Example JSON Configuration for an Apollo 3.0 Vehicle

Bridge Type top#

ROS Apollo

Published Topics top#

Topic	Sensor Name
/apollo/canbus/chassis	CAN Bus
/apollo/sensor/gnss/best_pose	GPS
/apollo/sensor/gnss/odometry	GPS Odometry
/apollo/sensor/gnss/imu	IMU
/apollo/sensor/gnss/corrected_imu	IMU
/apollo/sensor/conti_radar	Radar
/apollo/sensor/velodyne64/compensator/PointCloud2	Lidar
/apollo/sensor/camera/traffic/image_short/compressed	Main Camera
/apollo/sensor/camera/traffic/image_long/compressed	Telephoto Camera

Subscribed Topics top#

Topic	Sensor Name
/apollo/control	Apollo Car Control

Complete JSON Configuration top#

[
  {
    "type": "CAN-Bus",
    "name": "CAN Bus",
    "params": {
      "Frequency": 10,
      "Topic": "/apollo/canbus/chassis"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "GPS Device",
    "name": "GPS",
    "params": {
      "Frequency": 12.5,
      "Topic": "/apollo/sensor/gnss/best_pose",
      "Frame": "gps"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": -1.348649,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "GPS Odometry",
    "name": "GPS Odometry",
    "params": {
      "Frequency": 12.5,
      "Topic": "/apollo/sensor/gnss/odometry",
      "Frame": "gps"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": -1.348649,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "IMU",
    "name": "IMU",
    "params": {
      "Topic": "/apollo/sensor/gnss/imu",
      "Frame": "imu",
      "CorrectedTopic": "/apollo/sensor/gnss/corrected_imu",
      "CorrectedFrame": "imu"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": -1.348649,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "Radar",
    "name": "Radar",
    "params": {
      "Frequency": 13.4,
      "Topic": "/apollo/sensor/conti_radar"
    },
    "transform": {
      "x": 0,
      "y": 0.689,
      "z": 2.272,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "Lidar",
    "name": "Lidar",
    "params": {
      "LaserCount": 32,
      "MinDistance": 0.5,
      "MaxDistance": 100,
      "RotationFrequency": 10,
      "MeasurementsPerRotation": 360,
      "FieldOfView": 41.33,
      "CenterAngle": 10,
      "Compensated": true,
      "PointColor": "#ff000000",
      "Topic": "/apollo/sensor/velodyne64/compensator/PointCloud2",
      "Frame": "velodyne"
    },
    "transform": {
      "x": 0,
      "y": 2.312,
      "z": -0.3679201,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "Color Camera",
    "name": "Main Camera",
    "params": {
      "Width": 1920,
      "Height": 1080,
      "Frequency": 15,
      "JpegQuality": 75,
      "FieldOfView": 50,
      "MinDistance": 0.1,
      "MaxDistance": 2000,
      "Topic": "/apollo/sensor/camera/traffic/image_short/compressed"
    },
    "transform": {
      "x": 0,
      "y": 1.7,
      "z": -0.2,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "Color Camera",
    "name": "Telephoto Camera",
    "params": {
      "Width": 1920,
      "Height": 1080,
      "Frequency": 15,
      "JpegQuality": 75,
      "FieldOfView": 10,
      "MinDistance": 0.1,
      "MaxDistance": 2000,
      "Topic": "/apollo/sensor/camera/traffic/image_long/compressed"
    },
    "transform": {
      "x": 0,
      "y": 1.7,
      "z": -0.2,
      "pitch": -4,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "Keyboard Control",
    "name": "Keyboard Car Control"
  },
  {
    "type": "Wheel Control",
    "name": "Wheel Car Control"
  },
  {
    "type": "Vehicle Control",
    "name": "Apollo Car Control",
    "params": {
      "Topic": "/apollo/control"
    }
  }
]