Get Position and Driver Input Data

[BBlumhofer]

Hi all,

My issue is the following. In the past i worked with Autoware and need to send the information about position, steeringwheel angle, drivepedal and breakpedal via UDP to another computer. With Autoware i wrote a ROS-node doing that for me. In fact that Apollo 6.0 works with Cyber RT i don't know how to do that. Does anyone have an idea how to do that? I work with Apollo 6.0 and lgsvl 2020.06

Regards

[daohu527]

lgsvl do have a bridge, you can ref there forked branch apollo

[BBlumhofer]

Is there a documentation for the bridge ? After launching the bridge i tried rostopic list bit i always get the error "ERROR: Unable to communicate with master!" in LGSVL I can the Bridge Status is Connected.

[daohu527]

Here are some reference links, you can read and try.

Example JSON Configuration for an Apollo 5.0 Vehicle
Launching Apollo alongside the Simulator Bridge Menu

[BBlumhofer]

Hi,

I am sorry but I don't see how the links will help me. I know that there is a bridge for the communication between LGSV and apollo and i can configure which data is available in the JSOn file.

What I don't know is how I can access the data. In Autoware I wrote a python listener which subscribed to several ros-topics. The subscriber sends the information via UDP to a different computer. I found this issue: https://github.com/ApolloAuto/apollo/issues/12265 but it's not solved yet...

[daohu527]

cyber

cyber use cyber node to publish and subscribe msg, If you want to work with cyber use python, you can ref to link

Use the talker.py and listener.py example.

[BBlumhofer]

thanks i will try it !

[BBlumhofer]

So after putting that task to side for a while i tried to use the listener.py example to at first read the values of the apollo/control comand. The following code results in the following error: AttributeError: module 'cyber_py3.cyber' has no attribute 'get_msgtype'. my python scirpt is located at: apollo/cyber/python/cyber_py3/examples

#!/usr/bin/env python3

import sys
sys.path.append("../")
from cyber_py3 import cyber



def callback(data):
    print("Control_Comand:")
    print(data)


def test_listener_class():
    test_node = cyber.Node("listener")
    ControlCommand = cyber.get_msgtype("apollo/control", sleep_s=5)
    test_node.create_reader("apollo/control", ControlCommand, callback)
    test_node.spin()


if __name__ == '__main__':
    cyber.init()
    test_listener_class()
    cyber.shutdown()

[Thinsheep]

@BBlumi97
did you solve the problem?

[daohu527]

'cyber_py3.cyber' has no attribute 'get_msgtype'

I found that the get_msgtype is a method of this class Channel Utils (object) but not cyber

[BBlumhofer]

@BBlumi97 did you solve the problem?

No i didn't i wrote a plugin to read the data from lgsvl instead of apollo

[Yousef-Alhattab]

@BBlumhofer do you have an idea how to print and send the data of objects detected via UDP, please? I am lost

I could manage to run autowarei n Xavier and everything works well I am try to send the data of objects detected via UDP, like x y z and distance please help me