Apollo CyberRT调度器：实时并行计算的关键

自动驾驶

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技术文档 | Apollo Cyber调度器

Apollo Cyber RT框架核心理念基于组件，通过组件实现有预先设定的“输入”、“输出”。实

际上，在框架中，每个组件代表一个专用的算法模块。框架可根据所有预定义的组件生成有向无

环图 (DAG)。

在运行时刻，框架把融合好的传感器数据和预定义的组件打包在一起形成用户级轻量任务，之

后，框架的调度器即可根据资源可用性和任务优先级来派发这些任务。

以下，ENJOY

Apollo Cyber RT是百度自研得无人车计算任务实时并行计算框架，该框架作为Apollo3.5的一

部分已经开放给开发者们。Cyber RT的一个重要模块是Scheduler模块，它是RT框架的核心部

分。

Scheduler将Kernel调度、任务(进程、线程)从内核空间搬到了用户空间，在用户空间实现了对

车载计算任务对计算资源依赖的统一调配。对于算法业务而言，他们只需要关注自己的无人车感

知、规划等算法本身实现，而无需关注并发、同步，甚至是操作系统锁、同步、资源调配等细节

问题，从而大大提高了并行算法任务的编写。

下载后可阅读完整内容，剩余4页未读，立即下载

CyberRT:Apollo CyberRT自动驾驶框架

介绍 Apollo Cyber RT 是一个开源、高性能的运行时框架，专为自动驾驶 (AD) 场景而设计。基于中心化的计算模型，针对自动驾驶的高并发、低延迟、高吞吐进行了大幅优化。在过去几年 AD 技术的发展过程中，我们从之前使用 Apollo 的经验中学到了很多东西。行业在不断发展，阿波罗也在发展。展望未来，Apollo 已经从开发转向生产。随着现实世界中的批量部署，我们看到了对最高水平的稳健性和性能的需求。这就是我们花了数年时间构建和完善 Apollo Cyber RT 的原因，它满足了 AD 解决方案的这些要求。使用 Apollo Cyber RT 的主要好处：加速发展具有数据融合功能的定义明确的任务界面一系列开发工具大量传感器驱动程序简化部署高效、自适应的消息通信具有资源意识的可配置用户级调度程序便携，依赖更少为您自己的自动驾驶汽车

技术文档 _ Apollo的坐标系.pdf

Apollo坐标系是自动驾驶技术的核心组成部分，它涉及到多种坐标系的使用。本文将详细介绍 Apollo坐标系中的几个关键概念，包括全球地理坐标系、局部坐标系、UTM 坐标系和车辆坐标系。一、全球地理坐标系全球地理...

for topic, msg, t in bag.read_messages(): File "/home/baidu/anaconda3/envs/python36/lib/python3.6/site-packages/rosbag/bag.py", line 2696, in read_messages yield self.seek_and_read_message_data_record((entry.chunk_pos, entry.offset), raw, return_connection_header) File "/home/baidu/anaconda3/envs/python36/lib/python3.6/site-packages/rosbag/bag.py", line 2859, in seek_and_read_message_data_record msg_type = _get_message_type(connection_info) File "/home/baidu/anaconda3/envs/python36/lib/python3.6/site-packages/rosbag/bag.py", line 1910, in _get_message_type message_type = genpy.dynamic.generate_dynamic(info.datatype, info.msg_def)[info.datatype] File "/home/baidu/anaconda3/envs/python36/lib/python3.6/site-packages/genpy/dynamic.py", line 180, in generate_dynamic mod = import(os.path.basename(tmp_file.name)[:-3]) File "/tmp/genpy_zyoi0xpr/tmpxiplcd9k.py", line 10 class ___apollo.test.CaseSample(genpy.Message): ^ SyntaxError: invalid syntax

根据错误提示，有一个类名为"___apollo.test.CaseSample"的消息类型生成时出现了无效的语法。可能有几个原因导致这个错误： 1. 类名中包含了无效字符或特殊字符。 2. 类名中使用了保留字或关键字。 3. 类名中存在...

root@in_dev_docker:/apollo# bash scripts/msf_create_lossless_map.sh /apollo/hdmap/pcd_apollo/ 50 /apollo/hdmap/ /apollo/bazel-bin WARNING: Logging before InitGoogleLogging() is written to STDERR E0715 22:08:35.399576 6436 lossless_map_creator.cc:162] num_trials = 1 Pcd folders are as follows: /apollo/hdmap/pcd_apollo/ Resolution: 0.125 Dataset: /apollo/hdmap/pcd_apollo Dataset: /apollo/hdmap/pcd_apollo/ Loaded the map configuration from: /apollo/hdmap//lossless_map/config.xml. Saved the map configuration to: /apollo/hdmap//lossless_map/config.xml. Saved the map configuration to: /apollo/hdmap//lossless_map/config.xml. E0715 22:08:35.767315 6436 lossless_map_creator.cc:264] ieout_poses = 1706 Failed to find match for field 'intensity'. Failed to find match for field 'timestamp'. E0715 22:08:35.769896 6436 velodyne_utility.cc:46] Un-organized-point-cloud E0715 22:08:35.781770 6436 lossless_map_creator.cc:275] Loaded 245443D Points at Trial: 0 Frame: 0. F0715 22:08:35.781791 6436 base_map_node_index.cc:101] Check failed: false * Check failure stack trace: * scripts/msf_create_lossless_map.sh: line 11: 6436 Aborted (core dumped) $APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/map_creation/lossless_map_creator --use_plane_inliers_only true --pcd_folders $1 --pose_files $2 --map_folder $IN_FOLDER --zone_id $ZONE_ID --coordinate_type UTM --map_resolution_type single root@in_dev_docker:/apollo# bash scripts/msf_create_lossless_map.sh /apollo/hdmap/pcd_apollo/ 50 /apollo/hdmap/

/apollo/hdmap/pcd_apollo/ Resolution: 0.125 Dataset: /apollo/hdmap/pcd_apollo Dataset: /apollo/hdmap/pcd_apollo/ Loaded the map configuration from: /apollo/hdmap//lossless_map/config.xml. Saved the ...

/apollo/bazel-bin WARNING: Logging before InitGoogleLogging() is written to STDERR E0715 22:08:35.399576 6436 lossless_map_creator.cc:162] num_trials = 1 Pcd folders are as follows: /apollo/hdmap/pcd_apollo/ Resolution: 0.125 Dataset: /apollo/hdmap/pcd_apollo Dataset: /apollo/hdmap/pcd_apollo/ Loaded the map configuration from: /apollo/hdmap//lossless_map/config.xml. Saved the map configuration to: /apollo/hdmap//lossless_map/config.xml. Saved the map configuration to: /apollo/hdmap//lossless_map/config.xml. E0715 22:08:35.767315 6436 lossless_map_creator.cc:264] ieout_poses = 1706 Failed to find match for field 'intensity'. Failed to find match for field 'timestamp'. E0715 22:08:35.769896 6436 velodyne_utility.cc:46] Un-organized-point-cloud E0715 22:08:35.781770 6436 lossless_map_creator.cc:275] Loaded 245443D Points at Trial: 0 Frame: 0. F0715 22:08:35.781791 6436 base_map_node_index.cc:101] Check failed: false * Check failure stack trace: * scripts/msf_create_lossless_map.sh: line 11: 6436 Aborted (core dumped) $APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/map_creation/lossless_map_creator --use_plane_inliers_only true --pcd_folders $1 --pose_files $2 --map_folder $IN_FOLDER --zone_id $ZONE_ID --coordinate_type UTM --map_resolution_type single

根据您提供的信息，看起来您遇到了一些错误...4. 查看相关文档或论坛，了解其他用户是否遇到类似的问题，并尝试找到解决方案。如果您需要更详细的帮助，建议您向Apollo开发团队或相关社区提问，以获取更专业的支持。

在ros项目中添加发送websocket wss消息的功能，修改如下代码并在CmakeLists.txt中添加依赖，实现将serialized_data发送到wss://autopilot-test.t3go.cn:443/api/v1/vehicle/push/message/LFB1FV696M2L43840。main.cpp：#include "ros/ros.h" #include "std_msgs/String.h" #include <boost/thread/locks.hpp> #include <boost/thread/shared_mutex.hpp> #include "third_party/apollo/proto/perception/perception_obstacle.pb.h" #include "t3_perception.pb.h" apollo::perception::PerceptionObstacles perception_obstacles_; void perceptionCallback(const std_msgs::String& msg) { ROS_WARN("t3 perceptionCallback parse"); if (perception_obstacles_.ParseFromString(msg.data)) { double timestamp = perception_obstacles_.header().timestamp_sec(); ROS_INFO("t3 perceptionCallback timestamp %f count:%d", timestamp, perception_obstacles_.perception_obstacle().size()); std::string data; perception_obstacles_.SerializeToString(&data); VehData veh_data; veh_data.set_messagetype(5); veh_data.set_messagedes("PerceptionObstacles"); veh_data.set_contents(data); std::string serialized_data; veh_data.SerializeToString(&serialized_data); } else { ROS_ERROR("t3 perceptionCallback parse fail!"); } } int main(int argc, char **argv) { ros::init(argc, argv, "listener"); ros::NodeHandle n; ros::Subscriber sub = n.subscribe("/perception_node/perception_objects", 1000, perceptionCallback); ros::spin(); return 0; }CMakeLists.txt：cmake_minimum_required(VERSION 3.0.2) project(t3) find_package(catkin REQUIRED COMPONENTS roscpp rospy pcl_ros std_msgs third_party ) find_package(Protobuf REQUIRED) include_directories(${Protobuf_INCLUDE_DIRS} ${CMAKE_CURRENT_BINARY_DIR}/..) find_package(Boost REQUIRED) include_directories(${Boost_INCLUDE_DIRS}) set(ixwebsocket_INCLUDE_DIR "/usr/local/include/ixwebsocket") set(ixwebsocket_LIBRARIES "/usr/local/lib/libixwebsocket.a") include_directories(${ixwebsocket_INCLUDE_DIR}) include_directories(${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/${PROJECT_NAME}) include_directories(${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/smartview) catkin_package(INCLUDE_DIRS ${PROJECT_INCLUDE_DIRS} DEPENDS ${GFLAGS_LIBRARIES} ) include_directories( ${catkin_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIR} ${PROJECT_SOURCE_DIR}/.. ) add_executable(${PROJECT_NAME}_node src/main.cpp ) add_dependencies(${PROJECT_NAME}_node ${catkin_EXPORTED_TARGETS}) target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${PROTOBUF_LIBRARIES} smartview_proto ) install(TARGETS ${PROJECT_NAME}_node ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} )

#include "third_party/apollo/proto/perception/perception_obstacle.pb.h" #include "t3_perception.pb.h" #include <ixwebsocket/IXWebSocket.h> using namespace ix; apollo::perception::...

def main(args, rest_args): cfg = Config(path=args.cfg) model = cfg.model model.eval() if args.quant_config: quant_config = get_qat_config(args.quant_config) cfg.model.build_slim_model(quant_config['quant_config']) if args.model is not None: load_pretrained_model(model, args.model) arg_dict = {} if not hasattr(model.export, 'arg_dict') else model.export.arg_dict args = parse_model_args(arg_dict) kwargs = {key[2:]: getattr(args, key[2:]) for key in arg_dict} model.export(args.save_dir, name=args.save_name, kwargs) if args.export_for_apollo: if not isinstance(model, BaseDetectionModel): logger.error('Model {} does not support Apollo yet!'.format( model.class.name)) else: generate_apollo_deploy_file(cfg, args.save_dir) if name == 'main': args, rest_args = parse_normal_args() main(args, rest_args)这段代码中哪几句代码是def main(args, rest_args): cfg = Config(path=args.cfg) model = cfg.model model.eval() if args.quant_config: quant_config = get_qat_config(args.quant_config) cfg.model.build_slim_model(quant_config['quant_config']) if args.model is not None: load_pretrained_model(model, args.model) arg_dict = {} if not hasattr(model.export, 'arg_dict') else model.export.arg_dict args = parse_model_args(arg_dict) kwargs = {key[2:]: getattr(args, key[2:]) for key in arg_dict} model.export(args.save_dir, name=args.save_name, kwargs) if args.export_for_apollo: if not isinstance(model, BaseDetectionModel): logger.error('Model {} does not support Apollo yet!'.format( model.class.name)) else: generate_apollo_deploy_file(cfg, args.save_dir) if name == 'main': args, rest_args = parse_normal_args() main(args, rest_args)这段代码中哪几句代码是def main(args, rest_args): cfg = Config(path=args.cfg) model = cfg.model model.eval() if args.quant_config: quant_config = get_qat_config(args.quant_config) cfg.model.build_slim_model(quant_config['quant_config']) if args.model is not None: load_pretrained_model(model, args.model) arg_dict = {} if not hasattr(model.export, 'arg_dict') else model.export.arg_dict args = parse_model_args(arg_dict) kwargs = {key[2:]: getattr(args, key[2:]) for key in arg_dict} model.export(args.save_dir, name=args.save_name, **kwargs) if args.export_for_apollo: if not isinstance(model, BaseDetectionModel): logger.error('Model {} does not support Apollo yet!'.format( model.class.name)) else: generate_apollo_deploy_file(cfg, args.save_dir) if name == 'main': args, rest_args = parse_normal_args() main(args, rest_args)这段代码中哪几句是将训练时保存的动态图模型文件导出成推理引擎能够加载的静态图模型文件

这段代码中的以下几句是将训练时保存的动态图模型文件导出成推理引擎能够加载的静态图模型文件： ``` arg_dict = {} if not hasattr(model.export, 'arg_dict') else model.export.arg_dict args = parse_model_...

xmelab: *E,CUVMUR (/lsc/projects/apollo/users/jjiang1/verif/verif_apollo/verif_hardip/mppcie8l/src/project_benches/mppcie8l/tb/testbench/rtl_struct_define.sv,77|15): instance 'hdl_top.gfor_struct_eth_xgmii_cib_quad[0].i_gear_rx' of design unit 'eth_gmii_gear_rx_2x1' is unresolved in 'worklib.hdl_top:sv'.

这个错误消息表明在 Verilog 设计中，位于 'hdl_top.gfor_struct_eth_xgmii_cib_quad[0].i_gear_rx' 实例的 'eth_gmii_gear_rx_2x1' 设计单元在 'worklib.hdl_top:sv' 中未解析。要解决这个问题，您可以尝试以下几...

/apollo/bazel-bin WARNING: Logging before InitGoogleLogging() is written to STDERR E0607 13:23:56.281872 47757 lossless_map_creator.cc:162] num_trials = 1 Pcd folders are as follows: /apollo/hdmap/air/pcd_apollo/ Resolution: 0.125 Dataset: /apollo/hdmap/air/pcd_apollo/ Dataset: /apollo/hdmap/air/pcd_apollo/ Dataset: /apollo/hdmap/air/pcd_apollo/ Loaded the map configuration from: /apollo/hdmap/air//lossless_map/config.xml. Saved the map configuration to: /apollo/hdmap/air//lossless_map/config.xml. Saved the map configuration to: /apollo/hdmap/air//lossless_map/config.xml. E0607 13:23:56.706698 47757 lossless_map_creator.cc:264] ieout_poses = 2186 Failed to find match for field 'intensity'. Failed to find match for field 'timestamp'. E0607 13:23:56.708952 47757 velodyne_utility.cc:46] Un-organized-point-cloud E0607 13:23:56.719892 47757 lossless_map_creator.cc:275] Loaded 144353D Points at Trial: 0 Frame: 0. F0607 13:23:56.719911 47757 base_map_node_index.cc:101] Check failed: false * Check failure stack trace: * scripts/msf_create_lossless_map.sh: line 11: 47757 Aborted (core dumped) $APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/map_creation/lossless_map_creator --use_plane_inliers_only true --pcd_folders $1 --pose_files $2 --map_folder $IN_FOLDER --zone_id $ZONE_ID --coordinate_type UTM --map_resolution_type single

这段代码似乎是关于自动驾驶系统中的地图构建和定位相关的内容，其中使用了Velodyne激光雷达获取点云数据，并将其加载到地图中。但是在处理过程中出现了一些错误，如无法匹配点云数据中的“强度”和“时间戳”字段等...

if ($?APOLLO_ROOT_DIR) then echo "INFO: Using the externally set APOLLO_ROOT_DIR = $APOLLO_ROOT_DIR" else if (-d "$APOLLO_PATH/hardip_t16/all_ip") then setenv APOLLO_ROOT_DIR "$APOLLO_PATH/hardip_t16/all_ip" else if (-d "$APOLLO_PATH/hardip_t16/green_ip") then setenv APOLLO_ROOT_DIR "$APOLLO_PATH/hardip_t16/green_ip" else echo "ERROR: Cannot find the APOLLO_ROOT_DIR. Exiting....." exit 1 endif echo "INFO: APOLLO_ROOT_DIR = $APOLLO_ROOT_DIR" endif

首先判断是否已经设置了 APOLLO_ROOT_DIR 环境变量，如果设置了，就打印出信息提示使用外部设置的 APOLLO_ROOT_DIR。如果没有设置，则判断指定的两个路径下是否存在 all_ip 或 green_ip 目录，如果存在，则将 APOLLO...

demo@demo-OMEN-by-HP-Gaming-Laptop-16-k0xxx:~/apollo/modules/omnisense$ git stash No local changes to save demo@demo-OMEN-by-HP-Gaming-Laptop-16-k0xxx:~/apollo/modules/omnisense$ git checkout dev_MOT_lib error: The following untracked working tree files would be overwritten by checkout: launch/conf/calib_matrices/01_parallel.yaml launch/conf/calib_matrices/init.py Please move or remove them before you switch branches. Aborting 并不对

根据你的输出信息，`git stash`命令报告本地变更需要保存，这意味着当前工作目录没有进行任何修改，因此没有需要暂存的内容。而在执行`git checkout dev_MOT_lib`命令时，出现了错误提示，指出有一些未跟踪的文件...

帮我修改下面的代码。要求建立一次weboscket链接，链接到wss://autopilot-test.t3go.cn:443/api/v1/vehicle/push/message/LFB1FV696M2L43840，当订阅到感知话题调用perceptionCallback时，通过wss发送serialized_data：#include "ros/ros.h" #include "std_msgs/String.h" #include <boost/thread/locks.hpp> #include <boost/thread/shared_mutex.hpp> #include "third_party/apollo/proto/perception/perception_obstacle.pb.h" #include "t3_perception.pb.h" #include <iostream> #include <websocketpp/config/asio_client.hpp> #include <websocketpp/client.hpp> #include <websocketpp/common/thread.hpp> apollo::perception::PerceptionObstacles perception_obstacles_; typedef websocketpp::clientwebsocketpp::config::asio_tls_client client; void perceptionCallback(const std_msgs::String& msg) { ROS_WARN("t3 perceptionCallback parse"); if (perception_obstacles_.ParseFromString(msg.data)) { double timestamp = perception_obstacles_.header().timestamp_sec(); ROS_INFO("t3 perceptionCallback timestamp %f count:%d", timestamp, perception_obstacles_.perception_obstacle().size()); std::string data; perception_obstacles_.SerializeToString(&data); VehData veh_data; veh_data.set_messagetype(5); veh_data.set_messagedes("PerceptionObstacles"); veh_data.set_contents(data); std::string serialized_data; veh_data.SerializeToString(&serialized_data); } else { ROS_ERROR("t3 perceptionCallback parse fail!"); } } int main(int argc, char **argv) { ros::init(argc, argv, "listener"); ros::NodeHandle n; ros::Subscriber sub = n.subscribe("/perception_node/perception_objects", 1000, perceptionCallback); ros::spin(); return 0; }

#include "third_party/apollo/proto/perception/perception_obstacle.pb.h" #include "t3_perception.pb.h" #include #include <websocketpp/config/asio_client.hpp> #include <websocketpp/client.hpp> #include...

demo@demo-OMEN-by-HP-Gaming-Laptop-16-k0xxx:~/apollo/modules/omnisense$ git checkout origin/zf_test_0712 error: The following untracked working tree files would be overwritten by checkout: launch/conf/calib_matrices/01_parallel.yaml launch/conf/calib_matrices/init.py launch/conf/local_msg/01-curb.msg Please move or remove them before you switch branches. Aborting 怎么办？

这个错误提示是因为在切换分支时，有一些未被跟踪的工作树文件会被覆盖。解决这个问题的方法有两种： 1. 移动或删除这些文件：根据错误提示，你可以将 `launch/conf/calib_matrices/01_parallel.yaml`、`launch/...

In file included from /home/acceler/code/apollo_ros/apollo_ros/src/apollo.ros-1.0.0-master/apollo_common/include/apollo_common/apollo_app.h:46:0, from /home/acceler/code/apollo_ros/apollo_ros/src/apollo.ros-1.0.0-master/apollo_common/src/apollo_app.cc:33: /home/acceler/code/apollo_ros/apollo_ros/src/apollo.ros-1.0.0-master/apollo_common/include/apollo_common/log.h:40:10: fatal error: glog/logging.h: No such file or directory #include <glog/logging.h> ^~ compilation terminated. apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/build.make:62: recipe for target 'apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/src/apollo_app.cc.o' failed make[2]: * [apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/src/apollo_app.cc.o] Error 1 make[2]: * Waiting for unfinished jobs.... In file included from /home/acceler/code/apollo_ros/apollo_ros/src/apollo.ros-1.0.0-master/apollo_common/include/apollo_common/adapters/adapter_manager.h:48:0, from /home/acceler/code/apollo_ros/apollo_ros/src/apollo.ros-1.0.0-master/apollo_common/src/adapters/adapter_manager.cc:33: /home/acceler/code/apollo_ros/apollo_ros/src/apollo.ros-1.0.0-master/apollo_common/include/apollo_common/adapters/adapter.h:49:10: fatal error: glog/logging.h: No such file or directory #include <glog/logging.h> ^~ compilation terminated. apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/build.make:110: recipe for target 'apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/src/adapters/adapter_manager.cc.o' failed make[2]: * [apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/src/adapters/adapter_manager.cc.o] Error 1 CMakeFiles/Makefile2:3894: recipe for target 'apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/all' failed make[1]: * [apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/all] Error 2 make[1]: * Waiting for unfinished jobs.... [ 54%] Linking CXX executable /home/acceler/code/apollo_ros/apollo_ros/devel/lib/IntegratedNavigation/IntegratedNavigation_node [ 54%] Built target IntegratedNavigation_node [ 55%] Linking CXX executable /home/acceler/code/apollo_ros/apollo_ros/devel/lib/TimeSynchronierProcess/timeSynchronierProcess_node [ 55%] Built target timeSynchronierProcess_node Makefile:140: recipe for target 'all' failed make: * [all] Error 2 Invoking "make -j4 -l4" failed

It seems like there is a compilation error in your code. The error message indicates that the file "glog/logging.h" is not found. This file is part of the Google Logging Library (glog) and needs to be...

ubuntu系统中VS Code的docker的cyber容器中在apollo/cyber/demo_base_bazel/pro01_helloworld目录下的终端输入bazel build //demo_pkg/...为什么没有在/apollo/cyber/demo_base_bazel/pro01_helloworld/bazel-bin/demo_pkg的目录下生成对应的文件？

建议使用与apollo开发环境中所使用的相同版本的编译器。 4. 路径问题：请确保您在正确的目录下执行bazel build命令，并检查生成的目标文件是否存储在正确的目录中。您可以通过执行`bazel info`命令来查看有关...

帮我实现websocket wss发送的相关代码将serialized_data用websocket wss发送，#include "ros/ros.h" #include "std_msgs/String.h" #include <boost/thread/locks.hpp> #include <boost/thread/shared_mutex.hpp> #include "third_party/apollo/proto/perception/perception_obstacle.pb.h" #include "t3_perception.pb.h" apollo::perception::PerceptionObstacles perception_obstacles_; void perceptionCallback(const std_msgs::String& msg) { ROS_WARN("t3 perceptionCallback parse"); if (perception_obstacles_.ParseFromString(msg.data)) { double timestamp = perception_obstacles_.header().timestamp_sec(); ROS_INFO("t3 perceptionCallback timestamp %f count:%d", timestamp, perception_obstacles_.perception_obstacle().size()); std::string data; perception_obstacles_.SerializeToString(&data); VehData veh_data; veh_data.set_messagetype(5); veh_data.set_messagedes("PerceptionObstacles"); veh_data.set_contents(data); std::string serialized_data; veh_data.SerializeToString(&serialized_data); } else { ROS_ERROR("t3 perceptionCallback parse fail!"); } } int main(int argc, char **argv) { ros::init(argc, argv, "listener"); ros::NodeHandle n; ros::Subscriber sub = n.subscribe("/perception_node/perception_objects", 1000, perceptionCallback); ros::spin(); return 0; }

好的，下面是一个简单的websocket wss发送代码示例： ```c++ #include #include <websocketpp/config/asio_client.hpp> #include <websocketpp/client.hpp> #include <websocketpp/common/thread.hpp> ...

代码示例：将apollo项目的所有.proto文件编译为Python代码

针对您的问题，可以通过以下步骤来将apollo项目的所有.proto文件编译为Python代码： 1. 首先，确保您已经安装了protobuf编译器。如果没有安装，可以前往protobuf官网下载并安装。 2. 接下来，需要下载apollo项目的...

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