camera-Lidar_sensor_calibration.pb.txt

cyber_modules {
  key: "GPS"
  value: {
    dag_files: "/apollo/modules/drivers/gnss/dag/gnss.dag"
  }
}
cyber_modules {
  key: "Localization"
  value: {
    dag_files: "/apollo/modules/localization/dag/dag_streaming_rtk_localization.dag"
  }
}
cyber_modules {
  key: "Lidar"
  value: {
    dag_files: "/apollo/modules/drivers/lidar/dag/lidar.dag"
  }
}
cyber_modules {
  key: "Camera"
  value: {
    dag_files: "/apollo/modules/drivers/camera/dag/dev_kit_camera.dag"
    required_for_safety: false
  }
}
modules {
  key: "Recorder"
  value: {
    start_command: "/apollo/scripts/record_bag.py --start --all"
    stop_command: "/apollo/scripts/record_bag.py --stop --stop_signal SIGINT"
    process_monitor_config {
      command_keywords: "cyber_recorder record"
    }
  }
}
monitored_components {
  key: "Recorder"
  value: {
    process {
      command_keywords: "cyber_recorder record"
    }
    resource {
      disk_spaces {
        # For logs.
        path: "/apollo/data"
        insufficient_space_warning: 8
        insufficient_space_error: 2
      }
      disk_spaces {
        # For records.
        path: "/media/apollo/internal_nvme"
        insufficient_space_warning: 128
        insufficient_space_error: 32
      }
    }
  }
}
monitored_components {
  key: "GPS"
  value: {
    process {
      command_keywords: "mainboard"
      command_keywords: "/apollo/modules/drivers/gnss/dag/gnss.dag"
    }
    # We also have a special GPSMonitor to check message status.
  }
}
monitored_components {
  key: "RTK"
  value: {
    process {
      command_keywords: "mainboard"
      command_keywords: "/apollo/modules/localization/dag/dag_streaming_rtk_localization.dag"
    }
    channel {
      name: "/apollo/localization/pose"
    }
  }
}
monitored_components {
  key: "Lidar"
  value: {
    process {
      command_keywords: "mainboard"
      command_keywords: "/apollo/modules/drivers/lidar/dag/lidar.dag"
    }
    channel {
      name: "/apollo/sensor/lidar16/PointCloud2"
    }
  }
}
monitored_components {
  key: "Camera"
  value: {
    # Special CameraMonitor.
  }
}
other_components {
  key: "Preprocess"
  value: {
    command_keywords: "bash"
    command_keywords: "extract_data.sh"
  }
}