package apollo.common

Get desktop application:
View/edit binary Protocol Buffers messages

• optional Header header = 1

• optional string event = 2

• optional localization.Pose location = 3

• repeated DriveEvent.Type type = 4

Used in: DriveEvent

• CRITICAL = 0

• PROBLEM = 1

• DESIRED = 2

• OUT_OF_SCOPE = 3

This is the engage advice that published by critical runtime modules.

Used in: canbus.Chassis

• optional EngageAdvice.Advice advice = 1

• optional string reason = 2

Used in: EngageAdvice

• UNKNOWN = 0

• DISALLOW_ENGAGE = 1

• READY_TO_ENGAGE = 2

• KEEP_ENGAGED = 3

• PREPARE_DISENGAGE = 4

Error codes enum for API's categorized by modules.

Used in: StatusPb

• OK = 0

  No error, reutrns on success.

• CONTROL_ERROR = 1000

  Control module error codes start from here.

• CONTROL_INIT_ERROR = 1001

• CONTROL_COMPUTE_ERROR = 1002

• CANBUS_ERROR = 2000

  Canbus module error codes start from here.

• CAN_CLIENT_ERROR_BASE = 2100

• CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED = 2101

• CAN_CLIENT_ERROR_FRAME_NUM = 2102

• CAN_CLIENT_ERROR_SEND_FAILED = 2103

• CAN_CLIENT_ERROR_RECV_FAILED = 2104

• LOCALIZATION_ERROR = 3000

  Localization module error codes start from here.

• LOCALIZATION_ERROR_MSG = 3100

• LOCALIZATION_ERROR_LIDAR = 3200

• LOCALIZATION_ERROR_INTEG = 3300

• LOCALIZATION_ERROR_GNSS = 3400

• PERCEPTION_ERROR = 4000

  Perception module error codes start from here.

• PERCEPTION_ERROR_TF = 4001

• PERCEPTION_ERROR_PROCESS = 4002

• PERCEPTION_FATAL = 4003

• PREDICTION_ERROR = 5000

  Prediction module error codes start from here.

• PLANNING_ERROR = 6000

  Planning module error codes start from here

• HDMAP_DATA_ERROR = 7000

  HDMap module error codes start from here

• ROUTING_ERROR = 8000

  Routing module error codes

• ROUTING_ERROR_REQUEST = 8001

• ROUTING_ERROR_RESPONSE = 8002

• ROUTING_ERROR_NOT_READY = 8003

• END_OF_INPUT = 9000

  Indicates an input has been exhausted.

• HTTP_LOGIC_ERROR = 10000

  HTTP request error codes.

• HTTP_RUNTIME_ERROR = 10001

• RELATIVE_MAP_ERROR = 11000

  Relative Map error codes.

  general relative map error code

• RELATIVE_MAP_NOT_READY = 11001

• DRIVER_ERROR_GNSS = 12000

  Driver error codes.

• DRIVER_ERROR_VELODYNE = 13000

• optional double s = 1

• optional double l = 2

• optional double dl = 3

• optional double ddl = 4

Used in: canbus.Chassis, DriveEvent, localization.LocalizationEstimate, localization.LocalizationStatus, perception.PerceptionObstacles, perception.TrafficLightDetection, v2x.IntersectionTrafficLightData

• optional double timestamp_sec = 1

  Message publishing time in seconds. It is recommended to obtain timestamp_sec from ros::Time::now(), right before calling SerializeToString() and publish().

• optional string module_name = 2

  Module name.

• optional uint32 sequence_num = 3

  Sequence number for each message. Each module maintains its own counter for sequence_num, always starting from 1 on boot.

• optional uint64 lidar_timestamp = 4

  Lidar Sensor timestamp for nano-second.

• optional uint64 camera_timestamp = 5

  Camera Sensor timestamp for nano-second.

• optional uint64 radar_timestamp = 6

  Radar Sensor timestamp for nano-second.

• optional uint32 version = 7

  data version

• optional StatusPb status = 8

• optional string frame_id = 9

• optional string name = 1

• repeated PathPoint path_point = 2

Used in: Path, TrajectoryPoint

• optional double x = 1

  coordinates

• optional double y = 2

• optional double z = 3

• optional double theta = 4

  direction on the x-y plane

• optional double kappa = 5

  curvature on the x-y planning

• optional double s = 6

  accumulated distance from beginning of the path

• optional double dkappa = 7

  derivative of kappa w.r.t s.

• optional double ddkappa = 8

  derivative of derivative of kappa w.r.t s.

• optional string lane_id = 9

  The lane ID where the path point is on

• optional double x_derivative = 10

  derivative of x and y w.r.t parametric parameter t in CosThetareferenceline

• optional double y_derivative = 11

A general 2D point. Its meaning and units depend on context, and must be explained in comments.

• optional double x = 1

• optional double y = 2

A general 3D point. Its meaning and units depend on context, and must be explained in comments.

Used in: canbus.Sonar, Polygon, localization.Pose, localization.Uncertainty

• optional double x = 1

• optional double y = 2

• optional double z = 3

A point in the map reference frame. The map defines an origin, whose coordinate is (0, 0, 0). Most modules, including localization, perception, and prediction, generate results based on the map reference frame. Currently, the map uses Universal Transverse Mercator (UTM) projection. See the link below for the definition of map origin. https://en.wikipedia.org/wiki/Universal_Transverse_Mercator_coordinate_system The z field of PointENU can be omitted. If so, it is a 2D location and we do not care its height.

Used in: localization.Pose

• optional double x = 1

  East from the origin, in meters.

• optional double y = 2

  North from the origin, in meters.

• optional double z = 3

  Up from the WGS-84 ellipsoid, in

A point in the global reference frame. Similar to PointENU, PointLLH allows omitting the height field for representing a 2D location.

• optional double lon = 1

  Longitude in degrees, ranging from -180 to 180.

• optional double lat = 2

  Latitude in degrees, ranging from -90 to 90.

• optional double height = 3

  WGS-84 ellipsoid height in meters.

A general polygon, points are counter clockwise

• repeated Point3D point = 1

A unit quaternion that represents a spatial rotation. See the link below for details. https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation The scalar part qw can be omitted. In this case, qw should be calculated by qw = sqrt(1 - qx * qx - qy * qy - qz * qz).

Used in: canbus.Sonar, localization.Pose

• optional double qx = 1

• optional double qy = 2

• optional double qz = 3

• optional double qw = 4

• optional double s = 1

• optional double l = 2

• optional double s = 1

• optional double t = 2

• optional double v = 3

  speed (m/s)

• optional double a = 4

  acceleration (m/s^2)

• optional double da = 5

  jerk (m/s^3)

Used in: Header

• optional ErrorCode error_code = 1

• optional string msg = 2

Used in: localization.LocalizationEstimate

• optional PathPoint path_point = 1

  path point

• optional double v = 2

  linear velocity

  in [m/s]

• optional double a = 3

  linear acceleration

• optional double relative_time = 4

  relative time from beginning of the trajectory

Used in: canbus.Chassis

• optional VehicleSignal.TurnSignal turn_signal = 1

• optional bool high_beam = 2

  lights enable command

• optional bool low_beam = 3

• optional bool horn = 4

• optional bool emergency_light = 5

Used in: VehicleSignal

• TURN_NONE = 0

• TURN_LEFT = 1

• TURN_RIGHT = 2