Open wqklihbf opened 3 months ago
The following table shows the messages that Apollo parses and publishes from the hardware. Carla simulates "gnss driver data"
raw hardware data | gnss driver data | MSF | NDT | RTK | Remark |
---|---|---|---|---|---|
GnssBestPose | GnssBestPose | ✓ | raw Gps | ||
Gnss | GnssStatus | ||||
Ins | InsStatus | ||||
Ins | CorrectedImu | ✓ | |||
Imu | Imu | ✓ | raw IMU | ||
Ins | Gps | ✓ | ✓ | ||
InsStat | InsStat | ✓ | ✓ | ||
GnssEphemeris | GnssEphemeris | ✓ | |||
EpochObservation | EpochObservation | ✓ | |||
Heading | Heading | ✓ |
The full message from GnssBestPose is as follows
I think carla assumes minimal message output and omits other fields.
Apollo Gnss message
The following table shows the messages that Apollo parses and publishes from the hardware. Carla simulates "gnss driver data"
raw hardware data gnss driver data MSF NDT RTK Remark GnssBestPose GnssBestPose ✓ raw Gps Gnss GnssStatus
Ins InsStatus
Ins CorrectedImu ✓
Imu Imu ✓ raw IMU Ins Gps ✓ ✓
InsStat InsStat ✓ ✓
GnssEphemeris GnssEphemeris ✓
EpochObservation EpochObservation ✓
Heading Heading ✓Answer
The full message from GnssBestPose is as follows
I think carla assumes minimal message output and omits other fields.
谢谢你的回复。很抱歉我还有一个问题。我发现/apollo/localization/pose
通道在仿真时会有两种数据,因为这个通道的数据会不断地闪烁变化。一种是
header:
timestamp_sec:
frame_id: novatel
另一种是
header:
timestamp_sec:
frame_id: localization
sequence_num:
这是否是因为有两个writer在向该通道写入数据,一个是Carla,一个是Apollo?
我在使用脚本msf_simple_map_creator.sh
创建msf_localization需要的local_map,这是否会有影响?
期待你的回复。
按我的理解,novatel是apollo上的一个硬件设备,它可以做定位; Apollo自己也有一个定位模块,使用novatel的一些数据(IMU, GNSS)加上LiDAR来做定位。有可能不加LiDAR,看具体配置 https://github.com/ApolloAuto/apollo/tree/master/modules/localization
We appreciate you go through Apollo documentations and search previous issues before creating an new one. If neither of the sources helped you with your issues, please report the issue using the following form. Please note missing info can delay the response time.
System information
apollo.sh config
if onmaster
branch:Steps to reproduce the issue:
Supporting materials (screenshots, command lines, code/script snippets):
我在进行Apollo和Carla的联合仿真,在使用cyber_montior查看数据通道时发现
我在Carla官网发现gnss传感器的数据只包括经纬度与高度,那么其它的数据我要怎么获得呢?比如
/apollo/sensor/gnss/best_pose
数据通道只有这些数据:latitude_std_dev
,sol_status
,sol_type
,num_sats_in_solution
等 此外,measurement_time
与timestamp_sec
也有差别,这两个时间需要相等吗?