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daohu527 avatar daohu527 commented on September 26, 2024

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

https://github.com/ApolloAuto/apollo/blob/master/modules/common_msgs/sensor_msgs/gnss_best_pose.proto

I think carla assumes minimal message output and omits other fields.

from apollo.

wqklihbf avatar wqklihbf commented on September 26, 2024

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

https://github.com/ApolloAuto/apollo/blob/master/modules/common_msgs/sensor_msgs/gnss_best_pose.proto

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。

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