ApolloAuto
CyberRT topics to ROS and vice versa
I am working on an external component that has ROS interface. I would like to connect Apollo cyber topics into ROS topics. Is there a way to convert CyberRT topics and messages into ROS topics/messages?
maybe you can try apollo_ros_bridge
apollo_ros_bridge, this project is on github. but It's not offical. maybe you can try.
Hi @Prj1508, Have you tried if apollo_ros_bridge is working successfully or have you found another solution?
@lx18233184051 and @SeasoulChris I am planning to use the other simulator for my project ( VIRES VTD) not LGSVL. As far as I know, there is no Cyber RT integration available yet. VIRES VTD offers ROS integration and API for C ++ Integration. There are bridges connection between LGSVL to Apollo and Carla to Apollo. Is there any chance to modify these bridges to use them for VIRES VTD to Apollo? If you have knowledge in this area please give me some suggestions. I am totally new to this area and just start my project. Thank you.
Yes, the bridge is working fine. If your simulator has ROS interface, then Apollo+ apollo_ros_bridge should do it for you I think. Any specific reason you are not using LGSVL or Carla? Just curious
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On Feb 23, 2021, at 07:17, Thinsheep [email protected] wrote:
Hi @Prj1508, Have you tried if apollo_ros_bridge is working successfully or have you found another solution?
@lx18233184051 and @SeasoulChris I am planning to use the other simulator for my project ( VIRES VTD) not LGSVL. As far as I know, there is no Cyber RT integration available yet. VIRES VTD offers ROS integration and API for C ++ Integration. There are bridges connection between LGSVL to Apollo and Carla to Apollo. Is there any chance to modify these bridges to use them for VIRES VTD to Apollo? If you have knowledge in this area please give me some suggestions. I am totally new to this area and just start my project. Thank you.
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Hi @Prj1508 Thanks for your reply, actually, we already have LGSVL, we just want to try a commercial simulator for the comparison. We are developing the simulation testing technique.
Ok. Thank you I have spent sometime with dSPACE simulator and am happy to help on the bridge and other sim aspects.
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On Feb 24, 2021, at 18:30, Thinsheep [email protected] wrote:
Hi @Prj1508 Thanks for your reply, actually, we already have LGSVL, we just want to try a commercial simulator for the comparison. We are developing the simulation testing technique.
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Hi Prj1508, I need Vires VTD communicating with Apollo 6.0. I need to build a ROS interface for Vires VTD as they only have an example for 1 signal not completed package (I do not know if Vires VTD was developed for Autonomous software platform because they do not build the communication bridge with current popular AV stacks). I have a few questions below if you have experience with this please share some information.
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To build the interface for Vires VTD, I need to know which message VTD will need to provide-publish to and which message VTD can get-subscribe from Apollo. VTD will send sensor data and get the AV commands (accelerator, brake, throttle). How can I get the full list of sensor data and AV commands so I do not miss any interface?
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Is apollo_ros_bridge is the completed package that I can directly use for Apollo 6.0? because they have only some ROS topics like Path, Odometry, PointCloud2 and IMU but not all. I also do not see if they publish AV commands like accelerator, brake and throttle.
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Can Vires VTD interface and apollo_ros_bridge can publish/subcribe data directly or do I have to build something to establish the communication?
Hi @Prj1508 , I am looking for a tutor for this topic. If you are available please drop me an email at [email protected], we can discuss further :).
Yes, the bridge is working fine. If your simulator has ROS interface, then Apollo+ apollo_ros_bridge should do it for you I think. Any specific reason you are not using LGSVL or Carla? Just curious …
Hi @Prj1508
I will be glad if you can help me!
I'm trying to figure it out with apollo_ros_bridge.
https://github.com/AuroAi/apollo_ros_bridge
But when I run the bridge in docker, then the frequency of received channels in apollo_ros_bridge does not match the frequency of messages in Apollo.
I am attaching a photo showing the frequencies.
Maybe you have an idea how to fix this ??
Hi @AlexandrZabolotny apollo_ros_bridge was developed for Apollo 3.5. Do you know any chance to use this apollo_ros_bridge for Apollo 6.0?
Hi @AlexandrZabolotny apollo_ros_bridge was developed for Apollo 3.5. Do you know any chance to use this apollo_ros_bridge for Apollo 6.0?
bridge also works in version 6
Hi @AlexandrZabolotny apollo_ros_bridge was developed for Apollo 3.5. Do you know any chance to use this apollo_ros_bridge for Apollo 6.0?
bridge also works in version 6
Thanks for your information.
Importing these three packages to Apollo 6.0 Master is the right idea to run the bridge in version 6.0?
Hi @AlexandrZabolotny apollo_ros_bridge was developed for Apollo 3.5. Do you know any chance to use this apollo_ros_bridge for Apollo 6.0?
bridge also works in version 6
Thanks for your information. Importing these three packages to Apollo 6.0 Master is the right idea to run the bridge in version 6.0?
I use Apollo pre6
@AlexandrZabolotny Thank you. Sorry, I am lacking knowledge in this. How is your setup? Is it like this ApollotoROS(3.5) + Apollo Pre6? does the below command launch the bridge along with Apollo Pr6? cyber_launch start cyber_ros_bridge/launch/bridge_example.launch
Because the bridge and Apollo run in different docker so I do not know how they work together?
Hi @AlexandrZabolotny apollo_ros_bridge was developed for Apollo 3.5. Do you know any chance to use this apollo_ros_bridge for Apollo 6.0?
bridge also works in version 6
@AlexandrZabolotny, hello. Maybe you know, does apollo_ros_bridge work with Apollo ver 8.0?
