更新时间：2025-02-20 GMT+08:00
消息topic格式示例
消息topic具体格式要求请参考“消息topic格式规范”。接收到的消息topic示例请参考如下示例：
- Vehicle
- Gnss
- Ego_tf
- Object_array_vision
- Tag_record
- Control
- Predicted_objects
- Planning_trajectory
- Routing_path
- Traffic_light_info
Vehicle
vehicle_info {
stamp_secs: 1604996332
stamp_nsecs: 847945211
autonomy_status: 0
gear_value: 4
vehicle_speed: 43.93000030517578
steering_angle: 0.699999988079071
yaw_rate: 0.0
interior_temperature: 0.0
outside_temperature: 0.0
brake: 0.0
timestamp: 1604996332847
turn_left_light: 0
turn_right_light: 0
longitude_acc: -0.03125
lateral_acc: 0.0
}
Gnss
gnss_points {
stamp_secs: 1604996332
stamp_nsecs: 855145358
latitude: 30.18027687072754
longitude: 120.21341705322266
elevation: 7.392796039581299
timestamp: 1604996332855
}
Ego_tf
localization_info {
timestamp: 1604996332855
stamp_secs: 1604996332
stamp_nsecs: 855301408
pose_position_x: 1165.5460205078125
pose_position_y: -479.2198486328125
pose_position_z: -1.48505699634552
pose_orientation_x: 0.003883248195052147
pose_orientation_y: -0.0031167068518698215
pose_orientation_z: 0.7017714977264404
pose_orientation_w: 0.7123847603797913
pose_orientation_yaw: 1.5557808876037598
velocity_linear: 12.21684455871582
velocity_angular: 0.014540454372763634
acceleration_linear: 0.23571151494979858
acceleration_angular： 0.0
}
Object_array_vision
tracked_object {
timestamp: 1604996332862
stamp_secs: 1604996332
stamp_nsecs: 862911489
objects {
id: 26175
label: "Car"
pose_position_x: 1154.59912109375
pose_position_y: -496.5350646972656
pose_position_z: -1.8222997188568115
pose_orientation_z: 0.714431643486023
pose_orientation_w: 0.6997052431106567
pose_orientation_yaw: 1.5916229486465454
dimensions_x: 4.513162136077881
dimensions_y: 1.7747581005096436
dimensions_z: 1.628068208694458
speed_vector_linear_x: 0.012852923013269901
speed_vector_linear_y: -9.972732543945312
relative_position_x: -17.48011016845703
relative_position_y: 10.685434341430664
relative_position_z: -0.17673441767692566
}
objects {
id: 26170
label: "Pedestrian"
pose_position_x: 1180.902099609375
pose_position_y: -504.7625732421875
pose_position_z: -1.3601081371307373
pose_orientation_z: -0.7057344317436218
pose_orientation_w: 0.7084764242172241
pose_orientation_yaw: -1.5669186115264893
dimensions_x: 0.7922295331954956
dimensions_y: 0.7891787886619568
dimensions_z: 1.6868246793746948
speed_vector_linear_x: 0.13573257625102997
speed_vector_linear_y: 1.5281875133514404
relative_position_x: -25.306795120239258
relative_position_y: -15.737456321716309
relative_position_z: 0.39350399374961853
}
objects {
id: 26169
label: "Pedestrian"
pose_position_x: 1175.647216796875
pose_position_y: -506.730712890625
pose_position_z: -1.569373607635498
pose_orientation_z: 0.6943609118461609
pose_orientation_w: 0.7196269631385803
pose_orientation_yaw: 1.5350627899169922
dimensions_x: 0.8029457330703735
dimensions_y: 0.7876891493797302
dimensions_z: 1.6028095483779907
speed_vector_linear_x: 0.06551000475883484
speed_vector_linear_y: 0.0022428608499467373
relative_position_x: -27.355571746826172
relative_position_y: -10.512933731079102
relative_position_z: 0.19844147562980652
}
objects {
id: 26168
label: "Pedestrian"
pose_position_x: 1173.3189697265625
pose_position_y: -507.2300109863281
pose_position_z: -1.6026556491851807
pose_orientation_z: 0.717462956905365
pose_orientation_w: 0.6965966820716858
pose_orientation_yaw: 1.600306749343872
dimensions_x: 0.7922430038452148
dimensions_y: 0.7811086177825928
dimensions_z: 1.6341478824615479
speed_vector_linear_x: -0.04817964881658554
speed_vector_linear_y: -0.21502695977687836
relative_position_x: -27.89008903503418
relative_position_y: -8.192517280578613
relative_position_z: 0.16775710880756378
}
objects {
id: 26155
label: "Bus"
pose_position_x: 1172.106689453125
pose_position_y: -478.5303039550781
pose_position_z: -0.48812994360923767
pose_orientation_z: -0.7203028798103333
pose_orientation_w: 0.6936596632003784
pose_orientation_yaw: -1.6084778308868408
dimensions_x: 11.322981834411621
dimensions_y: 2.9294095039367676
dimensions_z: 3.1415622234344482
speed_vector_linear_x: -0.017722932621836662
speed_vector_linear_y: 0.1302066147327423
relative_position_x: 0.7977913022041321
relative_position_y: -6.548437118530273
relative_position_z: 0.9966707229614258
}
objects {
id: 26153
label: "Bus"
pose_position_x: 1148.1876220703125
pose_position_y: -490.8350524902344
pose_position_z: -0.954763650894165
pose_orientation_z: 0.6907882690429688
pose_orientation_w: 0.7230570912361145
pose_orientation_yaw: 1.5251574516296387
dimensions_x: 10.779899597167969
dimensions_y: 2.856076717376709
dimensions_z: 2.811084508895874
speed_vector_linear_x: 0.03153659775853157
speed_vector_linear_y: 0.23439916968345642
relative_position_x: -11.868709564208984
relative_position_y: 17.1827335357666
relative_position_z: 0.6278138756752014
}
objects {
id: 26141
label: "Bus"
pose_position_x: 1171.7779541015625
pose_position_y: -512.5936889648438
pose_position_z: -0.9443151354789734
pose_orientation_z: -0.7186583876609802
pose_orientation_w: 0.6953632831573486
pose_orientation_yaw: -1.6037421226501465
dimensions_x: 10.841312408447266
dimensions_y: 2.9661808013916016
dimensions_z: 3.2250704765319824
speed_vector_linear_x: 0.0513402484357357
speed_vector_linear_y: 0.006104861851781607
relative_position_x: -33.26952362060547
relative_position_y: -6.731308937072754
relative_position_z: 0.8776476979255676
}
objects {
id: 26133
label: "Bus"
pose_position_x: 1146.657958984375
pose_position_y: -508.7508239746094
pose_position_z: -0.883571445941925
pose_orientation_z: 0.7007946968078613
pose_orientation_w: 0.713362991809845
pose_orientation_yaw: 1.5530219078063965
dimensions_x: 12.186415672302246
dimensions_y: 2.824420690536499
dimensions_z: 3.292656183242798
speed_vector_linear_x: 0.005901232361793518
speed_vector_linear_y: 0.013970088213682175
relative_position_x: -29.803848266601562
relative_position_y: 18.443498611450195
relative_position_z: 0.8749525547027588
}
objects {
id: 26120
label: "Bus"
pose_position_x: 1170.993408203125
pose_position_y: -525.5801391601562
pose_position_z: -1.104852318763733
pose_orientation_z: -0.7154129147529602
pose_orientation_w: 0.6987019181251526
pose_orientation_yaw: -1.5944297313690186
dimensions_x: 10.749905586242676
dimensions_y: 2.7170863151550293
dimensions_z: 3.0421104431152344
speed_vector_linear_x: 0.016746148467063904
speed_vector_linear_y: -0.23609620332717896
relative_position_x: -46.26727294921875
relative_position_y: -6.141877174377441
relative_position_z: 0.8449855446815491
}
}
Tag_record
segments {
scenario_id: 100000000
source: "takeover"
start: 1617336642300
end: 1617336652300
}
segments {
scenario_id: 100000000
source: "vehicle"
start: 1617336672300
end: 1617336692300
}
Control
stamp_secs: 1617336640 stamp_nsecs: 795364700 timestamp: 1617336640795 acceleration: 0.7146586179733276 front_wheel_angle: 2.9919793605804443
Predicted_objects
stamp_secs: 1617336640
stamp_nsecs: 971891550
timestamp: 1617336640971
obstacle_info {
obstacle_timestamp: 1617336640699
id: 6711
x: -123.08731842041016
y: 486.83221435546875
z: 0.575542688369751
prediction_trajectory {
path_point {
x: -103.26817321777344
y: 486.0815734863281
theta: -0.007839304395020008
v: 4.405668258666992
relative_time: 4.5
}
path_point {
x: -102.82765197753906
y: 486.0737609863281
theta: -0.00746726430952549
v: 4.405668258666992
relative_time: 4.599999904632568
}
......
}
}
obstacle_info {
obstacle_timestamp: 1617336640699
id: 6744
x: -145.0320587158203
y: 491.35015869140625
z: -0.40381166338920593
prediction_trajectory {
path_point {
x: -145.0320587158203
y: 491.35015869140625
theta: -2.9442124366760254
v: 1.0038001537322998
}
path_point {
x: -145.1304931640625
y: 491.3304748535156
theta: -2.9442124366760254
v: 1.0038001537322998
relative_time: 0.10000000149011612
}
......
}
}
obstacle_info {
obstacle_timestamp: 1617336640699
id: 6760
x: -138.3047332763672
y: 489.9286193847656
z: -0.12651222944259644
}
Planning_trajectory
stamp_secs: 1617336640
stamp_nsecs: 809739351
timestamp: 1617336640809
trajectory_points {
x: -151.27487182617188
y: 486.55096435546875
theta: 0.0023324606008827686
kappa: -0.0017824547830969095
}
trajectory_points {
x: -151.21182250976562
y: 486.5510559082031
theta: 0.0022713469807058573
kappa: -0.0017127590253949165
}
......
Routing_path
timestamp: 1630057162125
stamp_secs: 1630057162
stamp_nsecs: 125769156
routing_path_info {
id: 1
path_point {
x: -203.34230041503906
y: 125.63516998291016
z: -0.5
}
path_point {
x: -203.34915161132812
y: 125.72517395019531
z: -0.5
}......}
Traffic_light_info
timestamp: 1630057508000
stamp_secs: 1630057508
lights {
id: 1
color: 1
location_x: -206.60186767578125
location_y: 459.9820861816406
location_z: 3.0
}
lights {
id: 2
color: 2
location_x: -74.1282958984375
location_y: 484.984619140625
location_z: 4.0
}
lights {
id: 3
color: 3
location_x: 59.96036911010742
location_y: 473.6038513183594
location_z: 5.0
}
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