera_front_6mm_video_compressed_topic,
204 "/apollo/sensor/camera/front_6mm/video/compressed",
205 "front 6mm camera video compressed topic name");
206DEFINE_string(camera_front_12mm_video_compressed_topic,
207 "/apollo/sensor/camera/front_12mm/video/compressed",
208 "front 12mm camera video compressed topic name");
209DEFINE_string(camera_left_fisheye_video_compressed_topic,
210 "/apollo/sensor/camera/left_fisheye/video/compressed",
211 "left fisheye camera video compressed topic name");
212DEFINE_string(camera_right_fisheye_video_compressed_topic,
213 "/apollo/sensor/camera/right_fisheye/video/compressed",
214 "right fisheye camera video compressed topic name");
215DEFINE_string(camera_rear_6mm_video_compressed_topic,
216 "/apollo/sensor/camera/rear_6mm/video/compressed",
217 "front 6mm camera video compressed topic name");
218DEFINE_string(gnss_rtk_obs_topic, "/apollo/sensor/gnss/rtk_obs",
219 "Gnss rtk observation topic name");
220DEFINE_string(gnss_rtk_eph_topic, "/apollo/sensor/gnss/rtk_eph",
221 "Gnss rtk ephemeris topic name");
222DEFINE_string(gnss_best_pose_topic, "/apollo/sensor/gnss/best_pose",
223 "Gnss rtk best gnss pose");
224DEFINE_string(localization_gnss_topic, "/apollo/localization/msf_gnss",
225 "Gnss localization measurement topic name");
226DEFINE_string(localization_lidar_topic, "/apollo/localization/msf_lidar",
227 "Lidar localization measurement topic name");
228DEFINE_string(localization_ndt_topic, "/apollo/localization/ndt_lidar",
229 "NDT localization lidar measurement topic name");
230DEFINE_string(localization_sins_pva_topic, "/apollo/localization/msf_sins_pva",
231 "Localization sins pva topic name");
232DEFINE_string(localization_msf_status, "/apollo/localization/msf_status",
233 "msf localization status");
234DEFINE_string(relative_map_topic, "/apollo/relative_map", "relative map");
235DEFINE_string(navigation_topic, "/apollo/navigation", "navigation");
236DEFINE_string(hmi_status_topic, "/apollo/hmi/status", "HMI status topic name.");
237DEFINE_string(audio_capture_topic, "/apollo/hmi/audio_capture",
238 "HMI audio capture topic name.");
239DEFINE_string(v2x_obu_traffic_light_topic,
240 "/apollo/v2x/obu/internal/traffic_light",
241 "v2x obu traffic_light topic name");
242DEFINE_string(v2x_internal_obstacle_topic, "/apollo/v2x/obu/internal/obstacles",
243 "v2x internal obstacles topic name");
244DEFINE_string(v2x_obstacle_topic, "/apollo/v2x/obstacles",
245 "v2x obstacles topic name");
246DEFINE_string(v2x_traffic_light_topic, "/apollo/v2x/traffic_light",
247 "v2x traffic light topic name");
248DEFINE_string(v2x_traffic_light_for_hmi_topic,
249 "/apollo/v2x/traffic_light/for_hmi",
250 "v2x traffic light topic name for hmi");
251DEFINE_string(v2x_rsi_topic, "/apollo/v2x/rsi", "v2x rsi topic name");
252
253DEFINE_string(storytelling_topic, "/apollo/storytelling",
254 "Storytelling topic.");
255DEFINE_string(audio_event_topic, "/apollo/audio_event", "Audio event topic.");
256
257DEFINE_string(guardian_topic, "/apollo/guardian", "Guardian topic.");
258DEFINE_string(gnss_raw_data_topic, "/apollo/sensor/gnss/raw_data",
259 "gnss raw data topic name");
260DEFINE_string(stream_status_topic, "/apollo/sensor/gnss/stream_status",
261 "gnss stream status topic name");
262DEFINE_string(heading_topic, "/apollo/sensor/gnss/heading",
263 "gnss heading topic name");
264DEFINE_string(rtcm_data_topic, "/apollo/sensor/gnss/rtcm_data",
265 "gnss rtcm data topic name");
266DEFINE_string(tf_topic, "/tf", "Transform topic.");
267DEFINE_string(tf_static_topic, "/tf_static", "Transform static topic.");
268DEFINE_string(recorder_status_topic, "/apollo/data/recorder/status",
269 "Recorder status topic.");
270DEFINE_string(latency_recording_topic, "/apollo/common/latency_records",
271 "Latency recording topic.");
272DEFINE_string(latency_reporting_topic, "/apollo/common/latency_reports",
273 "Latency reporting topic.");
274DEFINE_string(task_topic, "/apollo/task_manager", "task manager topic name");
275// value: velodyne128, velodyne64, velodyne16
276DEFINE_string(lidar_model_version, "",
277 "It determins which lidar model(16 ,64 or 128) to load, "
278 "if not to set, the model will be loaded by the sensor name.");
279DEFINE_string(record_info_topic, "/apollo/cyber/record_info",
280 "record info topic");
DEFINE_bool
DEFINE_bool(enable_adapter_dump, false, "Whether enable dumping the messages to " "/tmp/adapters/<topic_name>/<seq_num>.txt for debugging purposes.")
DEFINE_string
DEFINE_string(gps_topic, "/apollo/sensor/gnss/odometry", "GPS topic name")
adapter_gflags.h