Apollo 10.0
自动驾驶开放平台
default.pb.txt
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2 key: "Perception"
3 value: {
4 start_command: "nohup cyber_launch start modules/perception/launch/perception_all.launch &"
5 stop_command: "nohup cyber_launch stop modules/perception/launch/perception_all.launch &"
6 process_monitor_config {
7 command_keywords: "start modules/perception/launch/perception_all.launch"
8 }
9 }
10}
11cyber_modules {
12 key: "Prediction"
13 value: {
14 dag_files: "modules/prediction/dag/prediction.dag"
15 }
16}
17cyber_modules {
18 key: "Planning"
19 value: {
20 dag_files: "modules/planning/planning_component/dag/planning.dag"
21 dag_files: "modules/external_command/process_component/dag/external_command_process.dag"
22 }
23}
24cyber_modules {
25 key: "Control"
26 value: {
27 dag_files: "modules/control/control_component/dag/control.dag"
28 }
29}
30cyber_modules {
31 key: "TaskManager"
32 value: {
33 dag_files: "modules/task_manager/dag/task_manager.dag"
34 }
35}
36cyber_modules {
37 key: "Localization"
38 value: {
39 dag_files: "modules/localization/dag/dag_streaming_rtk_localization.dag"
40 }
41}
42modules {
43 key: "IndoorLocalization"
44 value: {
45 start_command: "nohup cyber_launch start modules/slam_local_indoor/launch/slam_local_indoor.launch &"
46 stop_command: "nohup cyber_launch stop modules/slam_local_indoor/launch/slam_local_indoor.launch &"
47 process_monitor_config {
48 command_keywords: "start modules/slam_local_indoor/launch/slam_local_indoor.launch"
49 }
50 }
51}
52cyber_modules {
53 key: "Guardian"
54 value: {
55 dag_files: "modules/guardian/dag/guardian.dag"
56 }
57}
58cyber_modules {
59 key: "Canbus"
60 value: {
61 dag_files: "modules/canbus/dag/canbus.dag"
62 }
63}
64cyber_modules {
65 key: "GPS"
66 value: {
67 dag_files: "modules/drivers/gnss/dag/gnss.dag"
68 }
69}
70cyber_modules {
71 key: "Transform"
72 value: {
73 dag_files: "modules/transform/dag/static_transform.dag"
74 }
75}
76modules {
77 key: "TrafficLight"
78 value: {
79 start_command: "nohup cyber_launch start modules/perception/launch/perception_trafficlight.launch &"
80 stop_command: "nohup cyber_launch stop modules/perception/launch/perception_trafficlight.launch &"
81 process_monitor_config {
82 command_keywords: "start modules/perception/launch/perception_trafficlight.launch"
83 }
84 }
85}
86modules {
87 key: "Lane"
88 value: {
89 start_command: "nohup cyber_launch start modules/perception/launch/perception_lane.launch &"
90 stop_command: "nohup cyber_launch stop modules/perception/launch/perception_lane.launch &"
91 process_monitor_config {
92 command_keywords: "start modules/perception/launch/perception_lane.launch"
93 }
94 }
95}
96layout: {
97 direction: "row",
98 first: {
99 type: "vehicleViz"
100 },
101 second: {
102 first: {
103 type: "dashBoard"
104 },
105 second: {
106 first: {
107 type: "moduleDelay"
108 },
109 second: {
110 type: "console"
111 },
112 direction: "column",
113 splitPercentage: 40
114 },
115 direction: "column",
116 splitPercentage: 33
117 },
118 splitPercentage: 66
119}
120operations: Record
121operations: Sim_Control
122default_operation: Record