package apollo.common.adapter

Get desktop application:
View/edit binary Protocol Buffers messages

Property of a certain Input/Output that will be used by a module.

Used in: AdapterManagerConfig

• optional AdapterConfig.MessageType type = 1

• optional AdapterConfig.Mode mode = 2

• optional int32 message_history_limit = 3

  The max number of received messages to keep in the adapter, this field is not useful for PUBLISH_ONLY mode messages.

• optional bool latch = 4

• optional string topic = 5

Used in: AdapterConfig

• POINT_CLOUD = 1

• VLP16_POINT_CLOUD = 58

• GPS = 2

• IMU = 3

• CHASSIS = 4

• LOCALIZATION = 5

• PLANNING_TRAJECTORY = 6

• MONITOR = 7

• PAD = 8

• CONTROL_COMMAND = 9

• PREDICTION = 10

• PERCEPTION_OBSTACLES = 11

• TRAFFIC_LIGHT_DETECTION = 12

• CHASSIS_DETAIL = 13

• DECISION = 14

• CANBUS = 15

• ROUTING_REQUEST = 16

• ROUTING_RESPONSE = 17

• RELATIVE_ODOMETRY = 18

• INS_STAT = 19

• HMI_COMMAND = 20

• MOBILEYE = 21

• DELPHIESR = 22

• COMPRESSED_IMAGE = 23

• SYSTEM_STATUS = 24

• INS_STATUS = 25

• GNSS_STATUS = 26

• CONTI_RADAR = 27

• IMAGE_SHORT = 28

• IMAGE_LONG = 29

• DRIVE_EVENT = 30

• GNSS_RTK_OBS = 31

• GNSS_RTK_EPH = 32

• GNSS_BEST_POSE = 33

• LOCALIZATION_MSF_GNSS = 34

• LOCALIZATION_MSF_LIDAR = 35

• LOCALIZATION_MSF_SINS_PVA = 36

• RAW_IMU = 37

• LOCALIZATION_MSF_STATUS = 38

• STATIC_INFO = 39

• RELATIVE_MAP = 40

• NAVIGATION = 41

• ULTRASONIC_RADAR = 42

• AUDIO_CAPTURE = 43

• IMAGE_FRONT = 45

• PANDORA_POINT_CLOUD = 46

• PANDORA_CAMERA_FRONT_COLOR = 47

• PANDORA_CAMERA_RIGHT_GRAY = 48

• PANDORA_CAMERA_LEFT_GRAY = 49

• PANDORA_CAMERA_FRONT_GRAY = 50

• PANDORA_CAMERA_BACK_GRAY = 51

• PERCEPTION_LANE_MASK = 52

• GUARDIAN = 53

• GNSS_RAW_DATA = 54

• STREAM_STATUS = 55

• GNSS_HEADING = 56

• RTCM_DATA = 57

• RACOBIT_RADAR = 59

• POINT_CLOUD_DENSE = 60

  velodyne fusion configs

• POINT_CLOUD_DENSE_RAW = 61

• VELODYNE_SCAN_DENSE = 62

• POINT_CLOUD_SPARSE_1 = 63

• POINT_CLOUD_SPARSE_RAW_1 = 64

• VELODYNE_SCAN_SPARSE_1 = 65

• POINT_CLOUD_SPARSE_2 = 66

• POINT_CLOUD_SPARSE_RAW_2 = 67

• VELODYNE_SCAN_SPARSE_2 = 68

• POINT_CLOUD_SPARSE_3 = 69

• POINT_CLOUD_SPARSE_RAW_3 = 70

• VELODYNE_SCAN_SPARSE_3 = 71

• CAMERA_IMAGE_LONG = 72

• CAMERA_IMAGE_SHORT = 73

• PLANNING_PAD = 74

Used in: AdapterConfig

• RECEIVE_ONLY = 0

• PUBLISH_ONLY = 1

• DUPLEX = 2

A config to specify which messages a certain module would consume and produce.

• repeated AdapterConfig config = 1

• optional bool is_ros = 2

  TODO

  Whether the message comes from ROS