search

ApolloAuto / apollo

An open autonomous driving platform
Apache License 2.0
25.22k stars 9.72k forks source link

Can't get /perception/inner/PrefusedObjects #7150

Closed Eddy819 closed 5 years ago

Eddy819 commented 5 years ago

System information

Steps to reproduce the issue:

We successfully run the fusion_camera_detection_component.cc and see obstacle info is published in channel /perception/obstacles in cyber_monitor as well. However, we are not able to see the channel /perception/inner/PrefusedObjects in cyber_monitor. In the mean time, we check the log and see send out prefused msg, ts: 1551930057.174979 ret: 1

I just wondering what go wrong!

Thank you so much.

Supporting materials (screenshots, command lines, code/script snippets):

luqiang21 commented 5 years ago

Same here, we are able to see /perception/obstacles and /perception/camera_debug channels. But we cannot see /perception/inner/PrefusedObjects and /perception/inner/camera_viz_msg which are defined in modules/perception/production/conf/perception/camera/fusion_camera_detection_component.pb.txt.

techoe commented 5 years ago

Currently /perception/obstacles is an only visible topic outside of the perception module.

natashadsouza commented 5 years ago

Closing this issue as it appears to be resolved. Feel free to reopen if the issue persists. Thanks!

qwetqwe commented 4 years ago

@techoe Hello I want to configure it to visible topic,could you tell me where I can configure

josh-wende commented 2 years ago

@qwetqwe did you ever figure out how to do this? It seems there's a lot of useful information being passed around internally within the perception module. Did you need to create a new node to add to the perception dag which reads the inner channel and republishes it to an external channel?

hdm8809 commented 1 year ago

Hello, I find that /perception/inner/PrefusedObjects is a class type, /perception/obstacles is a proto. Proto topic can display in cyber_monitor. I want to know how to display a class type topcic. Thanks.