README

目录

• perception-motion-service
  • Introduction
  • Directory Structure
  • Modules
    • MotionServiceComponent
      • Input
      • Output
      • How to run
  • 文档意见反馈

perception-motion-service

Introduction

The motion service module provides current motion estimation.

Directory Structure

motion_service
├── BUILD      // bazel build file
├── README.md
├── conf       // dag config file
├── cyberfile.xml  // package description file
├── dag
├── launch
├── motion     // main process
├── motion_service_component.cc   // component
├── motion_service_component.h
└── proto      // proto file

Modules

MotionServiceComponent

apollo::perception::camera::MotionServiceComponent

Input

Channel	Type	Description	Name
/apollo/sensor/camera/front_6mm/image	apollo::perception::camera::ImageMsgType	camera drive message	msg
/apollo/localization/pose	apollo::perception::camera::LocalizationMsgType	localization message	msg

Output

Channel	Type	Description	Name
/apollo/perception/motion_service	apollo::perception::MotionService	motion service message	msg

How to run

You can start the lane detection module with the following command.

cyber_launch start modules/perception/motion_service/launch/motion_service.launch

文档意见反馈

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