planning_config.pb.txt

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topic_config {
  chassis_topic: "/apollo/canbus/chassis"
  hmi_status_topic: "/apollo/hmi/status"
  localization_topic: "/apollo/localization/pose"
  planning_pad_topic: "/apollo/planning/pad"
  planning_trajectory_topic: "/apollo/planning"
  prediction_topic: "/apollo/prediction"
  relative_map_topic: "/apollo/relative_map"
  routing_request_topic: "/apollo/external_command/lane_follow"
  routing_response_topic: "/apollo/routing_response"
  planning_command_topic: "/apollo/planning/command"
  story_telling_topic: "/apollo/storytelling"
  traffic_light_detection_topic: "/apollo/perception/traffic_light"
  planning_learning_data_topic: "/apollo/planning/learning_data"
  control_interative_topic: "/apollo/control/interactive"
}
# NO_LEARNING / E2E / HYBRID / RL_TEST / E2E_TEST / HYBRID_TEST
learning_mode: NO_LEARNING
reference_line_config {
  pnc_map_class: "apollo::planning::LaneFollowMap"
}