Apollo 10.0
自动驾驶开放平台
planning_config.proto
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1syntax = "proto2";
2
3package apollo.planning;
4
5message TopicConfig {
6 optional string chassis_topic = 1;
7 optional string hmi_status_topic = 2;
8 optional string localization_topic = 3;
9 optional string planning_pad_topic = 4;
10 optional string planning_trajectory_topic = 5;
11 optional string prediction_topic = 6;
12 optional string relative_map_topic = 7;
13 optional string routing_request_topic = 8;
14 optional string routing_response_topic = 9;
15 optional string story_telling_topic = 10;
16 optional string traffic_light_detection_topic = 11;
17 optional string planning_learning_data_topic = 12;
18 optional string planning_command_topic = 13;
19 optional string control_interative_topic = 14;
20}
21
22// Config of reference line provider.
24 repeated string pnc_map_class = 2;
25}
26
29 NO_LEARNING = 0;
30 E2E = 1;
31 HYBRID = 2;
32 RL_TEST = 3;
33 E2E_TEST = 4;
34 HYBRID_TEST = 5;
35 }
36
37 optional TopicConfig topic_config = 1;
38 optional PlanningLearningMode learning_mode = 2;
39 optional ReferenceLineConfig reference_line_config = 3;
40 optional string planner = 4;
41}