Apollo 开发者在线文档

  1. 文档目录
  2. Apollo参考文档
  3. 实践
  4. Hello Apollo 自动驾驶公开课

一张图了解Apollo最新进展:

本文档是在线手册的预览(Preview)版本,覆盖开发者多个阶段,不同功能模块,不同适配平台。 为给开发者在短时间内一个宏观的认识,建设的在线文档站点。

文档目录

Apollo参考文档

开发者可以在下载代码库后,参照Doxygen生成文档 生成基于最新代码库的参考文档。当然,我们也提供基于最新发布版本的在线版:https://apolloauto.github.io/doxygen/apollo/classapollo_1_1common_1_1ApolloApp.html

实践

Hello Apollo 自动驾驶公开课

第一站:上海技术沙龙,如下三个主题的分享(资源pdf):

第二站:深圳技术沙龙

点击查看大图

MODULE Class Topic Period(ms) Frequecy(HZ)
CHASSIS chassis_pb2.Chassis() /apollo/canbus/chassis 10 100
CONTROL control_cmd_pb2.ControlCommand() /apollo/control 10 100
CHASSIS_DETAIL chassis_detail_pb2.ChassisDetail() /apollo/canbus/chassis_detail 10 100
LOCALIZATION localization_pb2.LocalizationEstimate() /apollo/localization/pose 10 100
PLANNING planning_pb2.ADCTrajectory() /apollo/planning 200 5
PERCEPTION perception_obstacle_pb2.PerceptionObstacles() /apollo/perception/obstacles 200 5
PREDICTION prediction_obstacle_pb2.PredictionObstacles() /apollo/prediction 200 5
PAD pad_msg_pb2.PadMessage() /apollo/control/pad 500 2
ODOMETRY gps_pb2.Gps() /apollo/sensor/gnss/odometry 10 100
IMU imu_pb2.CorrectedImu() /apollo/sensor/gnss/corrected_imu 10 100
ROUTING_RES routing_pb2.RoutingResponse() /apollo/routing_response 1 1000
ROUTING_REQ routing_pb2.RoutingRequest() /apollo/routing_request 1 1000
MOBILEYE mobileye_pb2.Mobileye() /apollo/sensor/mobileye 100 10
DELPHI_ESR delphi_esr_pb2.DelphiESR() /apollo/sensor/delphi_esr 10 100
CONTI_RADAR conti_radar_pb2.ContiRadar() /apollo/sensor/conti_radar 20 50
SIGNAL_LIGHT traffic_light_detection_pb2.TrafficLightDetection() /apollo/perception/traffic_light 10 100
DRIVE_EVENT drive_event_pb2.DriveEvent() /apollo/drive_event 500 2
SYSTEM_STATUS system_status_pb2.SystemStatus() /apollo/monitor/system_status 500 2
NAVIGATION navigation_pb2.NavigationInfo() /apollo/navigation 1 1000
RELATIVE_MAP navigation_pb2.MapMsg() /apollo/relative_map 200 5
GUARDIAN guardian_pb2.GuardianCommand() /apollo/guardian 100 10
MONITOR monitor_log_pb2.MonitorMessage() /apollo/monitor 10 100
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