apollo bridge

node.cc

#include "modules/drivers/proto/sensor_image.pb.h"
#include "modules/drivers/proto/pointcloud.pb.h"
#include "modules/drivers/gnss/proto/imu.pb.h"


void Node::publish(const std::string& channel, const std::string& data)
{
    auto writer = writers.find(channel);
    if (writer == writers.end())
    {
        AWARN << "No writer registered on channel " << channel;
        return;
    }

    if( writer->second.type == "apollo.drivers.PointCloud") {
        apollo::drivers::PointCloud pc;

        std::stringstream ss(data, std::ios::in | std::ios::binary);
        pc.ParseFromIstream(&ss);
        std::cout << pc.width() << " ";

        if( pc.point_size() > 0){        
            apollo::drivers::PointXYZIT pt = pc.point(0);
            std::cout << pt.x() << " ";
        }
        std::cout << std::endl;
    }
    else if( writer->second.type == "apollo.drivers.gnss.Imu") {
        apollo::drivers::gnss::Imu imu;
        std::stringstream ss(data, std::ios::in | std::ios::binary);
        imu.ParseFromIstream(&ss);
        std::cout << imu.linear_acceleration().x() << std::endl;
        std::cout << data << std::endl;
    }
    else if( writer->second.type == "apollo.drivers.CompressedImage") {
        apollo::drivers::CompressedImage img;
        std::stringstream ss(data, std::ios::in | std::ios::binary);
        img.ParseFromIstream(&ss);
        std::cout << img.format() << std::endl;
    }

    std::cout << "publish " << channel << " " << writer->second.type << " " << data.size() << std::endl;

    auto message = std::make_shared<apollo::cyber::message::PyMessageWrap>(data, writer->second.type);
    writer->second.writer->Write(message);
}

stdout

11520 2.16139 
publish /apollo/sensor/lidar128/compensator/PointCloud2 apollo.drivers.PointCloud 144105
-0.0901737


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publish /apollo/sensor/gnss/imu apollo.drivers.gnss.Imu 86
publish /apollo/sensor/gnss/corrected_imu apollo.localization.CorrectedImu 109
-0.0901737


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publish /apollo/sensor/gnss/imu apollo.drivers.gnss.Imu 86
publish /apollo/sensor/gnss/corrected_imu apollo.localization.CorrectedImu 109
-0.0901737


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publish /apollo/sensor/gnss/imu apollo.drivers.gnss.Imu 86
publish /apollo/sensor/gnss/corrected_imu apollo.localization.CorrectedImu 109
-0.0901737


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publish /apollo/sensor/gnss/imu apollo.drivers.gnss.Imu 86
publish /apollo/sensor/gnss/corrected_imu apollo.localization.CorrectedImu 109
-0.0901737


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publish /apollo/sensor/gnss/imu apollo.drivers.gnss.Imu 86
publish /apollo/sensor/gnss/corrected_imu apollo.localization.CorrectedImu 109
-0.0901737


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publish /apollo/sensor/gnss/imu apollo.drivers.gnss.Imu 86
publish /apollo/sensor/gnss/corrected_imu apollo.localization.CorrectedImu 109
publish /apollo/sensor/gnss/odometry apollo.localization.Gps 121
publish /apollo/sensor/gnss/best_pose apollo.drivers.gnss.GnssBestPose 115
-0.0901737


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publish /apollo/sensor/gnss/imu apollo.drivers.gnss.Imu 86
publish /apollo/sensor/gnss/corrected_imu apollo.localization.CorrectedImu 109
-0.0901797


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publish /apollo/sensor/gnss/imu apollo.drivers.gnss.Imu 86
publish /apollo/sensor/gnss/corrected_imu apollo.localization.CorrectedImu 109
jpg
publish /apollo/sensor/camera/front_6mm/image/compressed apollo.drivers.CompressedImage 144088
-0.0901699


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publish /apollo/sensor/gnss/imu apollo.drivers.gnss.Imu 86
publish /apollo/sensor/gnss/corrected_imu apollo.localization.CorrectedImu 109
jpg
publish /apollo/sensor/camera/front_12mm/image/compressed apollo.drivers.CompressedImage 109638
-0.0901652


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publish /apollo/sensor/gnss/imu apollo.drivers.gnss.Imu 86
publish /apollo/sensor/gnss/corrected_imu apollo.localization.CorrectedImu 109