vehicle_test.pb.txt

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modules {
  key: "CameraMultiStage"
  value: {
    start_command: "nohup cyber_launch start modules/perception/launch/perception_camera_multi_stage.launch &"
    stop_command: "nohup cyber_launch stop modules/perception/launch/perception_camera_multi_stage.launch &"
    process_monitor_config {
      command_keywords: "start modules/perception/launch/perception_camera_multi_stage.launch"
    }
  }
}
modules {
  key: "CameraSingleStage"
  value: {
    start_command: "nohup cyber_launch start modules/perception/launch/perception_camera_single_stage.launch &"
    stop_command: "nohup cyber_launch stop modules/perception/launch/perception_camera_single_stage.launch &"
    process_monitor_config {
      command_keywords: "start modules/perception/launch/perception_camera_single_stage.launch"
    }
  }
}
modules {
  key: "CameraDriver"
  value: {
    start_command: "nohup cyber_launch start modules/drivers/camera/launch/camera.launch &"
    stop_command: "nohup cyber_launch stop modules/drivers/camera/launch/camera.launch &"
    process_monitor_config {
      command_keywords: "start modules/drivers/camera/launch/camera.launch"
    }
  }
}
modules {
  key: "LidarPerception"
  value: {
    start_command: "nohup cyber_launch start modules/perception/launch/perception_lidar.launch &"
    stop_command: "nohup cyber_launch stop modules/perception/launch/perception_lidar.launch &"
    process_monitor_config {
      command_keywords: "start modules/perception/launch/perception_lidar.launch"
    }
  }
}
modules {
  key: "LidarDriver"
  value: {
    start_command: "nohup cyber_launch start modules/drivers/lidar/launch/driver.launch &"
    stop_command: "nohup cyber_launch stop modules/drivers/lidar/launch/driver.launch &"
    process_monitor_config {
      command_keywords: "start modules/drivers/lidar/launch/driver.launch"
    }
  }
}
modules {
  key: "Perception"
  value: {
    start_command: "nohup cyber_launch start modules/perception/launch/perception_all.launch &"
    stop_command: "nohup cyber_launch stop modules/perception/launch/perception_all.launch &"
    process_monitor_config {
      command_keywords: "start modules/perception/launch/perception_all.launch"
    }
  }
}
modules {
  key: "Radar"
  value: {
    start_command: "nohup cyber_launch start modules/perception/launch/perception_radar.launch &"
    stop_command: "nohup cyber_launch stop modules/perception/launch/perception_radar.launch &"
    process_monitor_config {
      command_keywords: "start modules/perception/launch/perception_radar.launch"
    }
  }
}
modules {
  key: "TrafficLight"
  value: {
    start_command: "nohup cyber_launch start modules/perception/launch/perception_trafficlight.launch &"
    stop_command: "nohup cyber_launch stop modules/perception/launch/perception_trafficlight.launch &"
    process_monitor_config {
      command_keywords: "start modules/perception/launch/perception_trafficlight.launch"
    }
  }
}
modules {
  key: "Lane"
  value: {
    start_command: "nohup cyber_launch start modules/perception/launch/perception_lane.launch &"
    stop_command: "nohup cyber_launch stop modules/perception/launch/perception_lane.launch &"
    process_monitor_config {
      command_keywords: "start modules/perception/launch/perception_lane.launch"
    }
  }
}
cyber_modules {
  key: "Planning"
  value: {
    dag_files: "modules/planning/planning_component/dag/planning.dag"
    dag_files: "modules/external_command/process_component/dag/external_command_process.dag"
  }
}
cyber_modules {
  key: "Prediction"
  value: {
    dag_files: "modules/prediction/dag/prediction.dag"
  }
}
cyber_modules {
  key: "Control"
  value: {
    dag_files: "modules/control/control_component/dag/control.dag"
  }
}
cyber_modules {
  key: "TaskManager"
  value: {
    dag_files: "modules/task_manager/dag/task_manager.dag"
  }
}
cyber_modules {
  key: "Canbus"
  value: {
    dag_files: "modules/canbus/dag/canbus.dag"
  }
}
cyber_modules {
  key: "GPS"
  value: {
    dag_files: "modules/drivers/gnss/dag/gnss.dag"
  }
}
cyber_modules {
  key: "Transform"
  value: {
    dag_files: "modules/transform/dag/static_transform.dag"
  }
}
cyber_modules {
  key: "Localization"
  value: {
    dag_files: "modules/localization/dag/dag_streaming_rtk_localization.dag"
  }
}
cyber_modules {
  key: "Guardian"
  value: {
    dag_files: "modules/guardian/dag/guardian.dag"
  }
}
cyber_modules {
  key: "ExternalCmd"
  value: {
    dag_files: "modules/external_command/process_component/dag/external_command_process.dag"
  }
}
monitored_components {
  key: "Canbus"
  value: {
    process {
      command_keywords: "mainboard"
      command_keywords: "modules/canbus/dag/canbus.dag"
    }
    channel {
      name: "/apollo/canbus/chassis_detail"
    }
  }
}
monitored_components {
  key: "GNSS"
  value: {
    process {
      command_keywords: "mainboard"
      command_keywords: "modules/drivers/gnss/dag/gnss.dag"
    }
    # We also have a special GPSMonitor to check message status.
  }
}
monitored_components {
  key: "RTK"
  value: {
    process {
      command_keywords: "mainboard"
      command_keywords: "modules/localization/dag/dag_streaming_rtk_localization.dag"
    }
    channel {
      name: "/apollo/localization/pose"
    }
  }
}
monitored_components {
  key: "LidarPerception"
  value: {
    process {
      command_keywords: "start modules/perception/launch/perception_lidar.launch"
    }
  }
}
monitored_components {
  key: "GPS"
  value: {
    process {
      command_keywords: "mainboard"
      command_keywords: "modules/drivers/gnss/dag/gnss.dag"
    }
    # We also have a special GPSMonitor to check message status.
  }
}
monitored_components {
  key: "Localization"
  value: {
    # Special LocalizationMonitor.
  }
}
monitored_components {
  key: "CameraPerception"
  value: {
    # Special CameraMonitor.
  }
}
monitored_components {
  key: "CameraDriver"
  value: {
    process {
      command_keywords: "start modules/drivers/camera/launch/camera.launch"
    }
  }
}
monitored_components {
  key: "LidarDriver"
  value: {
    process {
      command_keywords: "start modules/drivers/lidar/launch/driver.launch"
    }
  }
}
layout: {
    first: {
        direction: "column",
        first: {
            type: "vehicleViz"
        },
        splitPercentage: 66,
        second: {
            second: {
                type: "components"
            },
            first: {
                type: "moduleDelay"
            },
            direction: "row"
        }
    },
    second: {
        direction: "column",
        first: {
            type: "dashBoard"
        },
        second: {
            type: "console"
        },
        splitPercentage: 43
    },
    splitPercentage: 72,
    direction: "row"
}
operations: Record
operations: Waypoint_Follow
operations: Auto_Drive
default_operation: Auto_Drive