Apollo仿真平台可订阅的topic

[JKTesla]

想尝试在Apollo在线仿真平台测试规划程序，我查看了《Apollo仿真平台开发者接口标准》文档，所列开发者可订阅topic不包含车道信息：诸如车道X,Y坐标、宽度、限速、航向、曲率、坡度、道路属性等。

导致针对结构化道路开发的规划程序不方便在平台做测试，请问有什么解决方案吗？^o^

[yiakwy]

As far as I am concerned, you are trying to commit your own planner module to Online Stimulation Engine trough baiduCloud. As indicated by https://github.com/ApolloAuto/apollo/blob/master/modules/planning/conf/adapter.conf, the planner should digest info from Location, RoutineResponse(astar route segments), traffic light, prediction(optional) for fine tuned TRAJECTORY.

You might want to check out Perception (end2end learning), Prediction. Am I right?

[JKTesla]

As you say,I want to use Online Stimulation Engine trough baiduCloudhttp://apollo.auto/platform/simulation_cn.html

I need refer to information Including but not limited to what you say.Maybe,I ignore somethings important in Apollo repository.Thanks brother.