Example JSON Configuration for an Apollo 5.0 Vehicle

Bridge Type top#

CyberRT

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/ins_stat	GPS INS Status
/apollo/sensor/gnss/imu	IMU
/apollo/sensor/gnss/corrected_imu	IMU
/apollo/sensor/conti_radar	Radar
/apollo/sensor/lidar128/compensator/PointCloud2	Lidar
/apollo/sensor/camera/front_6mm/image/compressed	Main Camera
/apollo/sensor/camera/front_12mm/image/compressed	Telephoto Camera

Subscribed Topics top#

Topic	Sensor Name
/apollo/control	Apollo Car Control

Complete JSON Configuration top#

[
  {
    "type": "CanBusSensor",
    "name": "CAN Bus",
    "params": {
      "Frequency": 10,
      "Topic": "/apollo/canbus/chassis"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "GpsSensor",
    "name": "GPS",
    "params": {
      "Frequency": 12.5,
      "Topic": "/apollo/sensor/gnss/best_pose",
      "Frame": "gps"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0.070351,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "GpsOdometrySensor",
    "name": "GPS Odometry",
    "params": {
      "Frequency": 12.5,
      "Topic": "/apollo/sensor/gnss/odometry",
      "Frame": "gps"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0.070351,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "GpsInsSensor",
    "name": "GPS INS Status",
    "params": {
      "Frequency": 12.5,
      "Topic": "/apollo/sensor/gnss/ins_stat",
      "Frame": "gps"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0.070351,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "ImuSensor",
    "name": "IMU",
    "params": {
      "Topic": "/apollo/sensor/gnss/imu",
      "Frame": "imu",
      "CorrectedTopic": "/apollo/sensor/gnss/corrected_imu",
      "CorrectedFrame": "imu"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0.070351,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "RadarSensor",
    "name": "Radar",
    "params": {
      "Frequency": 13.4,
      "Topic": "/apollo/sensor/conti_radar"
    },
    "transform": {
      "x": 0,
      "y": 0.337,
      "z": 3.691,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "LidarSensor",
    "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/lidar128/compensator/PointCloud2",
      "Frame": "velodyne"
    },
    "transform": {
      "x": 0,
      "y": 1.96,
      "z": 1.0510799,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "ColorCameraSensor",
    "name": "Main Camera",
    "params": {
      "Width": 1920,
      "Height": 1080,
      "Frequency": 15,
      "JpegQuality": 75,
      "FieldOfView": 50,
      "MinDistance": 0.1,
      "MaxDistance": 2000,
      "Topic": "/apollo/sensor/camera/front_6mm/image/compressed"
    },
    "transform": {
      "x": 0,
      "y": 1.348,
      "z": 1.219,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "ColorCameraSensor",
    "name": "Telephoto Camera",
    "params": {
      "Width": 1920,
      "Height": 1080,
      "Frequency": 15,
      "JpegQuality": 75,
      "FieldOfView": 10,
      "MinDistance": 0.1,
      "MaxDistance": 2000,
      "Topic": "/apollo/sensor/camera/front_12mm/image/compressed"
    },
    "transform": {
      "x": 0,
      "y": 1.348,
      "z": 1.219,
      "pitch": -4,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "KeyboardControlSensor",
    "name": "Keyboard Car Control"
  },
  {
    "type": "WheelControlSensor",
    "name": "Wheel Car Control"
  },
  {
    "type": "ApolloControlSensor",
    "name": "Apollo Car Control",
    "params": {
      "Topic": "/apollo/control"
    }
  }
]