Apollo cyber record channel - hcn1519/ADS GitHub Wiki

Overall File Information

cyber_record info -f gen_143_sce_4.00000

record_file: gen_143_sce_4.00000
version:     1.0
begin_time:  2023-05-08 02:12:21.770457
end_time:    2023-05-08 02:12:51.788994
duration:    30.02 s
size:        27.26 MByte
message_number: 1257
channel_number: 12

/apollo/perception/obstacles          , apollo.perception.PerceptionObstacles , 272
/apollo/routing_request               , apollo.routing.RoutingRequest         , 1
/apollo/perception/traffic_light      , apollo.perception.TrafficLightDetection, 28
/apollo/monitor                       , apollo.common.monitor.MonitorMessage  , 1
/apollo/routing_response              , apollo.routing.RoutingResponse        , 1
/apollo/routing_response_history      , apollo.routing.RoutingResponse        , 25
/apollo/planning                      , apollo.planning.ADCTrajectory         , 107
/apollo/planning/learning_data        , apollo.planning.PlanningLearningData  , 0
/apollo/prediction                    , apollo.prediction.PredictionObstacles , 224
/apollo/prediction/perception_obstacles, apollo.perception.PerceptionObstacles , 0
/apollo/localization/pose             , apollo.localization.LocalizationEstimate, 299
/apollo/canbus/chassis                , apollo.canbus.Chassis                 , 299

Target Channels

Routing Request

cyber_record echo -f gen_143_sce_4.00000 -t /apollo/routing_request

header {
  timestamp_sec: 1683537129.7124841
  module_name: "scenoRITA_V3"
  sequence_num: 0
}
waypoint {
  pose {
    x: 593033.3615068442
    y: 4134513.590822837
    z: 0.0
  }
  heading: -0.7625446934995891
}
waypoint {
  id: "lane_613"
  s: 162.43585205078125
}

Routing Response

cyber_record echo -f gen_143_sce_4.00000 -t /apollo/routing_response

header {
  timestamp_sec: 1683537146.6843748
  module_name: "routing"
  sequence_num: 0
}
road {
  id: "road_41"
  passage {
    segment {
      id: "lane_165"
      start_s: 1.4999999999041729
      end_s: 165.13902282714844
    }
    can_exit: true
    change_lane_type: FORWARD
  }
}
road {
  id: "road_433"
  passage {
    segment {
      id: "lane_942"
      start_s: 0.0
      end_s: 22.974119186401367
    }
    can_exit: true
    change_lane_type: FORWARD
  }
}
road {
  id: "road_153"
  passage {
    segment {
      id: "lane_613"
      start_s: 0.0
      end_s: 162.43585205078125
    }
    can_exit: true
    change_lane_type: FORWARD
  }
}
measurement {
  distance: 349.0489940644269
}
routing_request {
  header {
    timestamp_sec: 1683537129.7124841
    module_name: "scenoRITA_V3"
    sequence_num: 0
  }
  waypoint {
    id: "lane_165"
    s: 1.4999999999041729
    pose {
      x: 593033.3615068442
      y: 4134513.590822837
      z: 0.0
    }
    heading: -0.7625446934995891
  }
  waypoint {
    id: "lane_613"
    s: 162.43585205078125
  }
}
map_version: "1.500000"
status {
  error_code: OK
  msg: "Success!"
}