Comments (2)
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.
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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。
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