From 661e32835993849253f695ebefd3363b8a0a054c Mon Sep 17 00:00:00 2001
From: minhanghuang <job@minhang.me>
Date: Sat, 21 Dec 2024 10:27:43 +0800
Subject: [PATCH 01/14] perf(script): update install script file, add
 REGISTER_INSTALL_PREFIX compile flag to gflag

---
 install.py | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/install.py b/install.py
index 6f30169..f87676f 100644
--- a/install.py
+++ b/install.py
@@ -54,7 +54,10 @@ def _clone_github_repo(self, repo_url, repo_name, *args):
         for arg in args:
             command += " " + arg
         print("clone: {}".format(command))
-        subprocess.run(command, shell=True)
+        result = subprocess.run(command, shell=True)
+        if result.returncode != 0:
+            print("clone failed: {}".format(repo_url))
+            raise Exception("clone failed: {}".format(repo_url))
 
     def _clone_setup(self):
         self._clone_github_repo(
@@ -134,8 +137,10 @@ def _clone_gfamily(self):
         self._cmd("mkdir -p build")
         os.chdir("build")
         self._cmd(
-            "cmake -DCMAKE_CXX_FLAGS='-fPIC' -DCMAKE_INSTALL_PREFIX={} -DBUILD_SHARED_LIBS=ON ..".format(
-                self._install_prefix))
+            "cmake -DCMAKE_CXX_FLAGS='-fPIC' -DREGISTER_INSTALL_PREFIX=OFF -DCMAKE_INSTALL_PREFIX={} -DBUILD_SHARED_LIBS=ON ..".format(
+                self._install_prefix
+            )
+        )
         self._cmd("make install -j$(nproc)")
         os.chdir(self._current_path)
 

From 1f2be077ce4c42adb931e35f8dd447b90ac0f1f4 Mon Sep 17 00:00:00 2001
From: minhanghuang <job@minhang.me>
Date: Sat, 21 Dec 2024 10:28:11 +0800
Subject: [PATCH 02/14] docs: update readme

---
 README.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 10a47da..4536135 100644
--- a/README.md
+++ b/README.md
@@ -38,8 +38,8 @@ cd CyberRT
 > install
 
 ```shell
-sudo python3 install.py
-# sudo python3 install.py --platform <your-platform-machine> --install_prefix <your-install-path>
+python3 install.py
+# python3 install.py --platform <your-platform-machine> --install_prefix <your-install-path>
 ```
 
 > export path

From 7a248763e22b76f83adaa0008edc20f18f67c1d8 Mon Sep 17 00:00:00 2001
From: minhanghuang <job@minhang.me>
Date: Sun, 22 Dec 2024 15:03:34 +0800
Subject: [PATCH 03/14] perf(proto): remove protobuf source files

---
 .gitignore                           |    5 +
 cyber/examples/proto/examples.pb.cc  | 1070 -------------------------
 cyber/examples/proto/examples.pb.h   | 1114 --------------------------
 cyber/examples/proto/examples_pb2.py |  192 -----
 cyber/proto/.gitignore               |    3 -
 modules/common_msgs/.gitignore       |    3 -
 6 files changed, 5 insertions(+), 2382 deletions(-)
 delete mode 100644 cyber/examples/proto/examples.pb.cc
 delete mode 100644 cyber/examples/proto/examples.pb.h
 delete mode 100644 cyber/examples/proto/examples_pb2.py
 delete mode 100644 cyber/proto/.gitignore
 delete mode 100644 modules/common_msgs/.gitignore

diff --git a/.gitignore b/.gitignore
index 47b0ac4..b8bff28 100644
--- a/.gitignore
+++ b/.gitignore
@@ -7,6 +7,11 @@
 *.log
 .DS_Store
 
+# protobuf source file
+*.pb.cc
+*.pb.h
+*_pb2.py
+
 build/
 cmake-build*
 third_party/
diff --git a/cyber/examples/proto/examples.pb.cc b/cyber/examples/proto/examples.pb.cc
deleted file mode 100644
index 6f589a3..0000000
--- a/cyber/examples/proto/examples.pb.cc
+++ /dev/null
@@ -1,1070 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-// source: cyber/examples/proto/examples.proto
-
-#include "cyber/examples/proto/examples.pb.h"
-
-#include <algorithm>
-
-#include <google/protobuf/io/coded_stream.h>
-#include <google/protobuf/extension_set.h>
-#include <google/protobuf/wire_format_lite.h>
-#include <google/protobuf/descriptor.h>
-#include <google/protobuf/generated_message_reflection.h>
-#include <google/protobuf/reflection_ops.h>
-#include <google/protobuf/wire_format.h>
-// @@protoc_insertion_point(includes)
-#include <google/protobuf/port_def.inc>
-namespace apollo {
-namespace cyber {
-namespace examples {
-namespace proto {
-class SamplesTest1DefaultTypeInternal {
- public:
-  ::PROTOBUF_NAMESPACE_ID::internal::ExplicitlyConstructed<SamplesTest1> _instance;
-} _SamplesTest1_default_instance_;
-class ChatterDefaultTypeInternal {
- public:
-  ::PROTOBUF_NAMESPACE_ID::internal::ExplicitlyConstructed<Chatter> _instance;
-} _Chatter_default_instance_;
-class DriverDefaultTypeInternal {
- public:
-  ::PROTOBUF_NAMESPACE_ID::internal::ExplicitlyConstructed<Driver> _instance;
-} _Driver_default_instance_;
-}  // namespace proto
-}  // namespace examples
-}  // namespace cyber
-}  // namespace apollo
-static void InitDefaultsscc_info_Chatter_cyber_2fexamples_2fproto_2fexamples_2eproto() {
-  GOOGLE_PROTOBUF_VERIFY_VERSION;
-
-  {
-    void* ptr = &::apollo::cyber::examples::proto::_Chatter_default_instance_;
-    new (ptr) ::apollo::cyber::examples::proto::Chatter();
-    ::PROTOBUF_NAMESPACE_ID::internal::OnShutdownDestroyMessage(ptr);
-  }
-}
-
-::PROTOBUF_NAMESPACE_ID::internal::SCCInfo<0> scc_info_Chatter_cyber_2fexamples_2fproto_2fexamples_2eproto =
-    {{ATOMIC_VAR_INIT(::PROTOBUF_NAMESPACE_ID::internal::SCCInfoBase::kUninitialized), 0, 0, InitDefaultsscc_info_Chatter_cyber_2fexamples_2fproto_2fexamples_2eproto}, {}};
-
-static void InitDefaultsscc_info_Driver_cyber_2fexamples_2fproto_2fexamples_2eproto() {
-  GOOGLE_PROTOBUF_VERIFY_VERSION;
-
-  {
-    void* ptr = &::apollo::cyber::examples::proto::_Driver_default_instance_;
-    new (ptr) ::apollo::cyber::examples::proto::Driver();
-    ::PROTOBUF_NAMESPACE_ID::internal::OnShutdownDestroyMessage(ptr);
-  }
-}
-
-::PROTOBUF_NAMESPACE_ID::internal::SCCInfo<0> scc_info_Driver_cyber_2fexamples_2fproto_2fexamples_2eproto =
-    {{ATOMIC_VAR_INIT(::PROTOBUF_NAMESPACE_ID::internal::SCCInfoBase::kUninitialized), 0, 0, InitDefaultsscc_info_Driver_cyber_2fexamples_2fproto_2fexamples_2eproto}, {}};
-
-static void InitDefaultsscc_info_SamplesTest1_cyber_2fexamples_2fproto_2fexamples_2eproto() {
-  GOOGLE_PROTOBUF_VERIFY_VERSION;
-
-  {
-    void* ptr = &::apollo::cyber::examples::proto::_SamplesTest1_default_instance_;
-    new (ptr) ::apollo::cyber::examples::proto::SamplesTest1();
-    ::PROTOBUF_NAMESPACE_ID::internal::OnShutdownDestroyMessage(ptr);
-  }
-}
-
-::PROTOBUF_NAMESPACE_ID::internal::SCCInfo<0> scc_info_SamplesTest1_cyber_2fexamples_2fproto_2fexamples_2eproto =
-    {{ATOMIC_VAR_INIT(::PROTOBUF_NAMESPACE_ID::internal::SCCInfoBase::kUninitialized), 0, 0, InitDefaultsscc_info_SamplesTest1_cyber_2fexamples_2fproto_2fexamples_2eproto}, {}};
-
-static ::PROTOBUF_NAMESPACE_ID::Metadata file_level_metadata_cyber_2fexamples_2fproto_2fexamples_2eproto[3];
-static constexpr ::PROTOBUF_NAMESPACE_ID::EnumDescriptor const** file_level_enum_descriptors_cyber_2fexamples_2fproto_2fexamples_2eproto = nullptr;
-static constexpr ::PROTOBUF_NAMESPACE_ID::ServiceDescriptor const** file_level_service_descriptors_cyber_2fexamples_2fproto_2fexamples_2eproto = nullptr;
-
-const ::PROTOBUF_NAMESPACE_ID::uint32 TableStruct_cyber_2fexamples_2fproto_2fexamples_2eproto::offsets[] PROTOBUF_SECTION_VARIABLE(protodesc_cold) = {
-  PROTOBUF_FIELD_OFFSET(::apollo::cyber::examples::proto::SamplesTest1, _has_bits_),
-  PROTOBUF_FIELD_OFFSET(::apollo::cyber::examples::proto::SamplesTest1, _internal_metadata_),
-  ~0u,  // no _extensions_
-  ~0u,  // no _oneof_case_
-  ~0u,  // no _weak_field_map_
-  PROTOBUF_FIELD_OFFSET(::apollo::cyber::examples::proto::SamplesTest1, class_name_),
-  PROTOBUF_FIELD_OFFSET(::apollo::cyber::examples::proto::SamplesTest1, case_name_),
-  0,
-  1,
-  PROTOBUF_FIELD_OFFSET(::apollo::cyber::examples::proto::Chatter, _has_bits_),
-  PROTOBUF_FIELD_OFFSET(::apollo::cyber::examples::proto::Chatter, _internal_metadata_),
-  ~0u,  // no _extensions_
-  ~0u,  // no _oneof_case_
-  ~0u,  // no _weak_field_map_
-  PROTOBUF_FIELD_OFFSET(::apollo::cyber::examples::proto::Chatter, timestamp_),
-  PROTOBUF_FIELD_OFFSET(::apollo::cyber::examples::proto::Chatter, lidar_timestamp_),
-  PROTOBUF_FIELD_OFFSET(::apollo::cyber::examples::proto::Chatter, seq_),
-  PROTOBUF_FIELD_OFFSET(::apollo::cyber::examples::proto::Chatter, content_),
-  1,
-  2,
-  3,
-  0,
-  PROTOBUF_FIELD_OFFSET(::apollo::cyber::examples::proto::Driver, _has_bits_),
-  PROTOBUF_FIELD_OFFSET(::apollo::cyber::examples::proto::Driver, _internal_metadata_),
-  ~0u,  // no _extensions_
-  ~0u,  // no _oneof_case_
-  ~0u,  // no _weak_field_map_
-  PROTOBUF_FIELD_OFFSET(::apollo::cyber::examples::proto::Driver, content_),
-  PROTOBUF_FIELD_OFFSET(::apollo::cyber::examples::proto::Driver, msg_id_),
-  PROTOBUF_FIELD_OFFSET(::apollo::cyber::examples::proto::Driver, timestamp_),
-  0,
-  1,
-  2,
-};
-static const ::PROTOBUF_NAMESPACE_ID::internal::MigrationSchema schemas[] PROTOBUF_SECTION_VARIABLE(protodesc_cold) = {
-  { 0, 7, sizeof(::apollo::cyber::examples::proto::SamplesTest1)},
-  { 9, 18, sizeof(::apollo::cyber::examples::proto::Chatter)},
-  { 22, 30, sizeof(::apollo::cyber::examples::proto::Driver)},
-};
-
-static ::PROTOBUF_NAMESPACE_ID::Message const * const file_default_instances[] = {
-  reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Message*>(&::apollo::cyber::examples::proto::_SamplesTest1_default_instance_),
-  reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Message*>(&::apollo::cyber::examples::proto::_Chatter_default_instance_),
-  reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Message*>(&::apollo::cyber::examples::proto::_Driver_default_instance_),
-};
-
-const char descriptor_table_protodef_cyber_2fexamples_2fproto_2fexamples_2eproto[] PROTOBUF_SECTION_VARIABLE(protodesc_cold) =
-  "\n#cyber/examples/proto/examples.proto\022\033a"
-  "pollo.cyber.examples.proto\"5\n\014SamplesTes"
-  "t1\022\022\n\nclass_name\030\001 \001(\t\022\021\n\tcase_name\030\002 \001("
-  "\t\"S\n\007Chatter\022\021\n\ttimestamp\030\001 \001(\004\022\027\n\017lidar"
-  "_timestamp\030\002 \001(\004\022\013\n\003seq\030\003 \001(\004\022\017\n\007content"
-  "\030\004 \001(\014\"<\n\006Driver\022\017\n\007content\030\001 \001(\t\022\016\n\006msg"
-  "_id\030\002 \001(\004\022\021\n\ttimestamp\030\003 \001(\004"
-  ;
-static const ::PROTOBUF_NAMESPACE_ID::internal::DescriptorTable*const descriptor_table_cyber_2fexamples_2fproto_2fexamples_2eproto_deps[1] = {
-};
-static ::PROTOBUF_NAMESPACE_ID::internal::SCCInfoBase*const descriptor_table_cyber_2fexamples_2fproto_2fexamples_2eproto_sccs[3] = {
-  &scc_info_Chatter_cyber_2fexamples_2fproto_2fexamples_2eproto.base,
-  &scc_info_Driver_cyber_2fexamples_2fproto_2fexamples_2eproto.base,
-  &scc_info_SamplesTest1_cyber_2fexamples_2fproto_2fexamples_2eproto.base,
-};
-static ::PROTOBUF_NAMESPACE_ID::internal::once_flag descriptor_table_cyber_2fexamples_2fproto_2fexamples_2eproto_once;
-const ::PROTOBUF_NAMESPACE_ID::internal::DescriptorTable descriptor_table_cyber_2fexamples_2fproto_2fexamples_2eproto = {
-  false, false, descriptor_table_protodef_cyber_2fexamples_2fproto_2fexamples_2eproto, "cyber/examples/proto/examples.proto", 268,
-  &descriptor_table_cyber_2fexamples_2fproto_2fexamples_2eproto_once, descriptor_table_cyber_2fexamples_2fproto_2fexamples_2eproto_sccs, descriptor_table_cyber_2fexamples_2fproto_2fexamples_2eproto_deps, 3, 0,
-  schemas, file_default_instances, TableStruct_cyber_2fexamples_2fproto_2fexamples_2eproto::offsets,
-  file_level_metadata_cyber_2fexamples_2fproto_2fexamples_2eproto, 3, file_level_enum_descriptors_cyber_2fexamples_2fproto_2fexamples_2eproto, file_level_service_descriptors_cyber_2fexamples_2fproto_2fexamples_2eproto,
-};
-
-// Force running AddDescriptors() at dynamic initialization time.
-static bool dynamic_init_dummy_cyber_2fexamples_2fproto_2fexamples_2eproto = (static_cast<void>(::PROTOBUF_NAMESPACE_ID::internal::AddDescriptors(&descriptor_table_cyber_2fexamples_2fproto_2fexamples_2eproto)), true);
-namespace apollo {
-namespace cyber {
-namespace examples {
-namespace proto {
-
-// ===================================================================
-
-class SamplesTest1::_Internal {
- public:
-  using HasBits = decltype(std::declval<SamplesTest1>()._has_bits_);
-  static void set_has_class_name(HasBits* has_bits) {
-    (*has_bits)[0] |= 1u;
-  }
-  static void set_has_case_name(HasBits* has_bits) {
-    (*has_bits)[0] |= 2u;
-  }
-};
-
-SamplesTest1::SamplesTest1(::PROTOBUF_NAMESPACE_ID::Arena* arena)
-  : ::PROTOBUF_NAMESPACE_ID::Message(arena) {
-  SharedCtor();
-  RegisterArenaDtor(arena);
-  // @@protoc_insertion_point(arena_constructor:apollo.cyber.examples.proto.SamplesTest1)
-}
-SamplesTest1::SamplesTest1(const SamplesTest1& from)
-  : ::PROTOBUF_NAMESPACE_ID::Message(),
-      _has_bits_(from._has_bits_) {
-  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
-  class_name_.UnsafeSetDefault(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
-  if (from._internal_has_class_name()) {
-    class_name_.Set(::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, from._internal_class_name(), 
-      GetArena());
-  }
-  case_name_.UnsafeSetDefault(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
-  if (from._internal_has_case_name()) {
-    case_name_.Set(::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, from._internal_case_name(), 
-      GetArena());
-  }
-  // @@protoc_insertion_point(copy_constructor:apollo.cyber.examples.proto.SamplesTest1)
-}
-
-void SamplesTest1::SharedCtor() {
-  ::PROTOBUF_NAMESPACE_ID::internal::InitSCC(&scc_info_SamplesTest1_cyber_2fexamples_2fproto_2fexamples_2eproto.base);
-  class_name_.UnsafeSetDefault(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
-  case_name_.UnsafeSetDefault(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
-}
-
-SamplesTest1::~SamplesTest1() {
-  // @@protoc_insertion_point(destructor:apollo.cyber.examples.proto.SamplesTest1)
-  SharedDtor();
-  _internal_metadata_.Delete<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
-}
-
-void SamplesTest1::SharedDtor() {
-  GOOGLE_DCHECK(GetArena() == nullptr);
-  class_name_.DestroyNoArena(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
-  case_name_.DestroyNoArena(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
-}
-
-void SamplesTest1::ArenaDtor(void* object) {
-  SamplesTest1* _this = reinterpret_cast< SamplesTest1* >(object);
-  (void)_this;
-}
-void SamplesTest1::RegisterArenaDtor(::PROTOBUF_NAMESPACE_ID::Arena*) {
-}
-void SamplesTest1::SetCachedSize(int size) const {
-  _cached_size_.Set(size);
-}
-const SamplesTest1& SamplesTest1::default_instance() {
-  ::PROTOBUF_NAMESPACE_ID::internal::InitSCC(&::scc_info_SamplesTest1_cyber_2fexamples_2fproto_2fexamples_2eproto.base);
-  return *internal_default_instance();
-}
-
-
-void SamplesTest1::Clear() {
-// @@protoc_insertion_point(message_clear_start:apollo.cyber.examples.proto.SamplesTest1)
-  ::PROTOBUF_NAMESPACE_ID::uint32 cached_has_bits = 0;
-  // Prevent compiler warnings about cached_has_bits being unused
-  (void) cached_has_bits;
-
-  cached_has_bits = _has_bits_[0];
-  if (cached_has_bits & 0x00000003u) {
-    if (cached_has_bits & 0x00000001u) {
-      class_name_.ClearNonDefaultToEmpty();
-    }
-    if (cached_has_bits & 0x00000002u) {
-      case_name_.ClearNonDefaultToEmpty();
-    }
-  }
-  _has_bits_.Clear();
-  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
-}
-
-const char* SamplesTest1::_InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) {
-#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
-  _Internal::HasBits has_bits{};
-  while (!ctx->Done(&ptr)) {
-    ::PROTOBUF_NAMESPACE_ID::uint32 tag;
-    ptr = ::PROTOBUF_NAMESPACE_ID::internal::ReadTag(ptr, &tag);
-    CHK_(ptr);
-    switch (tag >> 3) {
-      // optional string class_name = 1;
-      case 1:
-        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 10)) {
-          auto str = _internal_mutable_class_name();
-          ptr = ::PROTOBUF_NAMESPACE_ID::internal::InlineGreedyStringParser(str, ptr, ctx);
-          #ifndef NDEBUG
-          ::PROTOBUF_NAMESPACE_ID::internal::VerifyUTF8(str, "apollo.cyber.examples.proto.SamplesTest1.class_name");
-          #endif  // !NDEBUG
-          CHK_(ptr);
-        } else goto handle_unusual;
-        continue;
-      // optional string case_name = 2;
-      case 2:
-        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 18)) {
-          auto str = _internal_mutable_case_name();
-          ptr = ::PROTOBUF_NAMESPACE_ID::internal::InlineGreedyStringParser(str, ptr, ctx);
-          #ifndef NDEBUG
-          ::PROTOBUF_NAMESPACE_ID::internal::VerifyUTF8(str, "apollo.cyber.examples.proto.SamplesTest1.case_name");
-          #endif  // !NDEBUG
-          CHK_(ptr);
-        } else goto handle_unusual;
-        continue;
-      default: {
-      handle_unusual:
-        if ((tag & 7) == 4 || tag == 0) {
-          ctx->SetLastTag(tag);
-          goto success;
-        }
-        ptr = UnknownFieldParse(tag,
-            _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
-            ptr, ctx);
-        CHK_(ptr != nullptr);
-        continue;
-      }
-    }  // switch
-  }  // while
-success:
-  _has_bits_.Or(has_bits);
-  return ptr;
-failure:
-  ptr = nullptr;
-  goto success;
-#undef CHK_
-}
-
-::PROTOBUF_NAMESPACE_ID::uint8* SamplesTest1::_InternalSerialize(
-    ::PROTOBUF_NAMESPACE_ID::uint8* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
-  // @@protoc_insertion_point(serialize_to_array_start:apollo.cyber.examples.proto.SamplesTest1)
-  ::PROTOBUF_NAMESPACE_ID::uint32 cached_has_bits = 0;
-  (void) cached_has_bits;
-
-  cached_has_bits = _has_bits_[0];
-  // optional string class_name = 1;
-  if (cached_has_bits & 0x00000001u) {
-    ::PROTOBUF_NAMESPACE_ID::internal::WireFormat::VerifyUTF8StringNamedField(
-      this->_internal_class_name().data(), static_cast<int>(this->_internal_class_name().length()),
-      ::PROTOBUF_NAMESPACE_ID::internal::WireFormat::SERIALIZE,
-      "apollo.cyber.examples.proto.SamplesTest1.class_name");
-    target = stream->WriteStringMaybeAliased(
-        1, this->_internal_class_name(), target);
-  }
-
-  // optional string case_name = 2;
-  if (cached_has_bits & 0x00000002u) {
-    ::PROTOBUF_NAMESPACE_ID::internal::WireFormat::VerifyUTF8StringNamedField(
-      this->_internal_case_name().data(), static_cast<int>(this->_internal_case_name().length()),
-      ::PROTOBUF_NAMESPACE_ID::internal::WireFormat::SERIALIZE,
-      "apollo.cyber.examples.proto.SamplesTest1.case_name");
-    target = stream->WriteStringMaybeAliased(
-        2, this->_internal_case_name(), target);
-  }
-
-  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
-    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormat::InternalSerializeUnknownFieldsToArray(
-        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
-  }
-  // @@protoc_insertion_point(serialize_to_array_end:apollo.cyber.examples.proto.SamplesTest1)
-  return target;
-}
-
-size_t SamplesTest1::ByteSizeLong() const {
-// @@protoc_insertion_point(message_byte_size_start:apollo.cyber.examples.proto.SamplesTest1)
-  size_t total_size = 0;
-
-  ::PROTOBUF_NAMESPACE_ID::uint32 cached_has_bits = 0;
-  // Prevent compiler warnings about cached_has_bits being unused
-  (void) cached_has_bits;
-
-  cached_has_bits = _has_bits_[0];
-  if (cached_has_bits & 0x00000003u) {
-    // optional string class_name = 1;
-    if (cached_has_bits & 0x00000001u) {
-      total_size += 1 +
-        ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
-          this->_internal_class_name());
-    }
-
-    // optional string case_name = 2;
-    if (cached_has_bits & 0x00000002u) {
-      total_size += 1 +
-        ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
-          this->_internal_case_name());
-    }
-
-  }
-  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
-    return ::PROTOBUF_NAMESPACE_ID::internal::ComputeUnknownFieldsSize(
-        _internal_metadata_, total_size, &_cached_size_);
-  }
-  int cached_size = ::PROTOBUF_NAMESPACE_ID::internal::ToCachedSize(total_size);
-  SetCachedSize(cached_size);
-  return total_size;
-}
-
-void SamplesTest1::MergeFrom(const ::PROTOBUF_NAMESPACE_ID::Message& from) {
-// @@protoc_insertion_point(generalized_merge_from_start:apollo.cyber.examples.proto.SamplesTest1)
-  GOOGLE_DCHECK_NE(&from, this);
-  const SamplesTest1* source =
-      ::PROTOBUF_NAMESPACE_ID::DynamicCastToGenerated<SamplesTest1>(
-          &from);
-  if (source == nullptr) {
-  // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.cyber.examples.proto.SamplesTest1)
-    ::PROTOBUF_NAMESPACE_ID::internal::ReflectionOps::Merge(from, this);
-  } else {
-  // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.cyber.examples.proto.SamplesTest1)
-    MergeFrom(*source);
-  }
-}
-
-void SamplesTest1::MergeFrom(const SamplesTest1& from) {
-// @@protoc_insertion_point(class_specific_merge_from_start:apollo.cyber.examples.proto.SamplesTest1)
-  GOOGLE_DCHECK_NE(&from, this);
-  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
-  ::PROTOBUF_NAMESPACE_ID::uint32 cached_has_bits = 0;
-  (void) cached_has_bits;
-
-  cached_has_bits = from._has_bits_[0];
-  if (cached_has_bits & 0x00000003u) {
-    if (cached_has_bits & 0x00000001u) {
-      _internal_set_class_name(from._internal_class_name());
-    }
-    if (cached_has_bits & 0x00000002u) {
-      _internal_set_case_name(from._internal_case_name());
-    }
-  }
-}
-
-void SamplesTest1::CopyFrom(const ::PROTOBUF_NAMESPACE_ID::Message& from) {
-// @@protoc_insertion_point(generalized_copy_from_start:apollo.cyber.examples.proto.SamplesTest1)
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void SamplesTest1::CopyFrom(const SamplesTest1& from) {
-// @@protoc_insertion_point(class_specific_copy_from_start:apollo.cyber.examples.proto.SamplesTest1)
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool SamplesTest1::IsInitialized() const {
-  return true;
-}
-
-void SamplesTest1::InternalSwap(SamplesTest1* other) {
-  using std::swap;
-  _internal_metadata_.Swap<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(&other->_internal_metadata_);
-  swap(_has_bits_[0], other->_has_bits_[0]);
-  class_name_.Swap(&other->class_name_, &::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited(), GetArena());
-  case_name_.Swap(&other->case_name_, &::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited(), GetArena());
-}
-
-::PROTOBUF_NAMESPACE_ID::Metadata SamplesTest1::GetMetadata() const {
-  return GetMetadataStatic();
-}
-
-
-// ===================================================================
-
-class Chatter::_Internal {
- public:
-  using HasBits = decltype(std::declval<Chatter>()._has_bits_);
-  static void set_has_timestamp(HasBits* has_bits) {
-    (*has_bits)[0] |= 2u;
-  }
-  static void set_has_lidar_timestamp(HasBits* has_bits) {
-    (*has_bits)[0] |= 4u;
-  }
-  static void set_has_seq(HasBits* has_bits) {
-    (*has_bits)[0] |= 8u;
-  }
-  static void set_has_content(HasBits* has_bits) {
-    (*has_bits)[0] |= 1u;
-  }
-};
-
-Chatter::Chatter(::PROTOBUF_NAMESPACE_ID::Arena* arena)
-  : ::PROTOBUF_NAMESPACE_ID::Message(arena) {
-  SharedCtor();
-  RegisterArenaDtor(arena);
-  // @@protoc_insertion_point(arena_constructor:apollo.cyber.examples.proto.Chatter)
-}
-Chatter::Chatter(const Chatter& from)
-  : ::PROTOBUF_NAMESPACE_ID::Message(),
-      _has_bits_(from._has_bits_) {
-  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
-  content_.UnsafeSetDefault(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
-  if (from._internal_has_content()) {
-    content_.Set(::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, from._internal_content(), 
-      GetArena());
-  }
-  ::memcpy(&timestamp_, &from.timestamp_,
-    static_cast<size_t>(reinterpret_cast<char*>(&seq_) -
-    reinterpret_cast<char*>(&timestamp_)) + sizeof(seq_));
-  // @@protoc_insertion_point(copy_constructor:apollo.cyber.examples.proto.Chatter)
-}
-
-void Chatter::SharedCtor() {
-  ::PROTOBUF_NAMESPACE_ID::internal::InitSCC(&scc_info_Chatter_cyber_2fexamples_2fproto_2fexamples_2eproto.base);
-  content_.UnsafeSetDefault(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
-  ::memset(reinterpret_cast<char*>(this) + static_cast<size_t>(
-      reinterpret_cast<char*>(&timestamp_) - reinterpret_cast<char*>(this)),
-      0, static_cast<size_t>(reinterpret_cast<char*>(&seq_) -
-      reinterpret_cast<char*>(&timestamp_)) + sizeof(seq_));
-}
-
-Chatter::~Chatter() {
-  // @@protoc_insertion_point(destructor:apollo.cyber.examples.proto.Chatter)
-  SharedDtor();
-  _internal_metadata_.Delete<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
-}
-
-void Chatter::SharedDtor() {
-  GOOGLE_DCHECK(GetArena() == nullptr);
-  content_.DestroyNoArena(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
-}
-
-void Chatter::ArenaDtor(void* object) {
-  Chatter* _this = reinterpret_cast< Chatter* >(object);
-  (void)_this;
-}
-void Chatter::RegisterArenaDtor(::PROTOBUF_NAMESPACE_ID::Arena*) {
-}
-void Chatter::SetCachedSize(int size) const {
-  _cached_size_.Set(size);
-}
-const Chatter& Chatter::default_instance() {
-  ::PROTOBUF_NAMESPACE_ID::internal::InitSCC(&::scc_info_Chatter_cyber_2fexamples_2fproto_2fexamples_2eproto.base);
-  return *internal_default_instance();
-}
-
-
-void Chatter::Clear() {
-// @@protoc_insertion_point(message_clear_start:apollo.cyber.examples.proto.Chatter)
-  ::PROTOBUF_NAMESPACE_ID::uint32 cached_has_bits = 0;
-  // Prevent compiler warnings about cached_has_bits being unused
-  (void) cached_has_bits;
-
-  cached_has_bits = _has_bits_[0];
-  if (cached_has_bits & 0x00000001u) {
-    content_.ClearNonDefaultToEmpty();
-  }
-  if (cached_has_bits & 0x0000000eu) {
-    ::memset(&timestamp_, 0, static_cast<size_t>(
-        reinterpret_cast<char*>(&seq_) -
-        reinterpret_cast<char*>(&timestamp_)) + sizeof(seq_));
-  }
-  _has_bits_.Clear();
-  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
-}
-
-const char* Chatter::_InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) {
-#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
-  _Internal::HasBits has_bits{};
-  while (!ctx->Done(&ptr)) {
-    ::PROTOBUF_NAMESPACE_ID::uint32 tag;
-    ptr = ::PROTOBUF_NAMESPACE_ID::internal::ReadTag(ptr, &tag);
-    CHK_(ptr);
-    switch (tag >> 3) {
-      // optional uint64 timestamp = 1;
-      case 1:
-        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 8)) {
-          _Internal::set_has_timestamp(&has_bits);
-          timestamp_ = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarint64(&ptr);
-          CHK_(ptr);
-        } else goto handle_unusual;
-        continue;
-      // optional uint64 lidar_timestamp = 2;
-      case 2:
-        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 16)) {
-          _Internal::set_has_lidar_timestamp(&has_bits);
-          lidar_timestamp_ = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarint64(&ptr);
-          CHK_(ptr);
-        } else goto handle_unusual;
-        continue;
-      // optional uint64 seq = 3;
-      case 3:
-        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 24)) {
-          _Internal::set_has_seq(&has_bits);
-          seq_ = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarint64(&ptr);
-          CHK_(ptr);
-        } else goto handle_unusual;
-        continue;
-      // optional bytes content = 4;
-      case 4:
-        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 34)) {
-          auto str = _internal_mutable_content();
-          ptr = ::PROTOBUF_NAMESPACE_ID::internal::InlineGreedyStringParser(str, ptr, ctx);
-          CHK_(ptr);
-        } else goto handle_unusual;
-        continue;
-      default: {
-      handle_unusual:
-        if ((tag & 7) == 4 || tag == 0) {
-          ctx->SetLastTag(tag);
-          goto success;
-        }
-        ptr = UnknownFieldParse(tag,
-            _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
-            ptr, ctx);
-        CHK_(ptr != nullptr);
-        continue;
-      }
-    }  // switch
-  }  // while
-success:
-  _has_bits_.Or(has_bits);
-  return ptr;
-failure:
-  ptr = nullptr;
-  goto success;
-#undef CHK_
-}
-
-::PROTOBUF_NAMESPACE_ID::uint8* Chatter::_InternalSerialize(
-    ::PROTOBUF_NAMESPACE_ID::uint8* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
-  // @@protoc_insertion_point(serialize_to_array_start:apollo.cyber.examples.proto.Chatter)
-  ::PROTOBUF_NAMESPACE_ID::uint32 cached_has_bits = 0;
-  (void) cached_has_bits;
-
-  cached_has_bits = _has_bits_[0];
-  // optional uint64 timestamp = 1;
-  if (cached_has_bits & 0x00000002u) {
-    target = stream->EnsureSpace(target);
-    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteUInt64ToArray(1, this->_internal_timestamp(), target);
-  }
-
-  // optional uint64 lidar_timestamp = 2;
-  if (cached_has_bits & 0x00000004u) {
-    target = stream->EnsureSpace(target);
-    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteUInt64ToArray(2, this->_internal_lidar_timestamp(), target);
-  }
-
-  // optional uint64 seq = 3;
-  if (cached_has_bits & 0x00000008u) {
-    target = stream->EnsureSpace(target);
-    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteUInt64ToArray(3, this->_internal_seq(), target);
-  }
-
-  // optional bytes content = 4;
-  if (cached_has_bits & 0x00000001u) {
-    target = stream->WriteBytesMaybeAliased(
-        4, this->_internal_content(), target);
-  }
-
-  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
-    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormat::InternalSerializeUnknownFieldsToArray(
-        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
-  }
-  // @@protoc_insertion_point(serialize_to_array_end:apollo.cyber.examples.proto.Chatter)
-  return target;
-}
-
-size_t Chatter::ByteSizeLong() const {
-// @@protoc_insertion_point(message_byte_size_start:apollo.cyber.examples.proto.Chatter)
-  size_t total_size = 0;
-
-  ::PROTOBUF_NAMESPACE_ID::uint32 cached_has_bits = 0;
-  // Prevent compiler warnings about cached_has_bits being unused
-  (void) cached_has_bits;
-
-  cached_has_bits = _has_bits_[0];
-  if (cached_has_bits & 0x0000000fu) {
-    // optional bytes content = 4;
-    if (cached_has_bits & 0x00000001u) {
-      total_size += 1 +
-        ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::BytesSize(
-          this->_internal_content());
-    }
-
-    // optional uint64 timestamp = 1;
-    if (cached_has_bits & 0x00000002u) {
-      total_size += 1 +
-        ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::UInt64Size(
-          this->_internal_timestamp());
-    }
-
-    // optional uint64 lidar_timestamp = 2;
-    if (cached_has_bits & 0x00000004u) {
-      total_size += 1 +
-        ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::UInt64Size(
-          this->_internal_lidar_timestamp());
-    }
-
-    // optional uint64 seq = 3;
-    if (cached_has_bits & 0x00000008u) {
-      total_size += 1 +
-        ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::UInt64Size(
-          this->_internal_seq());
-    }
-
-  }
-  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
-    return ::PROTOBUF_NAMESPACE_ID::internal::ComputeUnknownFieldsSize(
-        _internal_metadata_, total_size, &_cached_size_);
-  }
-  int cached_size = ::PROTOBUF_NAMESPACE_ID::internal::ToCachedSize(total_size);
-  SetCachedSize(cached_size);
-  return total_size;
-}
-
-void Chatter::MergeFrom(const ::PROTOBUF_NAMESPACE_ID::Message& from) {
-// @@protoc_insertion_point(generalized_merge_from_start:apollo.cyber.examples.proto.Chatter)
-  GOOGLE_DCHECK_NE(&from, this);
-  const Chatter* source =
-      ::PROTOBUF_NAMESPACE_ID::DynamicCastToGenerated<Chatter>(
-          &from);
-  if (source == nullptr) {
-  // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.cyber.examples.proto.Chatter)
-    ::PROTOBUF_NAMESPACE_ID::internal::ReflectionOps::Merge(from, this);
-  } else {
-  // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.cyber.examples.proto.Chatter)
-    MergeFrom(*source);
-  }
-}
-
-void Chatter::MergeFrom(const Chatter& from) {
-// @@protoc_insertion_point(class_specific_merge_from_start:apollo.cyber.examples.proto.Chatter)
-  GOOGLE_DCHECK_NE(&from, this);
-  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
-  ::PROTOBUF_NAMESPACE_ID::uint32 cached_has_bits = 0;
-  (void) cached_has_bits;
-
-  cached_has_bits = from._has_bits_[0];
-  if (cached_has_bits & 0x0000000fu) {
-    if (cached_has_bits & 0x00000001u) {
-      _internal_set_content(from._internal_content());
-    }
-    if (cached_has_bits & 0x00000002u) {
-      timestamp_ = from.timestamp_;
-    }
-    if (cached_has_bits & 0x00000004u) {
-      lidar_timestamp_ = from.lidar_timestamp_;
-    }
-    if (cached_has_bits & 0x00000008u) {
-      seq_ = from.seq_;
-    }
-    _has_bits_[0] |= cached_has_bits;
-  }
-}
-
-void Chatter::CopyFrom(const ::PROTOBUF_NAMESPACE_ID::Message& from) {
-// @@protoc_insertion_point(generalized_copy_from_start:apollo.cyber.examples.proto.Chatter)
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void Chatter::CopyFrom(const Chatter& from) {
-// @@protoc_insertion_point(class_specific_copy_from_start:apollo.cyber.examples.proto.Chatter)
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool Chatter::IsInitialized() const {
-  return true;
-}
-
-void Chatter::InternalSwap(Chatter* other) {
-  using std::swap;
-  _internal_metadata_.Swap<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(&other->_internal_metadata_);
-  swap(_has_bits_[0], other->_has_bits_[0]);
-  content_.Swap(&other->content_, &::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited(), GetArena());
-  ::PROTOBUF_NAMESPACE_ID::internal::memswap<
-      PROTOBUF_FIELD_OFFSET(Chatter, seq_)
-      + sizeof(Chatter::seq_)
-      - PROTOBUF_FIELD_OFFSET(Chatter, timestamp_)>(
-          reinterpret_cast<char*>(&timestamp_),
-          reinterpret_cast<char*>(&other->timestamp_));
-}
-
-::PROTOBUF_NAMESPACE_ID::Metadata Chatter::GetMetadata() const {
-  return GetMetadataStatic();
-}
-
-
-// ===================================================================
-
-class Driver::_Internal {
- public:
-  using HasBits = decltype(std::declval<Driver>()._has_bits_);
-  static void set_has_content(HasBits* has_bits) {
-    (*has_bits)[0] |= 1u;
-  }
-  static void set_has_msg_id(HasBits* has_bits) {
-    (*has_bits)[0] |= 2u;
-  }
-  static void set_has_timestamp(HasBits* has_bits) {
-    (*has_bits)[0] |= 4u;
-  }
-};
-
-Driver::Driver(::PROTOBUF_NAMESPACE_ID::Arena* arena)
-  : ::PROTOBUF_NAMESPACE_ID::Message(arena) {
-  SharedCtor();
-  RegisterArenaDtor(arena);
-  // @@protoc_insertion_point(arena_constructor:apollo.cyber.examples.proto.Driver)
-}
-Driver::Driver(const Driver& from)
-  : ::PROTOBUF_NAMESPACE_ID::Message(),
-      _has_bits_(from._has_bits_) {
-  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
-  content_.UnsafeSetDefault(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
-  if (from._internal_has_content()) {
-    content_.Set(::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, from._internal_content(), 
-      GetArena());
-  }
-  ::memcpy(&msg_id_, &from.msg_id_,
-    static_cast<size_t>(reinterpret_cast<char*>(&timestamp_) -
-    reinterpret_cast<char*>(&msg_id_)) + sizeof(timestamp_));
-  // @@protoc_insertion_point(copy_constructor:apollo.cyber.examples.proto.Driver)
-}
-
-void Driver::SharedCtor() {
-  ::PROTOBUF_NAMESPACE_ID::internal::InitSCC(&scc_info_Driver_cyber_2fexamples_2fproto_2fexamples_2eproto.base);
-  content_.UnsafeSetDefault(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
-  ::memset(reinterpret_cast<char*>(this) + static_cast<size_t>(
-      reinterpret_cast<char*>(&msg_id_) - reinterpret_cast<char*>(this)),
-      0, static_cast<size_t>(reinterpret_cast<char*>(&timestamp_) -
-      reinterpret_cast<char*>(&msg_id_)) + sizeof(timestamp_));
-}
-
-Driver::~Driver() {
-  // @@protoc_insertion_point(destructor:apollo.cyber.examples.proto.Driver)
-  SharedDtor();
-  _internal_metadata_.Delete<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
-}
-
-void Driver::SharedDtor() {
-  GOOGLE_DCHECK(GetArena() == nullptr);
-  content_.DestroyNoArena(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
-}
-
-void Driver::ArenaDtor(void* object) {
-  Driver* _this = reinterpret_cast< Driver* >(object);
-  (void)_this;
-}
-void Driver::RegisterArenaDtor(::PROTOBUF_NAMESPACE_ID::Arena*) {
-}
-void Driver::SetCachedSize(int size) const {
-  _cached_size_.Set(size);
-}
-const Driver& Driver::default_instance() {
-  ::PROTOBUF_NAMESPACE_ID::internal::InitSCC(&::scc_info_Driver_cyber_2fexamples_2fproto_2fexamples_2eproto.base);
-  return *internal_default_instance();
-}
-
-
-void Driver::Clear() {
-// @@protoc_insertion_point(message_clear_start:apollo.cyber.examples.proto.Driver)
-  ::PROTOBUF_NAMESPACE_ID::uint32 cached_has_bits = 0;
-  // Prevent compiler warnings about cached_has_bits being unused
-  (void) cached_has_bits;
-
-  cached_has_bits = _has_bits_[0];
-  if (cached_has_bits & 0x00000001u) {
-    content_.ClearNonDefaultToEmpty();
-  }
-  if (cached_has_bits & 0x00000006u) {
-    ::memset(&msg_id_, 0, static_cast<size_t>(
-        reinterpret_cast<char*>(&timestamp_) -
-        reinterpret_cast<char*>(&msg_id_)) + sizeof(timestamp_));
-  }
-  _has_bits_.Clear();
-  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
-}
-
-const char* Driver::_InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) {
-#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
-  _Internal::HasBits has_bits{};
-  while (!ctx->Done(&ptr)) {
-    ::PROTOBUF_NAMESPACE_ID::uint32 tag;
-    ptr = ::PROTOBUF_NAMESPACE_ID::internal::ReadTag(ptr, &tag);
-    CHK_(ptr);
-    switch (tag >> 3) {
-      // optional string content = 1;
-      case 1:
-        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 10)) {
-          auto str = _internal_mutable_content();
-          ptr = ::PROTOBUF_NAMESPACE_ID::internal::InlineGreedyStringParser(str, ptr, ctx);
-          #ifndef NDEBUG
-          ::PROTOBUF_NAMESPACE_ID::internal::VerifyUTF8(str, "apollo.cyber.examples.proto.Driver.content");
-          #endif  // !NDEBUG
-          CHK_(ptr);
-        } else goto handle_unusual;
-        continue;
-      // optional uint64 msg_id = 2;
-      case 2:
-        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 16)) {
-          _Internal::set_has_msg_id(&has_bits);
-          msg_id_ = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarint64(&ptr);
-          CHK_(ptr);
-        } else goto handle_unusual;
-        continue;
-      // optional uint64 timestamp = 3;
-      case 3:
-        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 24)) {
-          _Internal::set_has_timestamp(&has_bits);
-          timestamp_ = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarint64(&ptr);
-          CHK_(ptr);
-        } else goto handle_unusual;
-        continue;
-      default: {
-      handle_unusual:
-        if ((tag & 7) == 4 || tag == 0) {
-          ctx->SetLastTag(tag);
-          goto success;
-        }
-        ptr = UnknownFieldParse(tag,
-            _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
-            ptr, ctx);
-        CHK_(ptr != nullptr);
-        continue;
-      }
-    }  // switch
-  }  // while
-success:
-  _has_bits_.Or(has_bits);
-  return ptr;
-failure:
-  ptr = nullptr;
-  goto success;
-#undef CHK_
-}
-
-::PROTOBUF_NAMESPACE_ID::uint8* Driver::_InternalSerialize(
-    ::PROTOBUF_NAMESPACE_ID::uint8* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
-  // @@protoc_insertion_point(serialize_to_array_start:apollo.cyber.examples.proto.Driver)
-  ::PROTOBUF_NAMESPACE_ID::uint32 cached_has_bits = 0;
-  (void) cached_has_bits;
-
-  cached_has_bits = _has_bits_[0];
-  // optional string content = 1;
-  if (cached_has_bits & 0x00000001u) {
-    ::PROTOBUF_NAMESPACE_ID::internal::WireFormat::VerifyUTF8StringNamedField(
-      this->_internal_content().data(), static_cast<int>(this->_internal_content().length()),
-      ::PROTOBUF_NAMESPACE_ID::internal::WireFormat::SERIALIZE,
-      "apollo.cyber.examples.proto.Driver.content");
-    target = stream->WriteStringMaybeAliased(
-        1, this->_internal_content(), target);
-  }
-
-  // optional uint64 msg_id = 2;
-  if (cached_has_bits & 0x00000002u) {
-    target = stream->EnsureSpace(target);
-    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteUInt64ToArray(2, this->_internal_msg_id(), target);
-  }
-
-  // optional uint64 timestamp = 3;
-  if (cached_has_bits & 0x00000004u) {
-    target = stream->EnsureSpace(target);
-    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteUInt64ToArray(3, this->_internal_timestamp(), target);
-  }
-
-  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
-    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormat::InternalSerializeUnknownFieldsToArray(
-        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
-  }
-  // @@protoc_insertion_point(serialize_to_array_end:apollo.cyber.examples.proto.Driver)
-  return target;
-}
-
-size_t Driver::ByteSizeLong() const {
-// @@protoc_insertion_point(message_byte_size_start:apollo.cyber.examples.proto.Driver)
-  size_t total_size = 0;
-
-  ::PROTOBUF_NAMESPACE_ID::uint32 cached_has_bits = 0;
-  // Prevent compiler warnings about cached_has_bits being unused
-  (void) cached_has_bits;
-
-  cached_has_bits = _has_bits_[0];
-  if (cached_has_bits & 0x00000007u) {
-    // optional string content = 1;
-    if (cached_has_bits & 0x00000001u) {
-      total_size += 1 +
-        ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
-          this->_internal_content());
-    }
-
-    // optional uint64 msg_id = 2;
-    if (cached_has_bits & 0x00000002u) {
-      total_size += 1 +
-        ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::UInt64Size(
-          this->_internal_msg_id());
-    }
-
-    // optional uint64 timestamp = 3;
-    if (cached_has_bits & 0x00000004u) {
-      total_size += 1 +
-        ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::UInt64Size(
-          this->_internal_timestamp());
-    }
-
-  }
-  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
-    return ::PROTOBUF_NAMESPACE_ID::internal::ComputeUnknownFieldsSize(
-        _internal_metadata_, total_size, &_cached_size_);
-  }
-  int cached_size = ::PROTOBUF_NAMESPACE_ID::internal::ToCachedSize(total_size);
-  SetCachedSize(cached_size);
-  return total_size;
-}
-
-void Driver::MergeFrom(const ::PROTOBUF_NAMESPACE_ID::Message& from) {
-// @@protoc_insertion_point(generalized_merge_from_start:apollo.cyber.examples.proto.Driver)
-  GOOGLE_DCHECK_NE(&from, this);
-  const Driver* source =
-      ::PROTOBUF_NAMESPACE_ID::DynamicCastToGenerated<Driver>(
-          &from);
-  if (source == nullptr) {
-  // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.cyber.examples.proto.Driver)
-    ::PROTOBUF_NAMESPACE_ID::internal::ReflectionOps::Merge(from, this);
-  } else {
-  // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.cyber.examples.proto.Driver)
-    MergeFrom(*source);
-  }
-}
-
-void Driver::MergeFrom(const Driver& from) {
-// @@protoc_insertion_point(class_specific_merge_from_start:apollo.cyber.examples.proto.Driver)
-  GOOGLE_DCHECK_NE(&from, this);
-  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
-  ::PROTOBUF_NAMESPACE_ID::uint32 cached_has_bits = 0;
-  (void) cached_has_bits;
-
-  cached_has_bits = from._has_bits_[0];
-  if (cached_has_bits & 0x00000007u) {
-    if (cached_has_bits & 0x00000001u) {
-      _internal_set_content(from._internal_content());
-    }
-    if (cached_has_bits & 0x00000002u) {
-      msg_id_ = from.msg_id_;
-    }
-    if (cached_has_bits & 0x00000004u) {
-      timestamp_ = from.timestamp_;
-    }
-    _has_bits_[0] |= cached_has_bits;
-  }
-}
-
-void Driver::CopyFrom(const ::PROTOBUF_NAMESPACE_ID::Message& from) {
-// @@protoc_insertion_point(generalized_copy_from_start:apollo.cyber.examples.proto.Driver)
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void Driver::CopyFrom(const Driver& from) {
-// @@protoc_insertion_point(class_specific_copy_from_start:apollo.cyber.examples.proto.Driver)
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool Driver::IsInitialized() const {
-  return true;
-}
-
-void Driver::InternalSwap(Driver* other) {
-  using std::swap;
-  _internal_metadata_.Swap<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(&other->_internal_metadata_);
-  swap(_has_bits_[0], other->_has_bits_[0]);
-  content_.Swap(&other->content_, &::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited(), GetArena());
-  ::PROTOBUF_NAMESPACE_ID::internal::memswap<
-      PROTOBUF_FIELD_OFFSET(Driver, timestamp_)
-      + sizeof(Driver::timestamp_)
-      - PROTOBUF_FIELD_OFFSET(Driver, msg_id_)>(
-          reinterpret_cast<char*>(&msg_id_),
-          reinterpret_cast<char*>(&other->msg_id_));
-}
-
-::PROTOBUF_NAMESPACE_ID::Metadata Driver::GetMetadata() const {
-  return GetMetadataStatic();
-}
-
-
-// @@protoc_insertion_point(namespace_scope)
-}  // namespace proto
-}  // namespace examples
-}  // namespace cyber
-}  // namespace apollo
-PROTOBUF_NAMESPACE_OPEN
-template<> PROTOBUF_NOINLINE ::apollo::cyber::examples::proto::SamplesTest1* Arena::CreateMaybeMessage< ::apollo::cyber::examples::proto::SamplesTest1 >(Arena* arena) {
-  return Arena::CreateMessageInternal< ::apollo::cyber::examples::proto::SamplesTest1 >(arena);
-}
-template<> PROTOBUF_NOINLINE ::apollo::cyber::examples::proto::Chatter* Arena::CreateMaybeMessage< ::apollo::cyber::examples::proto::Chatter >(Arena* arena) {
-  return Arena::CreateMessageInternal< ::apollo::cyber::examples::proto::Chatter >(arena);
-}
-template<> PROTOBUF_NOINLINE ::apollo::cyber::examples::proto::Driver* Arena::CreateMaybeMessage< ::apollo::cyber::examples::proto::Driver >(Arena* arena) {
-  return Arena::CreateMessageInternal< ::apollo::cyber::examples::proto::Driver >(arena);
-}
-PROTOBUF_NAMESPACE_CLOSE
-
-// @@protoc_insertion_point(global_scope)
-#include <google/protobuf/port_undef.inc>
diff --git a/cyber/examples/proto/examples.pb.h b/cyber/examples/proto/examples.pb.h
deleted file mode 100644
index a1c9c80..0000000
--- a/cyber/examples/proto/examples.pb.h
+++ /dev/null
@@ -1,1114 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-// source: cyber/examples/proto/examples.proto
-
-#ifndef GOOGLE_PROTOBUF_INCLUDED_cyber_2fexamples_2fproto_2fexamples_2eproto
-#define GOOGLE_PROTOBUF_INCLUDED_cyber_2fexamples_2fproto_2fexamples_2eproto
-
-#include <limits>
-#include <string>
-
-#include <google/protobuf/port_def.inc>
-#if PROTOBUF_VERSION < 3014000
-#error This file was generated by a newer version of protoc which is
-#error incompatible with your Protocol Buffer headers. Please update
-#error your headers.
-#endif
-#if 3014000 < PROTOBUF_MIN_PROTOC_VERSION
-#error This file was generated by an older version of protoc which is
-#error incompatible with your Protocol Buffer headers. Please
-#error regenerate this file with a newer version of protoc.
-#endif
-
-#include <google/protobuf/port_undef.inc>
-#include <google/protobuf/io/coded_stream.h>
-#include <google/protobuf/arena.h>
-#include <google/protobuf/arenastring.h>
-#include <google/protobuf/generated_message_table_driven.h>
-#include <google/protobuf/generated_message_util.h>
-#include <google/protobuf/metadata_lite.h>
-#include <google/protobuf/generated_message_reflection.h>
-#include <google/protobuf/message.h>
-#include <google/protobuf/repeated_field.h>  // IWYU pragma: export
-#include <google/protobuf/extension_set.h>  // IWYU pragma: export
-#include <google/protobuf/unknown_field_set.h>
-// @@protoc_insertion_point(includes)
-#include <google/protobuf/port_def.inc>
-#define PROTOBUF_INTERNAL_EXPORT_cyber_2fexamples_2fproto_2fexamples_2eproto
-PROTOBUF_NAMESPACE_OPEN
-namespace internal {
-class AnyMetadata;
-}  // namespace internal
-PROTOBUF_NAMESPACE_CLOSE
-
-// Internal implementation detail -- do not use these members.
-struct TableStruct_cyber_2fexamples_2fproto_2fexamples_2eproto {
-  static const ::PROTOBUF_NAMESPACE_ID::internal::ParseTableField entries[]
-    PROTOBUF_SECTION_VARIABLE(protodesc_cold);
-  static const ::PROTOBUF_NAMESPACE_ID::internal::AuxiliaryParseTableField aux[]
-    PROTOBUF_SECTION_VARIABLE(protodesc_cold);
-  static const ::PROTOBUF_NAMESPACE_ID::internal::ParseTable schema[3]
-    PROTOBUF_SECTION_VARIABLE(protodesc_cold);
-  static const ::PROTOBUF_NAMESPACE_ID::internal::FieldMetadata field_metadata[];
-  static const ::PROTOBUF_NAMESPACE_ID::internal::SerializationTable serialization_table[];
-  static const ::PROTOBUF_NAMESPACE_ID::uint32 offsets[];
-};
-extern const ::PROTOBUF_NAMESPACE_ID::internal::DescriptorTable descriptor_table_cyber_2fexamples_2fproto_2fexamples_2eproto;
-namespace apollo {
-namespace cyber {
-namespace examples {
-namespace proto {
-class Chatter;
-class ChatterDefaultTypeInternal;
-extern ChatterDefaultTypeInternal _Chatter_default_instance_;
-class Driver;
-class DriverDefaultTypeInternal;
-extern DriverDefaultTypeInternal _Driver_default_instance_;
-class SamplesTest1;
-class SamplesTest1DefaultTypeInternal;
-extern SamplesTest1DefaultTypeInternal _SamplesTest1_default_instance_;
-}  // namespace proto
-}  // namespace examples
-}  // namespace cyber
-}  // namespace apollo
-PROTOBUF_NAMESPACE_OPEN
-template<> ::apollo::cyber::examples::proto::Chatter* Arena::CreateMaybeMessage<::apollo::cyber::examples::proto::Chatter>(Arena*);
-template<> ::apollo::cyber::examples::proto::Driver* Arena::CreateMaybeMessage<::apollo::cyber::examples::proto::Driver>(Arena*);
-template<> ::apollo::cyber::examples::proto::SamplesTest1* Arena::CreateMaybeMessage<::apollo::cyber::examples::proto::SamplesTest1>(Arena*);
-PROTOBUF_NAMESPACE_CLOSE
-namespace apollo {
-namespace cyber {
-namespace examples {
-namespace proto {
-
-// ===================================================================
-
-class SamplesTest1 PROTOBUF_FINAL :
-    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:apollo.cyber.examples.proto.SamplesTest1) */ {
- public:
-  inline SamplesTest1() : SamplesTest1(nullptr) {}
-  virtual ~SamplesTest1();
-
-  SamplesTest1(const SamplesTest1& from);
-  SamplesTest1(SamplesTest1&& from) noexcept
-    : SamplesTest1() {
-    *this = ::std::move(from);
-  }
-
-  inline SamplesTest1& operator=(const SamplesTest1& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  inline SamplesTest1& operator=(SamplesTest1&& from) noexcept {
-    if (GetArena() == from.GetArena()) {
-      if (this != &from) InternalSwap(&from);
-    } else {
-      CopyFrom(from);
-    }
-    return *this;
-  }
-
-  inline const ::PROTOBUF_NAMESPACE_ID::UnknownFieldSet& unknown_fields() const {
-    return _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance);
-  }
-  inline ::PROTOBUF_NAMESPACE_ID::UnknownFieldSet* mutable_unknown_fields() {
-    return _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
-  }
-
-  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
-    return GetDescriptor();
-  }
-  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
-    return GetMetadataStatic().descriptor;
-  }
-  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
-    return GetMetadataStatic().reflection;
-  }
-  static const SamplesTest1& default_instance();
-
-  static inline const SamplesTest1* internal_default_instance() {
-    return reinterpret_cast<const SamplesTest1*>(
-               &_SamplesTest1_default_instance_);
-  }
-  static constexpr int kIndexInFileMessages =
-    0;
-
-  friend void swap(SamplesTest1& a, SamplesTest1& b) {
-    a.Swap(&b);
-  }
-  inline void Swap(SamplesTest1* other) {
-    if (other == this) return;
-    if (GetArena() == other->GetArena()) {
-      InternalSwap(other);
-    } else {
-      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
-    }
-  }
-  void UnsafeArenaSwap(SamplesTest1* other) {
-    if (other == this) return;
-    GOOGLE_DCHECK(GetArena() == other->GetArena());
-    InternalSwap(other);
-  }
-
-  // implements Message ----------------------------------------------
-
-  inline SamplesTest1* New() const final {
-    return CreateMaybeMessage<SamplesTest1>(nullptr);
-  }
-
-  SamplesTest1* New(::PROTOBUF_NAMESPACE_ID::Arena* arena) const final {
-    return CreateMaybeMessage<SamplesTest1>(arena);
-  }
-  void CopyFrom(const ::PROTOBUF_NAMESPACE_ID::Message& from) final;
-  void MergeFrom(const ::PROTOBUF_NAMESPACE_ID::Message& from) final;
-  void CopyFrom(const SamplesTest1& from);
-  void MergeFrom(const SamplesTest1& from);
-  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
-  bool IsInitialized() const final;
-
-  size_t ByteSizeLong() const final;
-  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
-  ::PROTOBUF_NAMESPACE_ID::uint8* _InternalSerialize(
-      ::PROTOBUF_NAMESPACE_ID::uint8* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
-  int GetCachedSize() const final { return _cached_size_.Get(); }
-
-  private:
-  inline void SharedCtor();
-  inline void SharedDtor();
-  void SetCachedSize(int size) const final;
-  void InternalSwap(SamplesTest1* other);
-  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
-  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
-    return "apollo.cyber.examples.proto.SamplesTest1";
-  }
-  protected:
-  explicit SamplesTest1(::PROTOBUF_NAMESPACE_ID::Arena* arena);
-  private:
-  static void ArenaDtor(void* object);
-  inline void RegisterArenaDtor(::PROTOBUF_NAMESPACE_ID::Arena* arena);
-  public:
-
-  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
-  private:
-  static ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadataStatic() {
-    ::PROTOBUF_NAMESPACE_ID::internal::AssignDescriptors(&::descriptor_table_cyber_2fexamples_2fproto_2fexamples_2eproto);
-    return ::descriptor_table_cyber_2fexamples_2fproto_2fexamples_2eproto.file_level_metadata[kIndexInFileMessages];
-  }
-
-  public:
-
-  // nested types ----------------------------------------------------
-
-  // accessors -------------------------------------------------------
-
-  enum : int {
-    kClassNameFieldNumber = 1,
-    kCaseNameFieldNumber = 2,
-  };
-  // optional string class_name = 1;
-  bool has_class_name() const;
-  private:
-  bool _internal_has_class_name() const;
-  public:
-  void clear_class_name();
-  const std::string& class_name() const;
-  void set_class_name(const std::string& value);
-  void set_class_name(std::string&& value);
-  void set_class_name(const char* value);
-  void set_class_name(const char* value, size_t size);
-  std::string* mutable_class_name();
-  std::string* release_class_name();
-  void set_allocated_class_name(std::string* class_name);
-  private:
-  const std::string& _internal_class_name() const;
-  void _internal_set_class_name(const std::string& value);
-  std::string* _internal_mutable_class_name();
-  public:
-
-  // optional string case_name = 2;
-  bool has_case_name() const;
-  private:
-  bool _internal_has_case_name() const;
-  public:
-  void clear_case_name();
-  const std::string& case_name() const;
-  void set_case_name(const std::string& value);
-  void set_case_name(std::string&& value);
-  void set_case_name(const char* value);
-  void set_case_name(const char* value, size_t size);
-  std::string* mutable_case_name();
-  std::string* release_case_name();
-  void set_allocated_case_name(std::string* case_name);
-  private:
-  const std::string& _internal_case_name() const;
-  void _internal_set_case_name(const std::string& value);
-  std::string* _internal_mutable_case_name();
-  public:
-
-  // @@protoc_insertion_point(class_scope:apollo.cyber.examples.proto.SamplesTest1)
- private:
-  class _Internal;
-
-  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
-  typedef void InternalArenaConstructable_;
-  typedef void DestructorSkippable_;
-  ::PROTOBUF_NAMESPACE_ID::internal::HasBits<1> _has_bits_;
-  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
-  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr class_name_;
-  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr case_name_;
-  friend struct ::TableStruct_cyber_2fexamples_2fproto_2fexamples_2eproto;
-};
-// -------------------------------------------------------------------
-
-class Chatter PROTOBUF_FINAL :
-    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:apollo.cyber.examples.proto.Chatter) */ {
- public:
-  inline Chatter() : Chatter(nullptr) {}
-  virtual ~Chatter();
-
-  Chatter(const Chatter& from);
-  Chatter(Chatter&& from) noexcept
-    : Chatter() {
-    *this = ::std::move(from);
-  }
-
-  inline Chatter& operator=(const Chatter& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  inline Chatter& operator=(Chatter&& from) noexcept {
-    if (GetArena() == from.GetArena()) {
-      if (this != &from) InternalSwap(&from);
-    } else {
-      CopyFrom(from);
-    }
-    return *this;
-  }
-
-  inline const ::PROTOBUF_NAMESPACE_ID::UnknownFieldSet& unknown_fields() const {
-    return _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance);
-  }
-  inline ::PROTOBUF_NAMESPACE_ID::UnknownFieldSet* mutable_unknown_fields() {
-    return _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
-  }
-
-  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
-    return GetDescriptor();
-  }
-  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
-    return GetMetadataStatic().descriptor;
-  }
-  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
-    return GetMetadataStatic().reflection;
-  }
-  static const Chatter& default_instance();
-
-  static inline const Chatter* internal_default_instance() {
-    return reinterpret_cast<const Chatter*>(
-               &_Chatter_default_instance_);
-  }
-  static constexpr int kIndexInFileMessages =
-    1;
-
-  friend void swap(Chatter& a, Chatter& b) {
-    a.Swap(&b);
-  }
-  inline void Swap(Chatter* other) {
-    if (other == this) return;
-    if (GetArena() == other->GetArena()) {
-      InternalSwap(other);
-    } else {
-      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
-    }
-  }
-  void UnsafeArenaSwap(Chatter* other) {
-    if (other == this) return;
-    GOOGLE_DCHECK(GetArena() == other->GetArena());
-    InternalSwap(other);
-  }
-
-  // implements Message ----------------------------------------------
-
-  inline Chatter* New() const final {
-    return CreateMaybeMessage<Chatter>(nullptr);
-  }
-
-  Chatter* New(::PROTOBUF_NAMESPACE_ID::Arena* arena) const final {
-    return CreateMaybeMessage<Chatter>(arena);
-  }
-  void CopyFrom(const ::PROTOBUF_NAMESPACE_ID::Message& from) final;
-  void MergeFrom(const ::PROTOBUF_NAMESPACE_ID::Message& from) final;
-  void CopyFrom(const Chatter& from);
-  void MergeFrom(const Chatter& from);
-  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
-  bool IsInitialized() const final;
-
-  size_t ByteSizeLong() const final;
-  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
-  ::PROTOBUF_NAMESPACE_ID::uint8* _InternalSerialize(
-      ::PROTOBUF_NAMESPACE_ID::uint8* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
-  int GetCachedSize() const final { return _cached_size_.Get(); }
-
-  private:
-  inline void SharedCtor();
-  inline void SharedDtor();
-  void SetCachedSize(int size) const final;
-  void InternalSwap(Chatter* other);
-  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
-  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
-    return "apollo.cyber.examples.proto.Chatter";
-  }
-  protected:
-  explicit Chatter(::PROTOBUF_NAMESPACE_ID::Arena* arena);
-  private:
-  static void ArenaDtor(void* object);
-  inline void RegisterArenaDtor(::PROTOBUF_NAMESPACE_ID::Arena* arena);
-  public:
-
-  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
-  private:
-  static ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadataStatic() {
-    ::PROTOBUF_NAMESPACE_ID::internal::AssignDescriptors(&::descriptor_table_cyber_2fexamples_2fproto_2fexamples_2eproto);
-    return ::descriptor_table_cyber_2fexamples_2fproto_2fexamples_2eproto.file_level_metadata[kIndexInFileMessages];
-  }
-
-  public:
-
-  // nested types ----------------------------------------------------
-
-  // accessors -------------------------------------------------------
-
-  enum : int {
-    kContentFieldNumber = 4,
-    kTimestampFieldNumber = 1,
-    kLidarTimestampFieldNumber = 2,
-    kSeqFieldNumber = 3,
-  };
-  // optional bytes content = 4;
-  bool has_content() const;
-  private:
-  bool _internal_has_content() const;
-  public:
-  void clear_content();
-  const std::string& content() const;
-  void set_content(const std::string& value);
-  void set_content(std::string&& value);
-  void set_content(const char* value);
-  void set_content(const void* value, size_t size);
-  std::string* mutable_content();
-  std::string* release_content();
-  void set_allocated_content(std::string* content);
-  private:
-  const std::string& _internal_content() const;
-  void _internal_set_content(const std::string& value);
-  std::string* _internal_mutable_content();
-  public:
-
-  // optional uint64 timestamp = 1;
-  bool has_timestamp() const;
-  private:
-  bool _internal_has_timestamp() const;
-  public:
-  void clear_timestamp();
-  ::PROTOBUF_NAMESPACE_ID::uint64 timestamp() const;
-  void set_timestamp(::PROTOBUF_NAMESPACE_ID::uint64 value);
-  private:
-  ::PROTOBUF_NAMESPACE_ID::uint64 _internal_timestamp() const;
-  void _internal_set_timestamp(::PROTOBUF_NAMESPACE_ID::uint64 value);
-  public:
-
-  // optional uint64 lidar_timestamp = 2;
-  bool has_lidar_timestamp() const;
-  private:
-  bool _internal_has_lidar_timestamp() const;
-  public:
-  void clear_lidar_timestamp();
-  ::PROTOBUF_NAMESPACE_ID::uint64 lidar_timestamp() const;
-  void set_lidar_timestamp(::PROTOBUF_NAMESPACE_ID::uint64 value);
-  private:
-  ::PROTOBUF_NAMESPACE_ID::uint64 _internal_lidar_timestamp() const;
-  void _internal_set_lidar_timestamp(::PROTOBUF_NAMESPACE_ID::uint64 value);
-  public:
-
-  // optional uint64 seq = 3;
-  bool has_seq() const;
-  private:
-  bool _internal_has_seq() const;
-  public:
-  void clear_seq();
-  ::PROTOBUF_NAMESPACE_ID::uint64 seq() const;
-  void set_seq(::PROTOBUF_NAMESPACE_ID::uint64 value);
-  private:
-  ::PROTOBUF_NAMESPACE_ID::uint64 _internal_seq() const;
-  void _internal_set_seq(::PROTOBUF_NAMESPACE_ID::uint64 value);
-  public:
-
-  // @@protoc_insertion_point(class_scope:apollo.cyber.examples.proto.Chatter)
- private:
-  class _Internal;
-
-  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
-  typedef void InternalArenaConstructable_;
-  typedef void DestructorSkippable_;
-  ::PROTOBUF_NAMESPACE_ID::internal::HasBits<1> _has_bits_;
-  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
-  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr content_;
-  ::PROTOBUF_NAMESPACE_ID::uint64 timestamp_;
-  ::PROTOBUF_NAMESPACE_ID::uint64 lidar_timestamp_;
-  ::PROTOBUF_NAMESPACE_ID::uint64 seq_;
-  friend struct ::TableStruct_cyber_2fexamples_2fproto_2fexamples_2eproto;
-};
-// -------------------------------------------------------------------
-
-class Driver PROTOBUF_FINAL :
-    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:apollo.cyber.examples.proto.Driver) */ {
- public:
-  inline Driver() : Driver(nullptr) {}
-  virtual ~Driver();
-
-  Driver(const Driver& from);
-  Driver(Driver&& from) noexcept
-    : Driver() {
-    *this = ::std::move(from);
-  }
-
-  inline Driver& operator=(const Driver& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  inline Driver& operator=(Driver&& from) noexcept {
-    if (GetArena() == from.GetArena()) {
-      if (this != &from) InternalSwap(&from);
-    } else {
-      CopyFrom(from);
-    }
-    return *this;
-  }
-
-  inline const ::PROTOBUF_NAMESPACE_ID::UnknownFieldSet& unknown_fields() const {
-    return _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance);
-  }
-  inline ::PROTOBUF_NAMESPACE_ID::UnknownFieldSet* mutable_unknown_fields() {
-    return _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
-  }
-
-  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
-    return GetDescriptor();
-  }
-  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
-    return GetMetadataStatic().descriptor;
-  }
-  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
-    return GetMetadataStatic().reflection;
-  }
-  static const Driver& default_instance();
-
-  static inline const Driver* internal_default_instance() {
-    return reinterpret_cast<const Driver*>(
-               &_Driver_default_instance_);
-  }
-  static constexpr int kIndexInFileMessages =
-    2;
-
-  friend void swap(Driver& a, Driver& b) {
-    a.Swap(&b);
-  }
-  inline void Swap(Driver* other) {
-    if (other == this) return;
-    if (GetArena() == other->GetArena()) {
-      InternalSwap(other);
-    } else {
-      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
-    }
-  }
-  void UnsafeArenaSwap(Driver* other) {
-    if (other == this) return;
-    GOOGLE_DCHECK(GetArena() == other->GetArena());
-    InternalSwap(other);
-  }
-
-  // implements Message ----------------------------------------------
-
-  inline Driver* New() const final {
-    return CreateMaybeMessage<Driver>(nullptr);
-  }
-
-  Driver* New(::PROTOBUF_NAMESPACE_ID::Arena* arena) const final {
-    return CreateMaybeMessage<Driver>(arena);
-  }
-  void CopyFrom(const ::PROTOBUF_NAMESPACE_ID::Message& from) final;
-  void MergeFrom(const ::PROTOBUF_NAMESPACE_ID::Message& from) final;
-  void CopyFrom(const Driver& from);
-  void MergeFrom(const Driver& from);
-  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
-  bool IsInitialized() const final;
-
-  size_t ByteSizeLong() const final;
-  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
-  ::PROTOBUF_NAMESPACE_ID::uint8* _InternalSerialize(
-      ::PROTOBUF_NAMESPACE_ID::uint8* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
-  int GetCachedSize() const final { return _cached_size_.Get(); }
-
-  private:
-  inline void SharedCtor();
-  inline void SharedDtor();
-  void SetCachedSize(int size) const final;
-  void InternalSwap(Driver* other);
-  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
-  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
-    return "apollo.cyber.examples.proto.Driver";
-  }
-  protected:
-  explicit Driver(::PROTOBUF_NAMESPACE_ID::Arena* arena);
-  private:
-  static void ArenaDtor(void* object);
-  inline void RegisterArenaDtor(::PROTOBUF_NAMESPACE_ID::Arena* arena);
-  public:
-
-  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
-  private:
-  static ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadataStatic() {
-    ::PROTOBUF_NAMESPACE_ID::internal::AssignDescriptors(&::descriptor_table_cyber_2fexamples_2fproto_2fexamples_2eproto);
-    return ::descriptor_table_cyber_2fexamples_2fproto_2fexamples_2eproto.file_level_metadata[kIndexInFileMessages];
-  }
-
-  public:
-
-  // nested types ----------------------------------------------------
-
-  // accessors -------------------------------------------------------
-
-  enum : int {
-    kContentFieldNumber = 1,
-    kMsgIdFieldNumber = 2,
-    kTimestampFieldNumber = 3,
-  };
-  // optional string content = 1;
-  bool has_content() const;
-  private:
-  bool _internal_has_content() const;
-  public:
-  void clear_content();
-  const std::string& content() const;
-  void set_content(const std::string& value);
-  void set_content(std::string&& value);
-  void set_content(const char* value);
-  void set_content(const char* value, size_t size);
-  std::string* mutable_content();
-  std::string* release_content();
-  void set_allocated_content(std::string* content);
-  private:
-  const std::string& _internal_content() const;
-  void _internal_set_content(const std::string& value);
-  std::string* _internal_mutable_content();
-  public:
-
-  // optional uint64 msg_id = 2;
-  bool has_msg_id() const;
-  private:
-  bool _internal_has_msg_id() const;
-  public:
-  void clear_msg_id();
-  ::PROTOBUF_NAMESPACE_ID::uint64 msg_id() const;
-  void set_msg_id(::PROTOBUF_NAMESPACE_ID::uint64 value);
-  private:
-  ::PROTOBUF_NAMESPACE_ID::uint64 _internal_msg_id() const;
-  void _internal_set_msg_id(::PROTOBUF_NAMESPACE_ID::uint64 value);
-  public:
-
-  // optional uint64 timestamp = 3;
-  bool has_timestamp() const;
-  private:
-  bool _internal_has_timestamp() const;
-  public:
-  void clear_timestamp();
-  ::PROTOBUF_NAMESPACE_ID::uint64 timestamp() const;
-  void set_timestamp(::PROTOBUF_NAMESPACE_ID::uint64 value);
-  private:
-  ::PROTOBUF_NAMESPACE_ID::uint64 _internal_timestamp() const;
-  void _internal_set_timestamp(::PROTOBUF_NAMESPACE_ID::uint64 value);
-  public:
-
-  // @@protoc_insertion_point(class_scope:apollo.cyber.examples.proto.Driver)
- private:
-  class _Internal;
-
-  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
-  typedef void InternalArenaConstructable_;
-  typedef void DestructorSkippable_;
-  ::PROTOBUF_NAMESPACE_ID::internal::HasBits<1> _has_bits_;
-  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
-  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr content_;
-  ::PROTOBUF_NAMESPACE_ID::uint64 msg_id_;
-  ::PROTOBUF_NAMESPACE_ID::uint64 timestamp_;
-  friend struct ::TableStruct_cyber_2fexamples_2fproto_2fexamples_2eproto;
-};
-// ===================================================================
-
-
-// ===================================================================
-
-#ifdef __GNUC__
-  #pragma GCC diagnostic push
-  #pragma GCC diagnostic ignored "-Wstrict-aliasing"
-#endif  // __GNUC__
-// SamplesTest1
-
-// optional string class_name = 1;
-inline bool SamplesTest1::_internal_has_class_name() const {
-  bool value = (_has_bits_[0] & 0x00000001u) != 0;
-  return value;
-}
-inline bool SamplesTest1::has_class_name() const {
-  return _internal_has_class_name();
-}
-inline void SamplesTest1::clear_class_name() {
-  class_name_.ClearToEmpty();
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline const std::string& SamplesTest1::class_name() const {
-  // @@protoc_insertion_point(field_get:apollo.cyber.examples.proto.SamplesTest1.class_name)
-  return _internal_class_name();
-}
-inline void SamplesTest1::set_class_name(const std::string& value) {
-  _internal_set_class_name(value);
-  // @@protoc_insertion_point(field_set:apollo.cyber.examples.proto.SamplesTest1.class_name)
-}
-inline std::string* SamplesTest1::mutable_class_name() {
-  // @@protoc_insertion_point(field_mutable:apollo.cyber.examples.proto.SamplesTest1.class_name)
-  return _internal_mutable_class_name();
-}
-inline const std::string& SamplesTest1::_internal_class_name() const {
-  return class_name_.Get();
-}
-inline void SamplesTest1::_internal_set_class_name(const std::string& value) {
-  _has_bits_[0] |= 0x00000001u;
-  class_name_.Set(::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, value, GetArena());
-}
-inline void SamplesTest1::set_class_name(std::string&& value) {
-  _has_bits_[0] |= 0x00000001u;
-  class_name_.Set(
-    ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, ::std::move(value), GetArena());
-  // @@protoc_insertion_point(field_set_rvalue:apollo.cyber.examples.proto.SamplesTest1.class_name)
-}
-inline void SamplesTest1::set_class_name(const char* value) {
-  GOOGLE_DCHECK(value != nullptr);
-  _has_bits_[0] |= 0x00000001u;
-  class_name_.Set(::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, ::std::string(value), GetArena());
-  // @@protoc_insertion_point(field_set_char:apollo.cyber.examples.proto.SamplesTest1.class_name)
-}
-inline void SamplesTest1::set_class_name(const char* value,
-    size_t size) {
-  _has_bits_[0] |= 0x00000001u;
-  class_name_.Set(::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, ::std::string(
-      reinterpret_cast<const char*>(value), size), GetArena());
-  // @@protoc_insertion_point(field_set_pointer:apollo.cyber.examples.proto.SamplesTest1.class_name)
-}
-inline std::string* SamplesTest1::_internal_mutable_class_name() {
-  _has_bits_[0] |= 0x00000001u;
-  return class_name_.Mutable(::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, GetArena());
-}
-inline std::string* SamplesTest1::release_class_name() {
-  // @@protoc_insertion_point(field_release:apollo.cyber.examples.proto.SamplesTest1.class_name)
-  if (!_internal_has_class_name()) {
-    return nullptr;
-  }
-  _has_bits_[0] &= ~0x00000001u;
-  return class_name_.ReleaseNonDefault(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited(), GetArena());
-}
-inline void SamplesTest1::set_allocated_class_name(std::string* class_name) {
-  if (class_name != nullptr) {
-    _has_bits_[0] |= 0x00000001u;
-  } else {
-    _has_bits_[0] &= ~0x00000001u;
-  }
-  class_name_.SetAllocated(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited(), class_name,
-      GetArena());
-  // @@protoc_insertion_point(field_set_allocated:apollo.cyber.examples.proto.SamplesTest1.class_name)
-}
-
-// optional string case_name = 2;
-inline bool SamplesTest1::_internal_has_case_name() const {
-  bool value = (_has_bits_[0] & 0x00000002u) != 0;
-  return value;
-}
-inline bool SamplesTest1::has_case_name() const {
-  return _internal_has_case_name();
-}
-inline void SamplesTest1::clear_case_name() {
-  case_name_.ClearToEmpty();
-  _has_bits_[0] &= ~0x00000002u;
-}
-inline const std::string& SamplesTest1::case_name() const {
-  // @@protoc_insertion_point(field_get:apollo.cyber.examples.proto.SamplesTest1.case_name)
-  return _internal_case_name();
-}
-inline void SamplesTest1::set_case_name(const std::string& value) {
-  _internal_set_case_name(value);
-  // @@protoc_insertion_point(field_set:apollo.cyber.examples.proto.SamplesTest1.case_name)
-}
-inline std::string* SamplesTest1::mutable_case_name() {
-  // @@protoc_insertion_point(field_mutable:apollo.cyber.examples.proto.SamplesTest1.case_name)
-  return _internal_mutable_case_name();
-}
-inline const std::string& SamplesTest1::_internal_case_name() const {
-  return case_name_.Get();
-}
-inline void SamplesTest1::_internal_set_case_name(const std::string& value) {
-  _has_bits_[0] |= 0x00000002u;
-  case_name_.Set(::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, value, GetArena());
-}
-inline void SamplesTest1::set_case_name(std::string&& value) {
-  _has_bits_[0] |= 0x00000002u;
-  case_name_.Set(
-    ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, ::std::move(value), GetArena());
-  // @@protoc_insertion_point(field_set_rvalue:apollo.cyber.examples.proto.SamplesTest1.case_name)
-}
-inline void SamplesTest1::set_case_name(const char* value) {
-  GOOGLE_DCHECK(value != nullptr);
-  _has_bits_[0] |= 0x00000002u;
-  case_name_.Set(::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, ::std::string(value), GetArena());
-  // @@protoc_insertion_point(field_set_char:apollo.cyber.examples.proto.SamplesTest1.case_name)
-}
-inline void SamplesTest1::set_case_name(const char* value,
-    size_t size) {
-  _has_bits_[0] |= 0x00000002u;
-  case_name_.Set(::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, ::std::string(
-      reinterpret_cast<const char*>(value), size), GetArena());
-  // @@protoc_insertion_point(field_set_pointer:apollo.cyber.examples.proto.SamplesTest1.case_name)
-}
-inline std::string* SamplesTest1::_internal_mutable_case_name() {
-  _has_bits_[0] |= 0x00000002u;
-  return case_name_.Mutable(::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, GetArena());
-}
-inline std::string* SamplesTest1::release_case_name() {
-  // @@protoc_insertion_point(field_release:apollo.cyber.examples.proto.SamplesTest1.case_name)
-  if (!_internal_has_case_name()) {
-    return nullptr;
-  }
-  _has_bits_[0] &= ~0x00000002u;
-  return case_name_.ReleaseNonDefault(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited(), GetArena());
-}
-inline void SamplesTest1::set_allocated_case_name(std::string* case_name) {
-  if (case_name != nullptr) {
-    _has_bits_[0] |= 0x00000002u;
-  } else {
-    _has_bits_[0] &= ~0x00000002u;
-  }
-  case_name_.SetAllocated(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited(), case_name,
-      GetArena());
-  // @@protoc_insertion_point(field_set_allocated:apollo.cyber.examples.proto.SamplesTest1.case_name)
-}
-
-// -------------------------------------------------------------------
-
-// Chatter
-
-// optional uint64 timestamp = 1;
-inline bool Chatter::_internal_has_timestamp() const {
-  bool value = (_has_bits_[0] & 0x00000002u) != 0;
-  return value;
-}
-inline bool Chatter::has_timestamp() const {
-  return _internal_has_timestamp();
-}
-inline void Chatter::clear_timestamp() {
-  timestamp_ = PROTOBUF_ULONGLONG(0);
-  _has_bits_[0] &= ~0x00000002u;
-}
-inline ::PROTOBUF_NAMESPACE_ID::uint64 Chatter::_internal_timestamp() const {
-  return timestamp_;
-}
-inline ::PROTOBUF_NAMESPACE_ID::uint64 Chatter::timestamp() const {
-  // @@protoc_insertion_point(field_get:apollo.cyber.examples.proto.Chatter.timestamp)
-  return _internal_timestamp();
-}
-inline void Chatter::_internal_set_timestamp(::PROTOBUF_NAMESPACE_ID::uint64 value) {
-  _has_bits_[0] |= 0x00000002u;
-  timestamp_ = value;
-}
-inline void Chatter::set_timestamp(::PROTOBUF_NAMESPACE_ID::uint64 value) {
-  _internal_set_timestamp(value);
-  // @@protoc_insertion_point(field_set:apollo.cyber.examples.proto.Chatter.timestamp)
-}
-
-// optional uint64 lidar_timestamp = 2;
-inline bool Chatter::_internal_has_lidar_timestamp() const {
-  bool value = (_has_bits_[0] & 0x00000004u) != 0;
-  return value;
-}
-inline bool Chatter::has_lidar_timestamp() const {
-  return _internal_has_lidar_timestamp();
-}
-inline void Chatter::clear_lidar_timestamp() {
-  lidar_timestamp_ = PROTOBUF_ULONGLONG(0);
-  _has_bits_[0] &= ~0x00000004u;
-}
-inline ::PROTOBUF_NAMESPACE_ID::uint64 Chatter::_internal_lidar_timestamp() const {
-  return lidar_timestamp_;
-}
-inline ::PROTOBUF_NAMESPACE_ID::uint64 Chatter::lidar_timestamp() const {
-  // @@protoc_insertion_point(field_get:apollo.cyber.examples.proto.Chatter.lidar_timestamp)
-  return _internal_lidar_timestamp();
-}
-inline void Chatter::_internal_set_lidar_timestamp(::PROTOBUF_NAMESPACE_ID::uint64 value) {
-  _has_bits_[0] |= 0x00000004u;
-  lidar_timestamp_ = value;
-}
-inline void Chatter::set_lidar_timestamp(::PROTOBUF_NAMESPACE_ID::uint64 value) {
-  _internal_set_lidar_timestamp(value);
-  // @@protoc_insertion_point(field_set:apollo.cyber.examples.proto.Chatter.lidar_timestamp)
-}
-
-// optional uint64 seq = 3;
-inline bool Chatter::_internal_has_seq() const {
-  bool value = (_has_bits_[0] & 0x00000008u) != 0;
-  return value;
-}
-inline bool Chatter::has_seq() const {
-  return _internal_has_seq();
-}
-inline void Chatter::clear_seq() {
-  seq_ = PROTOBUF_ULONGLONG(0);
-  _has_bits_[0] &= ~0x00000008u;
-}
-inline ::PROTOBUF_NAMESPACE_ID::uint64 Chatter::_internal_seq() const {
-  return seq_;
-}
-inline ::PROTOBUF_NAMESPACE_ID::uint64 Chatter::seq() const {
-  // @@protoc_insertion_point(field_get:apollo.cyber.examples.proto.Chatter.seq)
-  return _internal_seq();
-}
-inline void Chatter::_internal_set_seq(::PROTOBUF_NAMESPACE_ID::uint64 value) {
-  _has_bits_[0] |= 0x00000008u;
-  seq_ = value;
-}
-inline void Chatter::set_seq(::PROTOBUF_NAMESPACE_ID::uint64 value) {
-  _internal_set_seq(value);
-  // @@protoc_insertion_point(field_set:apollo.cyber.examples.proto.Chatter.seq)
-}
-
-// optional bytes content = 4;
-inline bool Chatter::_internal_has_content() const {
-  bool value = (_has_bits_[0] & 0x00000001u) != 0;
-  return value;
-}
-inline bool Chatter::has_content() const {
-  return _internal_has_content();
-}
-inline void Chatter::clear_content() {
-  content_.ClearToEmpty();
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline const std::string& Chatter::content() const {
-  // @@protoc_insertion_point(field_get:apollo.cyber.examples.proto.Chatter.content)
-  return _internal_content();
-}
-inline void Chatter::set_content(const std::string& value) {
-  _internal_set_content(value);
-  // @@protoc_insertion_point(field_set:apollo.cyber.examples.proto.Chatter.content)
-}
-inline std::string* Chatter::mutable_content() {
-  // @@protoc_insertion_point(field_mutable:apollo.cyber.examples.proto.Chatter.content)
-  return _internal_mutable_content();
-}
-inline const std::string& Chatter::_internal_content() const {
-  return content_.Get();
-}
-inline void Chatter::_internal_set_content(const std::string& value) {
-  _has_bits_[0] |= 0x00000001u;
-  content_.Set(::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, value, GetArena());
-}
-inline void Chatter::set_content(std::string&& value) {
-  _has_bits_[0] |= 0x00000001u;
-  content_.Set(
-    ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, ::std::move(value), GetArena());
-  // @@protoc_insertion_point(field_set_rvalue:apollo.cyber.examples.proto.Chatter.content)
-}
-inline void Chatter::set_content(const char* value) {
-  GOOGLE_DCHECK(value != nullptr);
-  _has_bits_[0] |= 0x00000001u;
-  content_.Set(::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, ::std::string(value), GetArena());
-  // @@protoc_insertion_point(field_set_char:apollo.cyber.examples.proto.Chatter.content)
-}
-inline void Chatter::set_content(const void* value,
-    size_t size) {
-  _has_bits_[0] |= 0x00000001u;
-  content_.Set(::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, ::std::string(
-      reinterpret_cast<const char*>(value), size), GetArena());
-  // @@protoc_insertion_point(field_set_pointer:apollo.cyber.examples.proto.Chatter.content)
-}
-inline std::string* Chatter::_internal_mutable_content() {
-  _has_bits_[0] |= 0x00000001u;
-  return content_.Mutable(::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, GetArena());
-}
-inline std::string* Chatter::release_content() {
-  // @@protoc_insertion_point(field_release:apollo.cyber.examples.proto.Chatter.content)
-  if (!_internal_has_content()) {
-    return nullptr;
-  }
-  _has_bits_[0] &= ~0x00000001u;
-  return content_.ReleaseNonDefault(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited(), GetArena());
-}
-inline void Chatter::set_allocated_content(std::string* content) {
-  if (content != nullptr) {
-    _has_bits_[0] |= 0x00000001u;
-  } else {
-    _has_bits_[0] &= ~0x00000001u;
-  }
-  content_.SetAllocated(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited(), content,
-      GetArena());
-  // @@protoc_insertion_point(field_set_allocated:apollo.cyber.examples.proto.Chatter.content)
-}
-
-// -------------------------------------------------------------------
-
-// Driver
-
-// optional string content = 1;
-inline bool Driver::_internal_has_content() const {
-  bool value = (_has_bits_[0] & 0x00000001u) != 0;
-  return value;
-}
-inline bool Driver::has_content() const {
-  return _internal_has_content();
-}
-inline void Driver::clear_content() {
-  content_.ClearToEmpty();
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline const std::string& Driver::content() const {
-  // @@protoc_insertion_point(field_get:apollo.cyber.examples.proto.Driver.content)
-  return _internal_content();
-}
-inline void Driver::set_content(const std::string& value) {
-  _internal_set_content(value);
-  // @@protoc_insertion_point(field_set:apollo.cyber.examples.proto.Driver.content)
-}
-inline std::string* Driver::mutable_content() {
-  // @@protoc_insertion_point(field_mutable:apollo.cyber.examples.proto.Driver.content)
-  return _internal_mutable_content();
-}
-inline const std::string& Driver::_internal_content() const {
-  return content_.Get();
-}
-inline void Driver::_internal_set_content(const std::string& value) {
-  _has_bits_[0] |= 0x00000001u;
-  content_.Set(::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, value, GetArena());
-}
-inline void Driver::set_content(std::string&& value) {
-  _has_bits_[0] |= 0x00000001u;
-  content_.Set(
-    ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, ::std::move(value), GetArena());
-  // @@protoc_insertion_point(field_set_rvalue:apollo.cyber.examples.proto.Driver.content)
-}
-inline void Driver::set_content(const char* value) {
-  GOOGLE_DCHECK(value != nullptr);
-  _has_bits_[0] |= 0x00000001u;
-  content_.Set(::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, ::std::string(value), GetArena());
-  // @@protoc_insertion_point(field_set_char:apollo.cyber.examples.proto.Driver.content)
-}
-inline void Driver::set_content(const char* value,
-    size_t size) {
-  _has_bits_[0] |= 0x00000001u;
-  content_.Set(::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, ::std::string(
-      reinterpret_cast<const char*>(value), size), GetArena());
-  // @@protoc_insertion_point(field_set_pointer:apollo.cyber.examples.proto.Driver.content)
-}
-inline std::string* Driver::_internal_mutable_content() {
-  _has_bits_[0] |= 0x00000001u;
-  return content_.Mutable(::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::EmptyDefault{}, GetArena());
-}
-inline std::string* Driver::release_content() {
-  // @@protoc_insertion_point(field_release:apollo.cyber.examples.proto.Driver.content)
-  if (!_internal_has_content()) {
-    return nullptr;
-  }
-  _has_bits_[0] &= ~0x00000001u;
-  return content_.ReleaseNonDefault(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited(), GetArena());
-}
-inline void Driver::set_allocated_content(std::string* content) {
-  if (content != nullptr) {
-    _has_bits_[0] |= 0x00000001u;
-  } else {
-    _has_bits_[0] &= ~0x00000001u;
-  }
-  content_.SetAllocated(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited(), content,
-      GetArena());
-  // @@protoc_insertion_point(field_set_allocated:apollo.cyber.examples.proto.Driver.content)
-}
-
-// optional uint64 msg_id = 2;
-inline bool Driver::_internal_has_msg_id() const {
-  bool value = (_has_bits_[0] & 0x00000002u) != 0;
-  return value;
-}
-inline bool Driver::has_msg_id() const {
-  return _internal_has_msg_id();
-}
-inline void Driver::clear_msg_id() {
-  msg_id_ = PROTOBUF_ULONGLONG(0);
-  _has_bits_[0] &= ~0x00000002u;
-}
-inline ::PROTOBUF_NAMESPACE_ID::uint64 Driver::_internal_msg_id() const {
-  return msg_id_;
-}
-inline ::PROTOBUF_NAMESPACE_ID::uint64 Driver::msg_id() const {
-  // @@protoc_insertion_point(field_get:apollo.cyber.examples.proto.Driver.msg_id)
-  return _internal_msg_id();
-}
-inline void Driver::_internal_set_msg_id(::PROTOBUF_NAMESPACE_ID::uint64 value) {
-  _has_bits_[0] |= 0x00000002u;
-  msg_id_ = value;
-}
-inline void Driver::set_msg_id(::PROTOBUF_NAMESPACE_ID::uint64 value) {
-  _internal_set_msg_id(value);
-  // @@protoc_insertion_point(field_set:apollo.cyber.examples.proto.Driver.msg_id)
-}
-
-// optional uint64 timestamp = 3;
-inline bool Driver::_internal_has_timestamp() const {
-  bool value = (_has_bits_[0] & 0x00000004u) != 0;
-  return value;
-}
-inline bool Driver::has_timestamp() const {
-  return _internal_has_timestamp();
-}
-inline void Driver::clear_timestamp() {
-  timestamp_ = PROTOBUF_ULONGLONG(0);
-  _has_bits_[0] &= ~0x00000004u;
-}
-inline ::PROTOBUF_NAMESPACE_ID::uint64 Driver::_internal_timestamp() const {
-  return timestamp_;
-}
-inline ::PROTOBUF_NAMESPACE_ID::uint64 Driver::timestamp() const {
-  // @@protoc_insertion_point(field_get:apollo.cyber.examples.proto.Driver.timestamp)
-  return _internal_timestamp();
-}
-inline void Driver::_internal_set_timestamp(::PROTOBUF_NAMESPACE_ID::uint64 value) {
-  _has_bits_[0] |= 0x00000004u;
-  timestamp_ = value;
-}
-inline void Driver::set_timestamp(::PROTOBUF_NAMESPACE_ID::uint64 value) {
-  _internal_set_timestamp(value);
-  // @@protoc_insertion_point(field_set:apollo.cyber.examples.proto.Driver.timestamp)
-}
-
-#ifdef __GNUC__
-  #pragma GCC diagnostic pop
-#endif  // __GNUC__
-// -------------------------------------------------------------------
-
-// -------------------------------------------------------------------
-
-
-// @@protoc_insertion_point(namespace_scope)
-
-}  // namespace proto
-}  // namespace examples
-}  // namespace cyber
-}  // namespace apollo
-
-// @@protoc_insertion_point(global_scope)
-
-#include <google/protobuf/port_undef.inc>
-#endif  // GOOGLE_PROTOBUF_INCLUDED_GOOGLE_PROTOBUF_INCLUDED_cyber_2fexamples_2fproto_2fexamples_2eproto
diff --git a/cyber/examples/proto/examples_pb2.py b/cyber/examples/proto/examples_pb2.py
deleted file mode 100644
index d1f0624..0000000
--- a/cyber/examples/proto/examples_pb2.py
+++ /dev/null
@@ -1,192 +0,0 @@
-# -*- coding: utf-8 -*-
-# Generated by the protocol buffer compiler.  DO NOT EDIT!
-# source: cyber/examples/proto/examples.proto
-"""Generated protocol buffer code."""
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import message as _message
-from google.protobuf import reflection as _reflection
-from google.protobuf import symbol_database as _symbol_database
-# @@protoc_insertion_point(imports)
-
-_sym_db = _symbol_database.Default()
-
-
-
-
-DESCRIPTOR = _descriptor.FileDescriptor(
-  name='cyber/examples/proto/examples.proto',
-  package='apollo.cyber.examples.proto',
-  syntax='proto2',
-  serialized_options=None,
-  create_key=_descriptor._internal_create_key,
-  serialized_pb=b'\n#cyber/examples/proto/examples.proto\x12\x1b\x61pollo.cyber.examples.proto\"5\n\x0cSamplesTest1\x12\x12\n\nclass_name\x18\x01 \x01(\t\x12\x11\n\tcase_name\x18\x02 \x01(\t\"S\n\x07\x43hatter\x12\x11\n\ttimestamp\x18\x01 \x01(\x04\x12\x17\n\x0flidar_timestamp\x18\x02 \x01(\x04\x12\x0b\n\x03seq\x18\x03 \x01(\x04\x12\x0f\n\x07\x63ontent\x18\x04 \x01(\x0c\"<\n\x06\x44river\x12\x0f\n\x07\x63ontent\x18\x01 \x01(\t\x12\x0e\n\x06msg_id\x18\x02 \x01(\x04\x12\x11\n\ttimestamp\x18\x03 \x01(\x04'
-)
-
-
-
-
-_SAMPLESTEST1 = _descriptor.Descriptor(
-  name='SamplesTest1',
-  full_name='apollo.cyber.examples.proto.SamplesTest1',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='class_name', full_name='apollo.cyber.examples.proto.SamplesTest1.class_name', index=0,
-      number=1, type=9, cpp_type=9, label=1,
-      has_default_value=False, default_value=b"".decode('utf-8'),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='case_name', full_name='apollo.cyber.examples.proto.SamplesTest1.case_name', index=1,
-      number=2, type=9, cpp_type=9, label=1,
-      has_default_value=False, default_value=b"".decode('utf-8'),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto2',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=68,
-  serialized_end=121,
-)
-
-
-_CHATTER = _descriptor.Descriptor(
-  name='Chatter',
-  full_name='apollo.cyber.examples.proto.Chatter',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='timestamp', full_name='apollo.cyber.examples.proto.Chatter.timestamp', index=0,
-      number=1, type=4, cpp_type=4, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='lidar_timestamp', full_name='apollo.cyber.examples.proto.Chatter.lidar_timestamp', index=1,
-      number=2, type=4, cpp_type=4, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='seq', full_name='apollo.cyber.examples.proto.Chatter.seq', index=2,
-      number=3, type=4, cpp_type=4, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='content', full_name='apollo.cyber.examples.proto.Chatter.content', index=3,
-      number=4, type=12, cpp_type=9, label=1,
-      has_default_value=False, default_value=b"",
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto2',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=123,
-  serialized_end=206,
-)
-
-
-_DRIVER = _descriptor.Descriptor(
-  name='Driver',
-  full_name='apollo.cyber.examples.proto.Driver',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='content', full_name='apollo.cyber.examples.proto.Driver.content', index=0,
-      number=1, type=9, cpp_type=9, label=1,
-      has_default_value=False, default_value=b"".decode('utf-8'),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='msg_id', full_name='apollo.cyber.examples.proto.Driver.msg_id', index=1,
-      number=2, type=4, cpp_type=4, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='timestamp', full_name='apollo.cyber.examples.proto.Driver.timestamp', index=2,
-      number=3, type=4, cpp_type=4, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto2',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=208,
-  serialized_end=268,
-)
-
-DESCRIPTOR.message_types_by_name['SamplesTest1'] = _SAMPLESTEST1
-DESCRIPTOR.message_types_by_name['Chatter'] = _CHATTER
-DESCRIPTOR.message_types_by_name['Driver'] = _DRIVER
-_sym_db.RegisterFileDescriptor(DESCRIPTOR)
-
-SamplesTest1 = _reflection.GeneratedProtocolMessageType('SamplesTest1', (_message.Message,), {
-  'DESCRIPTOR' : _SAMPLESTEST1,
-  '__module__' : 'cyber.examples.proto.examples_pb2'
-  # @@protoc_insertion_point(class_scope:apollo.cyber.examples.proto.SamplesTest1)
-  })
-_sym_db.RegisterMessage(SamplesTest1)
-
-Chatter = _reflection.GeneratedProtocolMessageType('Chatter', (_message.Message,), {
-  'DESCRIPTOR' : _CHATTER,
-  '__module__' : 'cyber.examples.proto.examples_pb2'
-  # @@protoc_insertion_point(class_scope:apollo.cyber.examples.proto.Chatter)
-  })
-_sym_db.RegisterMessage(Chatter)
-
-Driver = _reflection.GeneratedProtocolMessageType('Driver', (_message.Message,), {
-  'DESCRIPTOR' : _DRIVER,
-  '__module__' : 'cyber.examples.proto.examples_pb2'
-  # @@protoc_insertion_point(class_scope:apollo.cyber.examples.proto.Driver)
-  })
-_sym_db.RegisterMessage(Driver)
-
-
-# @@protoc_insertion_point(module_scope)
diff --git a/cyber/proto/.gitignore b/cyber/proto/.gitignore
deleted file mode 100644
index 9ee9fc2..0000000
--- a/cyber/proto/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-*.pb.cc
-*.pb.h
-*_pb2.py
diff --git a/modules/common_msgs/.gitignore b/modules/common_msgs/.gitignore
deleted file mode 100644
index 9ee9fc2..0000000
--- a/modules/common_msgs/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-*.pb.cc
-*.pb.h
-*_pb2.py

From be0bece887ba950643055f5332fe8e01ee2d2368 Mon Sep 17 00:00:00 2001
From: minhanghuang <job@minhang.me>
Date: Mon, 9 Dec 2024 16:39:49 +0800
Subject: [PATCH 04/14] feat(cyber): update cyber for v10

---
 cyber/BUILD                                   |   2 +-
 cyber/base/BUILD                              |   5 +-
 cyber/base/arena_queue.h                      | 262 ++++++
 cyber/base/macros.h                           |   2 +
 cyber/base/pthread_rw_lock.h                  |  73 ++
 cyber/benchmark/BUILD                         |  51 ++
 cyber/benchmark/benchmark_msg.proto           |   8 +
 cyber/benchmark/cyber_benchmark.py            | 337 ++++++++
 cyber/benchmark/cyber_benchmark_reader.cc     | 179 ++++
 cyber/benchmark/cyber_benchmark_writer.cc     | 362 ++++++++
 cyber/common/BUILD                            |  13 +-
 cyber/common/file.cc                          |  34 +
 cyber/common/file.h                           |  10 +
 cyber/common/file_test.cc                     |   6 +-
 cyber/common/global_data.cc                   |  45 +
 cyber/common/global_data.h                    |   8 +
 cyber/component/component.h                   | 145 +++-
 cyber/component/timer_component.cc            |  15 +-
 cyber/conf/cyber.pb.conf                      |  23 +
 cyber/context/BUILD                           |   1 +
 cyber/cyberfile.xml                           |  13 +-
 .../common_component_example/common.launch    |   2 +
 cyber/examples/service.cc                     |   2 +-
 cyber/init.cc                                 |  36 +-
 cyber/init.h                                  |   5 +-
 cyber/mainboard/BUILD                         |   7 +-
 cyber/mainboard/mainboard.cc                  |  68 +-
 cyber/mainboard/module_argument.cc            |  61 +-
 cyber/mainboard/module_argument.h             |  10 +
 cyber/message/BUILD                           |  11 +-
 cyber/message/arena_manager_base.h            |  62 ++
 cyber/message/arena_message_wrapper.h         | 145 ++++
 cyber/message/message_traits.h                |  46 +
 cyber/message/protobuf_traits.h               |  23 +
 cyber/message/raw_message.h                   |   9 +
 cyber/message/raw_message_traits.h            |  11 +
 cyber/node/BUILD                              |   2 +
 cyber/node/node.cc                            |   5 -
 cyber/node/node.h                             |   4 +-
 cyber/node/reader.h                           |  24 +
 cyber/node/reader_base.h                      |   2 +-
 cyber/node/writer.h                           |  23 +
 cyber/node/writer_base.h                      |   7 +
 cyber/parameter/BUILD                         |   2 +-
 cyber/parameter/parameter_client.h            |   2 +-
 cyber/proto/BUILD                             |  11 +-
 cyber/proto/simple.proto                      |  12 +
 cyber/proto/transport_conf.proto              |  15 +
 cyber/python/cyber_py3/cyber.py               |   2 +-
 cyber/python/cyber_py3/cyber_time.py          |   2 +-
 cyber/python/cyber_py3/cyber_timer.py         |   2 +-
 cyber/python/cyber_py3/parameter.py           |   2 +-
 cyber/python/cyber_py3/record.py              |   2 +-
 cyber/python/cyber_py3/test/BUILD             |  29 +-
 cyber/python/internal/BUILD                   |   2 +-
 cyber/python/internal/py_cyber.cc             |  62 +-
 cyber/python/internal/py_cyber.h              |   1 +
 cyber/record/file/record_file_writer.cc       |   4 +-
 cyber/record/file/record_file_writer.h        |   1 +
 cyber/record/header_builder.h                 |   2 +-
 cyber/ros_bridge/BUILD                        |  59 ++
 cyber/ros_bridge/common/bridge_argument.cc    | 112 +++
 cyber/ros_bridge/common/bridge_argument.h     |  57 ++
 cyber/ros_bridge/common/macros.h              |  26 +
 cyber/ros_bridge/common/ros_bridge_gflags.cc  |  32 +
 cyber/ros_bridge/common/ros_bridge_gflags.h   |  33 +
 cyber/ros_bridge/common/utils.h               |  34 +
 cyber/ros_bridge/conf/ros_bridge_conf.pb.txt  |  19 +
 .../converter_base/convert_apollo_double.h    | 384 +++++++++
 .../converter_base/convert_apollo_quadruple.h | 503 +++++++++++
 .../converter_base/convert_apollo_single.h    | 325 ++++++++
 .../converter_base/convert_apollo_triple.h    | 450 ++++++++++
 .../converter_base/convert_ros_base.h         |  63 ++
 .../converter_base/convert_ros_double.h       | 452 ++++++++++
 .../converter_base/convert_ros_quadruple.h    | 551 ++++++++++++
 .../converter_base/convert_ros_single.h       | 364 ++++++++
 .../converter_base/convert_ros_triple.h       | 509 +++++++++++
 .../converter_base/converter_base.h           |  77 ++
 .../converter_base/converter_interface.h      |  29 +
 .../converter_base/message_converter.h        | 149 ++++
 cyber/ros_bridge/converters/BUILD             |   3 +
 .../converters/common_plugins/BUILD           |   3 +
 .../common_plugins/gnss_msg_converter/BUILD   | 104 +++
 .../conf/heading_msg_fusion.pb.txt            |   4 +
 .../conf/imu_msg_converter.pb.txt             |   4 +
 .../conf/nav_msg_converter.pb.txt             |   5 +
 .../conf/odometry_msg_converter.pb.txt        |   3 +
 .../conf/odometry_parser.pb.txt               |   5 +
 .../gnss_msg_converter/heading_msg_fusion.cc  |  97 +++
 .../gnss_msg_converter/heading_msg_fusion.h   |  86 ++
 .../heading_msg_plugins.xml                   |   3 +
 .../gnss_msg_converter/imu_msg_converter.cc   |  85 ++
 .../gnss_msg_converter/imu_msg_converter.h    |  77 ++
 .../gnss_msg_converter/imu_plugins.xml        |   3 +
 .../gnss_msg_converter/nav_msg_converter.cc   |  78 ++
 .../gnss_msg_converter/nav_msg_converter.h    |  77 ++
 .../gnss_msg_converter/nav_plugins.xml        |   3 +
 .../odometry_msg_converter.cc                 |  66 ++
 .../odometry_msg_converter.h                  |  74 ++
 .../odometry_msg_plugins.xml                  |   3 +
 .../gnss_msg_converter/odometry_parser.cc     | 140 ++++
 .../gnss_msg_converter/odometry_parser.h      | 152 ++++
 .../gnss_msg_converter/odometry_plugins.xml   |   3 +
 .../gnss_msg_converter/quaternion_math.h      |  50 ++
 .../localization_msg_converter/BUILD          |  33 +
 .../conf/localization_estimate.pb.txt         |   4 +
 .../localization_estimate.cc                  |  86 ++
 .../localization_estimate.h                   |  76 ++
 .../localization_estimate.xml                 |   3 +
 .../pointcloud_msg_converter/BUILD            |  32 +
 .../conf/default.pb.txt                       |   3 +
 .../lidar_pointcloud.cc                       | 230 +++++
 .../lidar_pointcloud.h                        |  83 ++
 .../pointcloud_msg_converter/plugins.xml      |   3 +
 .../examples/apollo_ros_converter/BUILD       |  34 +
 .../apollo_ros_converter.cc                   |  34 +
 .../apollo_ros_converter.h                    |  69 ++
 .../apollo_ros_converter/conf/default.pb.txt  |   2 +
 .../examples/apollo_ros_converter/plugins.xml |   3 +
 .../examples/ros_apollo_converter/BUILD       |  34 +
 .../ros_apollo_converter/conf/default.pb.txt  |   2 +
 .../examples/ros_apollo_converter/plugins.xml |   3 +
 .../ros_apollo_converter.cc                   |  33 +
 .../ros_apollo_converter.h                    |  66 ++
 cyber/ros_bridge/proto/BUILD                  |  16 +
 cyber/ros_bridge/proto/converter_conf.proto   |  15 +
 cyber/ros_bridge/proto/ros_bridge_conf.proto  |  13 +
 cyber/ros_bridge/ros_bridge.cc                |  99 +++
 cyber/service_discovery/BUILD                 |   6 +-
 .../communication/participant_listener.cc     |  17 +-
 .../communication/participant_listener.h      |  16 +-
 .../communication/subscriber_listener.cc      |  40 +-
 .../communication/subscriber_listener.h       |  29 +-
 .../specific_manager/channel_manager.cc       |   5 +-
 .../specific_manager/channel_manager.h        |   1 +
 .../specific_manager/channel_manager_test.cc  |   4 +-
 .../specific_manager/manager.cc               |  57 +-
 .../specific_manager/manager.h                |  39 +-
 .../specific_manager/node_manager.cc          |   1 -
 .../specific_manager/service_manager.cc       |   2 -
 cyber/service_discovery/topology_manager.cc   |  60 +-
 cyber/service_discovery/topology_manager.h    |  12 +-
 cyber/setup.bash                              |   9 +-
 cyber/statistics/BUILD                        |  19 +
 cyber/statistics/statistics.cc                | 130 +++
 cyber/statistics/statistics.h                 | 314 +++++++
 cyber/tools/cyber_launch/cyber_launch.py      | 122 ++-
 .../cyber_monitor/general_channel_message.cc  |   4 +-
 .../cyber_monitor/general_channel_message.h   |   5 +
 cyber/tools/cyber_monitor/main.cc             |  12 +-
 cyber/tools/cyber_performance/BUILD           |  13 +
 .../cyber_performance.launch                  |  11 +
 .../cyber_performance/cyber_performance.py    | 789 ++++++++++++++++++
 cyber/tools/cyber_recorder/BUILD              |   8 +-
 cyber/tools/cyber_recorder/main.cc            | 102 ++-
 cyber/transport/BUILD                         | 129 ++-
 cyber/transport/common/common_type.h          |  36 +
 cyber/transport/dispatcher/dispatcher.h       |   3 +-
 cyber/transport/dispatcher/intra_dispatcher.h |  12 +-
 cyber/transport/dispatcher/rtps_dispatcher.cc |  37 +-
 cyber/transport/dispatcher/rtps_dispatcher.h  |  51 +-
 cyber/transport/dispatcher/shm_dispatcher.cc  | 114 ++-
 cyber/transport/dispatcher/shm_dispatcher.h   | 309 ++++++-
 .../dispatcher/shm_dispatcher_test.cc         |   1 -
 .../dispatcher/subscriber_listener.cc         |  76 ++
 .../subscriber_listener.h}                    |  45 +-
 cyber/transport/message/listener_handler.h    |   1 +
 cyber/transport/message/message_info.cc       |  32 +-
 cyber/transport/message/message_info.h        |   4 +
 cyber/transport/qos/qos_filler.cc             | 339 ++++++++
 cyber/transport/qos/qos_filler.h              |  62 ++
 cyber/transport/receiver/shm_receiver.h       |  22 +
 cyber/transport/rtps/attributes_filler.cc     |  12 +-
 cyber/transport/rtps/attributes_filler.h      |   2 +
 cyber/transport/rtps/participant.cc           | 221 +++--
 cyber/transport/rtps/participant.h            |  68 +-
 cyber/transport/rtps/publisher.cc             | 136 +++
 cyber/transport/rtps/publisher.h              |  73 ++
 cyber/transport/rtps/rtps_test.cc             | 183 ++--
 cyber/transport/rtps/sub_listener.cc          |  77 --
 cyber/transport/rtps/subscriber.cc            | 113 +++
 cyber/transport/rtps/subscriber.h             |  75 ++
 cyber/transport/rtps/underlay_message.cc      |  41 +-
 cyber/transport/rtps/underlay_message.h       |  44 +-
 cyber/transport/rtps/underlay_message_type.cc | 101 ++-
 cyber/transport/rtps/underlay_message_type.h  |  26 +-
 .../transport/shm/arena_address_allocator.cc  | 458 ++++++++++
 cyber/transport/shm/arena_address_allocator.h | 121 +++
 cyber/transport/shm/posix_segment.cc          |  95 ++-
 cyber/transport/shm/protobuf_arena_manager.cc | 564 +++++++++++++
 cyber/transport/shm/protobuf_arena_manager.h  | 319 +++++++
 cyber/transport/shm/readable_info.cc          |  31 +-
 cyber/transport/shm/readable_info.h           |  14 +-
 cyber/transport/shm/segment.cc                | 155 +++-
 cyber/transport/shm/segment.h                 |  23 +
 cyber/transport/shm/shm_conf.cc               |   8 +-
 cyber/transport/shm/shm_conf.h                |   4 +
 cyber/transport/shm/state.h                   |   6 +
 cyber/transport/shm/xsi_segment.cc            |  93 ++-
 .../transmitter/hybrid_transmitter.h          |  26 +-
 .../transport/transmitter/intra_transmitter.h |  22 +
 .../transport/transmitter/rtps_transmitter.h  |  63 +-
 cyber/transport/transmitter/shm_transmitter.h | 228 ++++-
 cyber/transport/transmitter/transmitter.h     |  20 +-
 cyber/transport/transport.cc                  |   9 +-
 205 files changed, 14284 insertions(+), 891 deletions(-)
 create mode 100644 cyber/base/arena_queue.h
 create mode 100644 cyber/base/pthread_rw_lock.h
 create mode 100644 cyber/benchmark/BUILD
 create mode 100644 cyber/benchmark/benchmark_msg.proto
 create mode 100644 cyber/benchmark/cyber_benchmark.py
 create mode 100644 cyber/benchmark/cyber_benchmark_reader.cc
 create mode 100644 cyber/benchmark/cyber_benchmark_writer.cc
 create mode 100644 cyber/message/arena_manager_base.h
 create mode 100644 cyber/message/arena_message_wrapper.h
 create mode 100644 cyber/proto/simple.proto
 create mode 100644 cyber/ros_bridge/BUILD
 create mode 100644 cyber/ros_bridge/common/bridge_argument.cc
 create mode 100644 cyber/ros_bridge/common/bridge_argument.h
 create mode 100644 cyber/ros_bridge/common/macros.h
 create mode 100644 cyber/ros_bridge/common/ros_bridge_gflags.cc
 create mode 100644 cyber/ros_bridge/common/ros_bridge_gflags.h
 create mode 100644 cyber/ros_bridge/common/utils.h
 create mode 100644 cyber/ros_bridge/conf/ros_bridge_conf.pb.txt
 create mode 100644 cyber/ros_bridge/converter_base/convert_apollo_double.h
 create mode 100644 cyber/ros_bridge/converter_base/convert_apollo_quadruple.h
 create mode 100644 cyber/ros_bridge/converter_base/convert_apollo_single.h
 create mode 100644 cyber/ros_bridge/converter_base/convert_apollo_triple.h
 create mode 100644 cyber/ros_bridge/converter_base/convert_ros_base.h
 create mode 100644 cyber/ros_bridge/converter_base/convert_ros_double.h
 create mode 100644 cyber/ros_bridge/converter_base/convert_ros_quadruple.h
 create mode 100644 cyber/ros_bridge/converter_base/convert_ros_single.h
 create mode 100644 cyber/ros_bridge/converter_base/convert_ros_triple.h
 create mode 100644 cyber/ros_bridge/converter_base/converter_base.h
 create mode 100644 cyber/ros_bridge/converter_base/converter_interface.h
 create mode 100644 cyber/ros_bridge/converter_base/message_converter.h
 create mode 100644 cyber/ros_bridge/converters/BUILD
 create mode 100644 cyber/ros_bridge/converters/common_plugins/BUILD
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/BUILD
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/heading_msg_fusion.pb.txt
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/imu_msg_converter.pb.txt
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/nav_msg_converter.pb.txt
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/odometry_msg_converter.pb.txt
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/odometry_parser.pb.txt
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_fusion.cc
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_fusion.h
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_plugins.xml
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_msg_converter.cc
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_msg_converter.h
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_plugins.xml
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_msg_converter.cc
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_msg_converter.h
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_plugins.xml
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_converter.cc
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_converter.h
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_plugins.xml
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.cc
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.h
 create mode 100755 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_plugins.xml
 create mode 100644 cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/quaternion_math.h
 create mode 100755 cyber/ros_bridge/converters/common_plugins/localization_msg_converter/BUILD
 create mode 100755 cyber/ros_bridge/converters/common_plugins/localization_msg_converter/conf/localization_estimate.pb.txt
 create mode 100755 cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.cc
 create mode 100755 cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.h
 create mode 100755 cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.xml
 create mode 100755 cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/BUILD
 create mode 100755 cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/conf/default.pb.txt
 create mode 100755 cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/lidar_pointcloud.cc
 create mode 100755 cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/lidar_pointcloud.h
 create mode 100755 cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/plugins.xml
 create mode 100644 cyber/ros_bridge/converters/examples/apollo_ros_converter/BUILD
 create mode 100644 cyber/ros_bridge/converters/examples/apollo_ros_converter/apollo_ros_converter.cc
 create mode 100644 cyber/ros_bridge/converters/examples/apollo_ros_converter/apollo_ros_converter.h
 create mode 100644 cyber/ros_bridge/converters/examples/apollo_ros_converter/conf/default.pb.txt
 create mode 100644 cyber/ros_bridge/converters/examples/apollo_ros_converter/plugins.xml
 create mode 100644 cyber/ros_bridge/converters/examples/ros_apollo_converter/BUILD
 create mode 100644 cyber/ros_bridge/converters/examples/ros_apollo_converter/conf/default.pb.txt
 create mode 100644 cyber/ros_bridge/converters/examples/ros_apollo_converter/plugins.xml
 create mode 100644 cyber/ros_bridge/converters/examples/ros_apollo_converter/ros_apollo_converter.cc
 create mode 100644 cyber/ros_bridge/converters/examples/ros_apollo_converter/ros_apollo_converter.h
 create mode 100644 cyber/ros_bridge/proto/BUILD
 create mode 100644 cyber/ros_bridge/proto/converter_conf.proto
 create mode 100644 cyber/ros_bridge/proto/ros_bridge_conf.proto
 create mode 100644 cyber/ros_bridge/ros_bridge.cc
 create mode 100644 cyber/statistics/BUILD
 create mode 100644 cyber/statistics/statistics.cc
 create mode 100644 cyber/statistics/statistics.h
 create mode 100644 cyber/tools/cyber_performance/BUILD
 create mode 100755 cyber/tools/cyber_performance/cyber_performance.launch
 create mode 100644 cyber/tools/cyber_performance/cyber_performance.py
 create mode 100644 cyber/transport/common/common_type.h
 create mode 100644 cyber/transport/dispatcher/subscriber_listener.cc
 rename cyber/transport/{rtps/sub_listener.h => dispatcher/subscriber_listener.h} (54%)
 create mode 100644 cyber/transport/qos/qos_filler.cc
 create mode 100644 cyber/transport/qos/qos_filler.h
 create mode 100644 cyber/transport/rtps/publisher.cc
 create mode 100644 cyber/transport/rtps/publisher.h
 delete mode 100644 cyber/transport/rtps/sub_listener.cc
 create mode 100644 cyber/transport/rtps/subscriber.cc
 create mode 100644 cyber/transport/rtps/subscriber.h
 create mode 100644 cyber/transport/shm/arena_address_allocator.cc
 create mode 100644 cyber/transport/shm/arena_address_allocator.h
 create mode 100644 cyber/transport/shm/protobuf_arena_manager.cc
 create mode 100644 cyber/transport/shm/protobuf_arena_manager.h

diff --git a/cyber/BUILD b/cyber/BUILD
index 7f52f29..85ee119 100755
--- a/cyber/BUILD
+++ b/cyber/BUILD
@@ -62,7 +62,7 @@ apollo_cc_library(
         "//cyber/transport:cyber_transport",
         "@com_github_google_glog//:glog",
         "@com_google_protobuf//:protobuf",
-        "@fastrtps",
+        "@fastdds",
     ],
 )
 
diff --git a/cyber/base/BUILD b/cyber/base/BUILD
index 5d59d8d..d7d163f 100644
--- a/cyber/base/BUILD
+++ b/cyber/base/BUILD
@@ -1,11 +1,12 @@
 load("//tools:cpplint.bzl", "cpplint")
-load("//tools:apollo_package.bzl", "apollo_package", "apollo_cc_library", "apollo_cc_test")
+load("//tools:apollo_package.bzl", "apollo_cc_library", "apollo_cc_test", "apollo_package")
 
 package(default_visibility = ["//visibility:public"])
 
 apollo_cc_library(
     name = "cyber_base",
     hdrs = [
+        "arena_queue.h",
         "atomic_hash_map.h",
         "atomic_rw_lock.h",
         "bounded_queue.h",
@@ -13,6 +14,7 @@ apollo_cc_library(
         "for_each.h",
         "macros.h",
         "object_pool.h",
+        "pthread_rw_lock.h",
         "reentrant_rw_lock.h",
         "rw_lock_guard.h",
         "signal.h",
@@ -97,4 +99,5 @@ apollo_cc_test(
 )
 
 apollo_package()
+
 cpplint()
diff --git a/cyber/base/arena_queue.h b/cyber/base/arena_queue.h
new file mode 100644
index 0000000..5abdb50
--- /dev/null
+++ b/cyber/base/arena_queue.h
@@ -0,0 +1,262 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#ifndef CYBER_BASE_ARENA_QUEUE_H_
+#define CYBER_BASE_ARENA_QUEUE_H_
+
+#include <unistd.h>
+
+#include <algorithm>
+#include <atomic>
+#include <cstdint>
+#include <cstdlib>
+#include <deque>
+#include <iostream>
+#include <memory>
+#include <utility>
+#include <vector>
+
+#include <google/protobuf/arena.h>
+
+#include "cyber/base/macros.h"
+#include "cyber/base/wait_strategy.h"
+
+namespace apollo {
+namespace cyber {
+namespace base {
+
+template <typename T>
+class ArenaQueue {
+ public:
+  using value_type = T;
+  using size_type = uint64_t;
+
+ public:
+  ArenaQueue() {}
+  ArenaQueue& operator=(const ArenaQueue& other) = delete;
+  ArenaQueue(const ArenaQueue& other) = delete;
+  ~ArenaQueue();
+  bool Init(uint64_t size);
+  bool Init(uint64_t size, google::protobuf::Arena* arena);
+
+  T* AddBack();
+  T* PopFront();
+  T* GetBack();
+  T* GetFront();
+
+  uint64_t Size();
+  bool Empty();
+  uint64_t Head() { return head_.load(); }
+  uint64_t Tail() { return tail_.load(); }
+  uint64_t Commit() { return commit_.load(); }
+  bool NextIndex(uint64_t& index) {
+    if (Empty()) {
+      return false;
+    }
+    if (arena_) {
+      if (GetIndex(index) < Tail() - 1) {
+        index = GetIndex(index + 1);
+        return true;
+      }
+      return false;
+    } else {
+      if (index < Size() - 1) {
+        index = index + 1;
+        return true;
+      }
+      return false;
+    }
+  }
+  bool GetHeadIndex(uint64_t& index) {
+    if (Empty()) {
+      return false;
+    }
+    if (arena_) {
+      index = GetIndex(head_ + 1);
+      return true;
+    } else {
+      index = 0;
+      return true;
+    }
+  }
+  bool GetTailIndex(uint64_t& index) {
+    if (Empty()) {
+      return false;
+    }
+    if (arena_) {
+      index = GetIndex(tail_ - 1);
+      return true;
+    } else {
+      index = Size() - 1;
+      return true;
+    }
+  }
+  bool GetEleByIndex(uint64_t i, T*& ptr) {
+    if (Empty()) {
+      return false;
+    }
+    if (arena_) {
+      ptr = pool_[GetIndex(i)];
+      return true;
+    } else {
+      if (i > Size() - 1) {
+        return false;
+      }
+      ptr = &normal_queue[i];
+      return true;
+    }
+  }
+  bool IsArenaEnable() { return arena_; }
+
+ private:
+  uint64_t GetIndex(uint64_t num);
+
+  alignas(CACHELINE_SIZE) std::atomic<uint64_t> head_ = {0};
+  alignas(CACHELINE_SIZE) std::atomic<uint64_t> tail_ = {1};
+  alignas(CACHELINE_SIZE) std::atomic<uint64_t> commit_ = {1};
+
+  uint64_t pool_size_ = 0;
+  std::vector<T*> pool_;
+  bool arena_;
+  std::deque<T> normal_queue;
+};
+
+template <typename T>
+ArenaQueue<T>::~ArenaQueue() {}
+
+template <typename T>
+inline bool ArenaQueue<T>::Init(uint64_t size) {
+  arena_ = false;
+  return true;
+}
+
+template <typename T>
+inline bool ArenaQueue<T>::Init(uint64_t size, google::protobuf::Arena* arena) {
+  pool_size_ = size + 2;
+  if (pool_.size() == pool_size_) {
+    return true;
+  }
+  pool_.clear();
+  for (uint64_t i = 0; i < pool_size_; ++i) {
+    pool_.push_back(google::protobuf::Arena::CreateMessage<T>(arena));
+  }
+  arena_ = true;
+  return true;
+}
+
+template <typename T>
+T* ArenaQueue<T>::GetBack() {
+  if (Empty()) {
+    return nullptr;
+  }
+  if (arena_) {
+    return pool_[GetIndex(tail_ - 1)];
+  } else {
+    return &normal_queue.back();
+  }
+}
+
+template <typename T>
+T* ArenaQueue<T>::GetFront() {
+  if (Empty()) {
+    return nullptr;
+  }
+  if (arena_) {
+    return pool_[GetIndex(head_ + 1)];
+  } else {
+    return &normal_queue.front();
+  }
+}
+
+template <typename T>
+T* ArenaQueue<T>::AddBack() {
+  if (arena_) {
+    uint64_t new_tail = 0;
+    uint64_t old_commit = 0;
+    uint64_t old_tail = tail_.load(std::memory_order_acquire);
+    do {
+      new_tail = old_tail + 1;
+      if (GetIndex(new_tail) ==
+          GetIndex(head_.load(std::memory_order_acquire))) {
+        return nullptr;
+      }
+    } while (!tail_.compare_exchange_weak(old_tail, new_tail,
+                                          std::memory_order_acq_rel,
+                                          std::memory_order_relaxed));
+    do {
+      old_commit = old_tail;
+    } while (cyber_unlikely(!commit_.compare_exchange_weak(
+        old_commit, new_tail, std::memory_order_acq_rel,
+        std::memory_order_relaxed)));
+    return pool_[GetIndex(old_tail)];
+  } else {
+    T instance;
+    normal_queue.push_back(instance);
+    return &normal_queue.back();
+  }
+}
+
+template <typename T>
+T* ArenaQueue<T>::PopFront() {
+  if (Empty()) {
+    return nullptr;
+  }
+  if (arena_) {
+    uint64_t new_head = 0;
+    uint64_t old_head = head_.load(std::memory_order_acquire);
+    do {
+      new_head = old_head + 1;
+      if (new_head == commit_.load(std::memory_order_acquire)) {
+        return nullptr;
+      }
+    } while (!head_.compare_exchange_weak(old_head, new_head,
+                                          std::memory_order_acq_rel,
+                                          std::memory_order_relaxed));
+    return pool_[GetIndex(new_head)];
+  } else {
+    normal_queue.pop_front();
+    return nullptr;
+  }
+}
+
+template <typename T>
+inline uint64_t ArenaQueue<T>::Size() {
+  if (arena_) {
+    return tail_ - head_ - 1;
+  } else {
+    return normal_queue.size();
+  }
+}
+
+template <typename T>
+inline bool ArenaQueue<T>::Empty() {
+  if (arena_) {
+    return Size() == 0;
+  } else {
+    return normal_queue.empty();
+  }
+}
+
+template <typename T>
+inline uint64_t ArenaQueue<T>::GetIndex(uint64_t num) {
+  return num - (num / pool_size_) * pool_size_;  // faster than %
+}
+
+}  // namespace base
+}  // namespace cyber
+}  // namespace apollo
+
+#endif  // CYBER_BASE_ARENA_QUEUE_H_
diff --git a/cyber/base/macros.h b/cyber/base/macros.h
index 7a58b94..96442a3 100644
--- a/cyber/base/macros.h
+++ b/cyber/base/macros.h
@@ -20,6 +20,8 @@
 #include <cstdlib>
 #include <new>
 
+#define eprosima eprosima_wrap
+
 #if __GNUC__ >= 3
 #define cyber_likely(x) (__builtin_expect((x), 1))
 #define cyber_unlikely(x) (__builtin_expect((x), 0))
diff --git a/cyber/base/pthread_rw_lock.h b/cyber/base/pthread_rw_lock.h
new file mode 100644
index 0000000..bb2c6b0
--- /dev/null
+++ b/cyber/base/pthread_rw_lock.h
@@ -0,0 +1,73 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+#ifndef CYBER_BASE_PTHREAD_RW_LOCK_H_
+#define CYBER_BASE_PTHREAD_RW_LOCK_H_
+
+#include <thread>
+
+#include "cyber/base/rw_lock_guard.h"
+
+namespace apollo {
+namespace cyber {
+namespace base {
+
+class PthreadRWLock {
+  friend class ReadLockGuard<PthreadRWLock>;
+  friend class WriteLockGuard<PthreadRWLock>;
+
+ public:
+  explicit PthreadRWLock(bool writer) {
+    pthread_rwlockattr_init(&rwlock_attr_);
+    if (writer) {
+      pthread_rwlockattr_setkind_np(
+          &rwlock_attr_, PTHREAD_RWLOCK_PREFER_WRITER_NONRECURSIVE_NP);
+    }
+    pthread_rwlockattr_setpshared(&rwlock_attr_, PTHREAD_PROCESS_SHARED);
+    pthread_rwlock_init(&rwlock_, &rwlock_attr_);
+  }
+  PthreadRWLock() : PthreadRWLock(true) {}
+
+  ~PthreadRWLock() {
+    pthread_rwlock_destroy(&rwlock_);
+    pthread_rwlockattr_destroy(&rwlock_attr_);
+  }
+
+  void ReadLock();
+  void ReadUnlock();
+
+  void WriteLock();
+  void WriteUnlock();
+
+ private:
+  PthreadRWLock(const PthreadRWLock& other) = delete;
+  PthreadRWLock& operator=(const PthreadRWLock& other) = delete;
+  pthread_rwlock_t rwlock_;
+  pthread_rwlockattr_t rwlock_attr_;
+};
+
+inline void PthreadRWLock::ReadLock() { pthread_rwlock_rdlock(&rwlock_); }
+
+inline void PthreadRWLock::ReadUnlock() { pthread_rwlock_unlock(&rwlock_); }
+
+inline void PthreadRWLock::WriteLock() { pthread_rwlock_wrlock(&rwlock_); }
+
+inline void PthreadRWLock::WriteUnlock() { pthread_rwlock_unlock(&rwlock_); }
+
+}  // namespace base
+}  // namespace cyber
+}  // namespace apollo
+
+#endif
diff --git a/cyber/benchmark/BUILD b/cyber/benchmark/BUILD
new file mode 100644
index 0000000..5090dc6
--- /dev/null
+++ b/cyber/benchmark/BUILD
@@ -0,0 +1,51 @@
+load("//tools:cpplint.bzl", "cpplint")
+load("//tools/proto:proto.bzl", "proto_library", "apollo_py_binary")
+load("//tools:apollo_package.bzl", "apollo_package", "apollo_cc_binary")
+
+package(default_visibility = ["//visibility:public"])
+
+apollo_py_binary(
+    name = "cyber_benchmark",
+    srcs = ["cyber_benchmark.py"],
+)
+
+apollo_cc_binary(
+    name = "cyber_benchmark_reader",
+    srcs = [
+        "cyber_benchmark_reader.cc",
+    ],
+    linkopts = [
+        "-pthread",
+        "-lprofiler",
+        "-ltcmalloc",
+    ],
+    deps = [
+        "//cyber",
+        ":benchmark_msg_proto",
+    ],
+)
+
+apollo_cc_binary(
+    name = "cyber_benchmark_writer",
+    srcs = [
+        "cyber_benchmark_writer.cc",
+    ],
+    linkopts = [
+        "-pthread",
+        "-lprofiler",
+        "-ltcmalloc",
+    ],
+    deps = [
+        "//cyber",
+        "//cyber/time:cyber_time",
+        ":benchmark_msg_proto",
+    ],
+)
+
+proto_library(
+    name = "benchmark_msg_proto",
+    srcs = ["benchmark_msg.proto"],
+)
+
+apollo_package()
+cpplint()
\ No newline at end of file
diff --git a/cyber/benchmark/benchmark_msg.proto b/cyber/benchmark/benchmark_msg.proto
new file mode 100644
index 0000000..6757684
--- /dev/null
+++ b/cyber/benchmark/benchmark_msg.proto
@@ -0,0 +1,8 @@
+syntax = "proto2";
+
+package apollo.cyber.benchmark;
+
+message BenchmarkMsg {
+  repeated uint32 data = 1;
+  optional bytes data_bytes = 2;
+}
\ No newline at end of file
diff --git a/cyber/benchmark/cyber_benchmark.py b/cyber/benchmark/cyber_benchmark.py
new file mode 100644
index 0000000..7f676d3
--- /dev/null
+++ b/cyber/benchmark/cyber_benchmark.py
@@ -0,0 +1,337 @@
+"""
+cyber benchmark
+"""
+#!/usr/bin/env python3
+# ****************************************************************************
+# Copyright 2024 The Apollo Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ****************************************************************************
+
+import os
+import re
+import sys
+import json
+import time
+import numpy as np
+import argparse
+import atexit
+import signal
+import logging
+import itertools
+import subprocess
+import threading
+from watchdog.observers import Observer
+from watchdog.events import FileSystemEventHandler
+
+
+"""
+colorful logging
+"""
+BLACK, RED, GREEN, YELLOW, BLUE, MAGENTA, CYAN, WHITE = list(range(8))
+RESET_SEQ = "\033[0m"
+COLOR_SEQ = "\033[1;%dm"
+BOLD_SEQ = "\033[1m"
+
+COLORS = {
+    'INFO': GREEN,
+    'WARNING': YELLOW,
+    'DEBUG': BLUE,
+    'ERROR': RED,
+    'CRITICAL': YELLOW
+}
+
+logger = logging.Logger(__name__)
+reader_nums = -1
+
+class Benchmark(FileSystemEventHandler):
+    """
+    benchmark class definition
+    """
+    def __init__(self, params):
+        self.params = params
+        self.directory_to_watch = os.path.join(os.environ['APOLLO_ENV_WORKROOT'], "dumps")
+        self.preformance_to_write = os.path.join(os.environ['APOLLO_ENV_WORKROOT'], "data")
+        self.performances = {}
+        self.performance_key = None
+        self.debounce_period = 1
+        self.last_sample_time = 0
+        self.base_key = {
+            "cyber_benchmark_cpu_usage_latency": "cpu_usage",
+            "cyber_benchmark_mem_resident_usage_latency": "mem_usage",
+        }
+        self.latency_key = {}
+        self.data_fd = open(
+            "transport_performance_{}".format(int(time.time())), "w+")
+
+    def on_any_event(self, event):
+        """
+        monitor the files associated with performance
+        """
+        if event.is_directory:
+            return None
+
+        elif event.event_type == 'created' or event.event_type == 'modified':
+            if "cyber_benchmark_reader" not in event.src_path.split('/')[-1] or \
+                    not event.src_path.split('/')[-1].endswith("latency.data"):
+                return None
+            if self.performance_key is None:
+                return None
+
+            current = time.time()
+            if current - self.last_sample_time < 1:
+                return None
+
+            self.last_sample_time = current
+            
+            latancy_data_path = event.src_path
+            try:
+                with open(latancy_data_path, "r") as f:
+                    for l in f.readlines():
+                        k, v = l.strip().split(" : ")[0], l.strip().split(" : ")[1]
+                        if k in self.latency_key:
+                            if self.latency_key[k] not in self.performances[self.performance_key]:
+                                self.performances[self.performance_key][self.latency_key[k]] = []  
+                            self.performances[
+                                self.performance_key][self.latency_key[k]].append(int(v))
+            except:
+                return None
+    
+    def parse_result(self):
+        """
+        get the final results of performance
+        """
+        global reader_nums
+        for i in range(reader_nums):
+            data_path = os.path.join(
+                self.directory_to_watch, f"cyber_benchmark_reader_{i}.data")
+            recv_total = -1
+            send_total = -1
+            with open(data_path, "r") as f:
+                for l in f.readlines():
+                    k, v = l.strip().strip().split(" : ")[0], l.strip().split(" : ")[1]
+                    if k == f"cyber_benchmark_cyber_benchmark_reader_{i}_apollo_cyber_benchmark_recv_msgs_nums":
+                        if i == 0:
+                            recv_total = int(v)
+                        else:
+                            recv_total += int(v)
+                    elif k == f"cyber_benchmark_cyber_benchmark_reader_{i}_apollo_cyber_benchmark_total_msgs_nums":
+                        if i == 0:
+                            send_total = int(v)
+                        else:
+                            send_total += int(v)
+            if recv_total == -1 or send_total == -1:
+                logger.error("parse cyber_benchmark_reader.data result failed")
+                sys.exit(3)
+        
+        writer_data_path = os.path.join(
+            self.directory_to_watch, "cyber_benchmark_writer.data")
+        test_time = -1
+        test_message_size = -1
+        with open(writer_data_path, "r") as f:
+            for l in f.readlines():
+                k, v = l.strip().strip().split(" : ")[0], l.strip().split(" : ")[1]
+                if k == "cyber_benchmark_cyber_benchmark_writer_test_time":
+                    test_time = float(v)
+                elif k == "cyber_benchmark_cyber_benchmark_writer_message_size":
+                    test_message_size = int(v)
+        if test_time == -1 or test_message_size == -1:
+            logger.error("parse cyber_benchmark_writer.data result failed")
+            sys.exit(3)
+
+        test_message_size = test_message_size / 1024 / 1024 # in MB
+
+        msg_lose_rate = round((send_total - recv_total) / send_total * 100, 2)
+        bandwidth = round(recv_total * test_message_size / test_time * 8, 2) # mbps
+
+        ret_str = f"{self.performance_key}:\n"
+        for k in self.performances[self.performance_key]:
+            self.performances[self.performance_key][k].remove(
+                max(self.performances[self.performance_key][k])) 
+            self.performances[self.performance_key][k].remove(
+                min(self.performances[self.performance_key][k]))
+            self.performances[self.performance_key][k] = list(
+                filter(lambda x: x != 0, self.performances[self.performance_key][k]))
+            if "cpu" in k:
+                self.performances[self.performance_key][k] = list(
+                    filter(lambda x: x < 120, self.performances[self.performance_key][k])) 
+            pavg = round(np.mean(self.performances[self.performance_key][k]), 2)
+            p99 = round(np.percentile(self.performances[self.performance_key][k], 99), 2)
+            p95 = round(np.percentile(self.performances[self.performance_key][k], 95), 2)
+            p50 = round(np.percentile(self.performances[self.performance_key][k], 50), 2)
+            pmin = round(np.min(self.performances[self.performance_key][k]), 2)
+            pmax = round(np.max(self.performances[self.performance_key][k]), 2)
+            ret_str += f"{k}: \n"
+            ret_str += f"  avg: {pavg}, pmin: {pmin}, pmax: {pmax}, p50: {p50}, p95: {p95}, p99: {p99}\n"
+
+        ret_str += f"bandwidth: {bandwidth} mbps\n"
+        ret_str += f"msg_lose_rate: {msg_lose_rate}%"
+        print(ret_str)
+        self.performances[self.performance_key]["test_message_size"] = test_message_size
+        self.performances[self.performance_key]["test_time"] = test_time
+
+    def save_data(self):
+        """
+        record all performance data
+        """
+        self.data_fd.write(
+            json.dumps(self.performances[self.performance_key]))
+        self.data_fd.flush()
+
+    def run(self):
+        """
+        run the performance test
+        """
+        global reader_nums
+        transport_data_type = []
+        if self.params.transport_type == 0 or \
+                self.params.transport_type == 1:
+            transport_data_type = [self.params.transport_type]
+        else:
+            transport_data_type = [0, 1]
+
+        cartesian_product = list(itertools.product(self.params.data_size,
+            self.params.reader_nums, self.params.frequency, transport_data_type))
+
+        for item in cartesian_product:
+            ds = item[0]
+            rn = item[1]
+            f = item[2]
+            dt = item[3]
+
+            reader_nums = rn
+
+            for k in self.base_key:
+                self.latency_key[k] = self.base_key[k]
+            for i in range(rn):
+                self.latency_key[
+                    f"cyber_benchmark_cyber_benchmark_reader_{i}_apollo_cyber_benchmark_cyber_latency"
+                ] = "cyber_latency"
+                self.latency_key[
+                    f"cyber_benchmark_cyber_benchmark_reader_{i}_apollo_cyber_benchmark_tran_latency"
+                ] = "cyber_tran_latency" 
+
+            if self.params.best_effords:
+                qos = 1
+            else:
+                qos = 0
+            self.performance_key = \
+                f"data-size:{ds}/reader-nums:{rn}/frequency:{f}/data_type:{dt}/qos:{qos}"
+            self.performances[self.performance_key] = {}
+            print(f"\nrunning test with {self.performance_key}")
+            self.readers = []
+            for i in range(rn):
+                try:
+                    reader_args_list = [
+                        "cyber_benchmark_reader", 
+                        "-n", f"{i}"]
+                    reader = subprocess.Popen(reader_args_list, stdout=subprocess.DEVNULL,
+                                                        stderr=subprocess.DEVNULL)
+                except Exception as err:
+                    logger.error('Subprocess Popen exception: ' + str(err))
+                    sys.exit(2)
+                else:
+                    if reader.pid == 0 or reader.returncode is not None:
+                        logger.error('Start process cyber_benchmark_reader failed.')
+                        sys.exit(2)
+                    self.readers.append(reader)
+            time.sleep(3)
+            try:
+                writer_args_list = [
+                    "cyber_benchmark_writer", "-s", f"{ds}",
+                    "-t", f"{f}", "-T", f"{self.params.time}",
+                    "-d", f"{dt}", "-q", f"{qos}"]
+                ret = subprocess.run(writer_args_list, stdout=subprocess.DEVNULL,
+                                        stderr=subprocess.DEVNULL)
+            except Exception as err:
+                logger.error('Subprocess run writer exception: ' + str(err))
+                sys.exit(2)
+            else:
+                if ret.returncode != 0:
+                    logger.error('Run process cyber_benchmark_writer failed.')
+                    sys.exit(2)
+            time.sleep(3)
+            for reader in self.readers:
+                reader.kill()
+            self.parse_result()
+            self.save_data()
+
+
+def param_parse(params):
+    """
+    parse user parameters
+    """
+    pattern = re.compile(r'^\d+(\.\d+)?[kKmMbB]$')
+    for i in range(len(params.data_size)):
+        param = params.data_size[i]
+        if not pattern.match(param):
+            logger.error(f"data size {param} is invalid")
+        params.data_size[i] = \
+            param[: len(params.data_size[i]) - 1] + param[-1].upper()
+    for i in range(len(params.reader_nums)):
+        try:
+            param = int(params.reader_nums[i])
+        except:
+            logger.error(
+                f"reader nums {params.reader_nums[i]} is invalid")
+        params.reader_nums[i] = param
+    for i in range(len(params.frequency)):
+        try:
+            param = int(params.frequency[i])
+        except:
+            logger.error(
+                f"frequency {params.frequency[i]} is invalid")
+        params.frequency[i] = param 
+    return params
+        
+
+def main():
+    """
+    entry
+    """
+    parser = argparse.ArgumentParser(description='cyber benchmark')
+    parser.add_argument(
+        '-s', '--data_size', nargs='*', metavar='*',
+        default=['16B', '1K', '64K', '256K', '1M', '5M', '10M'],
+        type=str.lstrip, help="transport data size, default is 16B - 10M"
+    )
+    parser.add_argument(
+        '-T', '--transport_type', type=int, default=0,
+        help='transport data type, 0 means bytes, 1 means repeted field, while others mean both'
+    )
+    parser.add_argument(
+        '-b', '--best_effords', action='store_true', default=False,
+        help='test the performance using qos policy best effords'
+    )
+    parser.add_argument(
+        '-r', '--reader_nums', nargs='*', metavar='*', default=[1, 2, 5, 10],
+        help='desribe how many readers receive the message'
+    )
+    parser.add_argument(
+        '-f', '--frequency', nargs='*', metavar='*', default=[10, 20, 50, 100, -1],
+        help='desribe the frequency of message sended, e.g. 10 means 10 hz'
+    )
+    parser.add_argument(
+        '-t', '--time', type=int, default=60,
+        help='desribe the time of performance test, default is 60s'
+    )
+    params = param_parse(parser.parse_args(sys.argv[1:]))
+    benchmark = Benchmark(params)
+    observer = Observer()
+    
+    observer.schedule(benchmark, benchmark.directory_to_watch)
+    observer.start()
+    benchmark.run()
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file
diff --git a/cyber/benchmark/cyber_benchmark_reader.cc b/cyber/benchmark/cyber_benchmark_reader.cc
new file mode 100644
index 0000000..a23fb2f
--- /dev/null
+++ b/cyber/benchmark/cyber_benchmark_reader.cc
@@ -0,0 +1,179 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include <getopt.h>
+#include <libgen.h>
+#include <string>
+#include <vector>
+
+#include "cyber/benchmark/benchmark_msg.pb.h"
+#include "cyber/cyber.h"
+
+#if __has_include("gperftools/profiler.h")
+#include "gperftools/heap-profiler.h"
+#include "gperftools/malloc_extension.h"
+#include "gperftools/profiler.h"
+#endif
+
+using apollo::cyber::benchmark::BenchmarkMsg;
+
+std::string BINARY_NAME = "cyber_benchmark_reader";  // NOLINT
+
+int nums_of_reader = 1;
+bool enable_cpuprofile = false;
+bool enable_heapprofile = false;
+std::string profile_filename = "cyber_benchmark_reader_cpu.prof";      // NOLINT
+std::string heapprofile_filename = "cyber_benchmark_reader_mem.prof";  // NOLINT
+
+void DisplayUsage() {
+  AINFO << "Usage: \n    " << BINARY_NAME << " [OPTION]...\n"
+        << "Description: \n"
+        << "    -h, --help: help information \n"
+        << "    -n, --nums_of_reader=nums_of_reader: numbers of reader, "
+           "default value is 1\n"
+        << "    -c, --cpuprofile: enable gperftools cpu profile\n"
+        << "    -o, --profile_filename=filename: the filename to dump the "
+           "profile to, default value is cyber_benchmark_writer_cpu.prof.  "
+           "Only work with -c option\n"
+        << "    -H, --heapprofile: enable gperftools heap profile\n"
+        << "    -O, --heapprofile_filename=filename: the filename "
+           " to dump the profile to, default value is "
+           "cyber_benchmark_writer_mem.prof. Only work with -H option\n"
+        << "Example:\n"
+        << "    " << BINARY_NAME << " -h\n"
+        << "    " << BINARY_NAME << " -n 1\n"
+        << "    " << BINARY_NAME << " -n 10 -c -H ";
+}
+
+void GetOptions(const int argc, char* const argv[]) {
+  opterr = 0;  // extern int opterr
+  int long_index = 0;
+  const std::string short_opts = "hn:co:HO:";
+  static const struct option long_opts[] = {
+      {"help", no_argument, nullptr, 'h'},
+      {"nums_of_reader", required_argument, nullptr, 'n'},
+      {"cpuprofile", no_argument, nullptr, 'c'},
+      {"profile_filename", required_argument, nullptr, 'o'},
+      {"heapprofile", no_argument, nullptr, 'H'},
+      {"heapprofile_filename", required_argument, nullptr, 'O'},
+      {NULL, no_argument, nullptr, 0}};
+
+  // log command for info
+  std::string cmd("");
+  for (int i = 0; i < argc; ++i) {
+    cmd += argv[i];
+    cmd += " ";
+  }
+  AINFO << "command: " << cmd;
+
+  if (1 == argc) {
+    DisplayUsage();
+    exit(0);
+  }
+
+  do {
+    int opt =
+        getopt_long(argc, argv, short_opts.c_str(), long_opts, &long_index);
+    if (opt == -1) {
+      break;
+    }
+    switch (opt) {
+      case 'n':
+        nums_of_reader = std::stoi(std::string(optarg));
+        if (nums_of_reader < 0) {
+          AERROR << "Invalid numbers of reader. It should be grater than 0";
+          exit(-1);
+        }
+        break;
+      case 'c':
+#ifndef BASE_PROFILER_H_
+        AWARN << "gperftools not installed, ignore perf parameters";
+#endif
+        enable_cpuprofile = true;
+        break;
+      case 'o':
+        profile_filename = std::string(optarg);
+        break;
+      case 'H':
+#ifndef BASE_PROFILER_H_
+        AWARN << "gperftools not installed, ignore perf parameters";
+#endif
+        enable_heapprofile = true;
+        break;
+      case 'O':
+        heapprofile_filename = std::string(optarg);
+        break;
+      case 'h':
+        DisplayUsage();
+        exit(0);
+      default:
+        break;
+    }
+  } while (true);
+
+  if (optind < argc) {
+    AINFO << "Found non-option ARGV-element \"" << argv[optind++] << "\"";
+    DisplayUsage();
+    exit(1);
+  }
+}
+
+int main(int argc, char** argv) {
+  GetOptions(argc, argv);
+  google::SetCommandLineOption("bvar_dump_interval", "1");
+  apollo::cyber::Init(argv[0],
+                      BINARY_NAME + "_" + std::to_string(nums_of_reader));
+
+  apollo::cyber::ReaderConfig reader_config;
+  reader_config.channel_name = "/apollo/cyber/benchmark";
+  reader_config.qos_profile.set_depth(10);
+
+  std::vector<std::shared_ptr<apollo::cyber::Reader<BenchmarkMsg>>> vec;
+
+  // for (int i = 0; i < nums_of_reader; i++) {
+  std::string node_name = BINARY_NAME + "-" + std::to_string(nums_of_reader);
+  auto node = apollo::cyber::CreateNode(node_name);
+  vec.push_back(std::move(node->CreateReader<BenchmarkMsg>(
+      reader_config, [](const std::shared_ptr<BenchmarkMsg> m) {})));
+  // }
+
+#ifndef NO_TCMALLOC
+#ifdef BASE_PROFILER_H_
+  if (enable_cpuprofile) {
+    ProfilerStart(profile_filename.c_str());
+  }
+  if (enable_heapprofile) {
+    HeapProfilerStart(heapprofile_filename.c_str());
+  }
+#endif
+#endif
+
+  apollo::cyber::WaitForShutdown();
+
+#ifndef NO_TCMALLOC
+#ifdef BASE_PROFILER_H_
+  if (enable_cpuprofile) {
+    ProfilerStop();
+  }
+  if (enable_heapprofile) {
+    HeapProfilerDump("Befor shutdown");
+    HeapProfilerStop();
+  }
+#endif
+#endif
+
+  return 0;
+}
diff --git a/cyber/benchmark/cyber_benchmark_writer.cc b/cyber/benchmark/cyber_benchmark_writer.cc
new file mode 100644
index 0000000..78b19ca
--- /dev/null
+++ b/cyber/benchmark/cyber_benchmark_writer.cc
@@ -0,0 +1,362 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include <getopt.h>
+#include <libgen.h>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "cyber/benchmark/benchmark_msg.pb.h"
+#include "cyber/cyber.h"
+#include "cyber/time/duration.h"
+#include "cyber/time/time.h"
+
+#if __has_include("gperftools/profiler.h")
+#include "gperftools/heap-profiler.h"
+#include "gperftools/malloc_extension.h"
+#include "gperftools/profiler.h"
+#endif
+
+std::string BINARY_NAME = "cyber_benchmark_writer";  // NOLINT
+
+int message_size = -1;
+int transport_freq = -1;
+int qos_policy = 0;
+int data_type = 0;
+int running_time = 10;
+bool enable_cpuprofile = false;
+bool enable_heapprofile = false;
+std::string profile_filename = "cyber_benchmark_writer_cpu.prof";      // NOLINT
+std::string heapprofile_filename = "cyber_benchmark_writer_mem.prof";  // NOLINT
+
+void DisplayUsage() {
+  AINFO << "Usage: \n    " << BINARY_NAME << " [OPTION]...\n"
+        << "Description: \n"
+        << "    -h, --help: help information \n"
+        << "    -s, --message_size=message_size: transport message size\n"
+        << "    -t, --transport_freq=transmission_frequency: transmission "
+           "frequency\n"  // NOLINT
+        << "    -q, --qos_policy=qos_reliable_policy: set qos reliable policy, "
+           "0 is Reliable, 1 is Best effort, default value is 0\n"
+        << "    -d, --data_type=data_type: transport data type, "
+           "0 is bytes, 1 is repeated field, default value is 0\n"
+        << "    -T, --time=time: running time, default value is 10 seconds\n"
+        << "    -c, --cpuprofile: enable gperftools cpu profile\n"
+        << "    -o, --profile_filename=filename: the filename to dump the "
+           "profile to, default value is cyber_benchmark_writer_cpu.prof. Only "
+           "work "  // NOLINT
+           "with -c option\n"
+        << "    -H, --heapprofile: enable gperftools heap profile\n"
+        << "    -O, --heapprofile_filename=filename: the filename to dump the "
+           "profile to, default value is cyber_benchmark_writer_mem.prof. Only "
+           "work "  // NOLINT
+           "with -H option\n"
+        << "Example:\n"
+        << "    " << BINARY_NAME << " -h\n"
+        << "    " << BINARY_NAME << " -s 64K -t 10\n"
+        << "    " << BINARY_NAME << " -s 64K -t 10 -c -H ";
+}
+
+void GetOptions(const int argc, char* const argv[]) {
+  opterr = 0;  // extern int opterr
+  int long_index = 0;
+  const std::string short_opts = "hs:t:q:d:T:co:HO:";
+  static const struct option long_opts[] = {
+      {"help", no_argument, nullptr, 'h'},
+      {"message_size", required_argument, nullptr, 's'},
+      {"transport_freq", required_argument, nullptr, 't'},
+      {"qos_policy", required_argument, nullptr, 'q'},
+      {"data_type", required_argument, nullptr, 'd'},
+      {"time", required_argument, nullptr, 'T'},
+      {"cpuprofile", no_argument, nullptr, 'c'},
+      {"profile_filename", required_argument, nullptr, 'o'},
+      {"heapprofile", no_argument, nullptr, 'H'},
+      {"heapprofile_filename", required_argument, nullptr, 'O'},
+      {NULL, no_argument, nullptr, 0}};
+
+  // log command for info
+  std::string cmd("");
+  for (int i = 0; i < argc; ++i) {
+    cmd += argv[i];
+    cmd += " ";
+  }
+  AINFO << "command: " << cmd;
+
+  if (1 == argc) {
+    DisplayUsage();
+    exit(0);
+  }
+
+  do {
+    int opt =
+        getopt_long(argc, argv, short_opts.c_str(), long_opts, &long_index);
+    if (opt == -1) {
+      break;
+    }
+    int base_size = 1;
+    std::string arg;
+    switch (opt) {
+      case 's':
+        arg = std::string(optarg);
+        switch (arg[arg.length() - 1]) {
+          case 'B':
+            base_size = 1;
+            break;
+          case 'K':
+            base_size = 1024;
+            break;
+          case 'M':
+            base_size = 1024 * 1024;
+            break;
+          default:
+            AERROR << "Invalid identifier. It should be 'K' or 'M' or 'B'";
+            exit(-1);
+        }
+        message_size = std::stoi(arg.substr(0, arg.length() - 1)) * base_size;
+        if (message_size < 0 || message_size % 4 != 0) {
+          AERROR << "Invalid message size.";
+          exit(-1);
+        }
+        break;
+      case 't':
+        transport_freq = std::stoi(std::string(optarg));
+        break;
+      case 'T':
+        running_time = std::stoi(std::string(optarg));
+        if (running_time < 0) {
+          AERROR << "Invalid running time. It should greater than 0";
+          exit(-1);
+        }
+        break;
+      case 'q':
+        qos_policy = std::stoi(std::string(optarg));
+        if (qos_policy != 0 && qos_policy != 1) {
+          AERROR << "Invalid qos_policy. It should be 0 or 1";
+          exit(-1);
+        }
+        break;
+      case 'd':
+        data_type = std::stoi(std::string(optarg));
+        if (data_type != 0 && data_type != 1) {
+          AERROR << "Invalid data_type. It should be 0 or 1";
+          exit(-1);
+        }
+        break;
+      case 'c':
+#ifndef BASE_PROFILER_H_
+        AWARN << "gperftools not installed, ignore perf parameters";
+#endif
+        enable_cpuprofile = true;
+        break;
+      case 'o':
+        profile_filename = std::string(optarg);
+        break;
+      case 'H':
+#ifndef BASE_PROFILER_H_
+        AWARN << "gperftools not installed, ignore perf parameters";
+#endif
+        enable_heapprofile = true;
+        break;
+      case 'O':
+        heapprofile_filename = std::string(optarg);
+        break;
+      case 'h':
+        DisplayUsage();
+        exit(0);
+      default:
+        break;
+    }
+  } while (true);
+
+  if (optind < argc) {
+    AINFO << "Found non-option ARGV-element \"" << argv[optind++] << "\"";
+    DisplayUsage();
+    exit(1);
+  }
+
+  if (message_size == -1) {
+    AINFO << "-s parameters must be specified";
+    DisplayUsage();
+    exit(1);
+  }
+}
+
+int main(int argc, char** argv) {
+  GetOptions(argc, argv);
+  google::SetCommandLineOption("bvar_dump_interval", "1");
+
+  apollo::cyber::Init(argv[0], BINARY_NAME);
+
+  auto node = apollo::cyber::CreateNode(BINARY_NAME);
+  auto test_time =
+      std::make_shared<::bvar::Status<double>>(BINARY_NAME + "-test-time", 0);
+  auto test_message_size = std::make_shared<::bvar::Status<uint64_t>>(
+      BINARY_NAME + "-message-size", 0);
+  apollo::cyber::proto::RoleAttributes attrs;
+  attrs.set_channel_name("/apollo/cyber/benchmark");
+  auto qos = attrs.mutable_qos_profile();
+  qos->set_depth(10);
+
+  if (qos_policy == 1) {
+    qos->set_reliability(
+        apollo::cyber::proto::QosReliabilityPolicy::RELIABILITY_BEST_EFFORT);
+  } else {
+    qos->set_reliability(
+        apollo::cyber::proto::QosReliabilityPolicy::RELIABILITY_RELIABLE);
+  }
+  auto writer =
+      node->CreateWriter<apollo::cyber::benchmark::BenchmarkMsg>(attrs);
+
+  // sleep a while for initialization, aboout 2 seconds
+  apollo::cyber::Rate rate_init(0.5);
+
+  apollo::cyber::Rate rate_ctl(static_cast<float>(transport_freq));
+
+  rate_init.Sleep();
+
+  uint64_t send_msg_total = transport_freq * running_time;
+
+  // std::vector<uint32_t> trans_vec;
+  // int num_of_instance = message_size / 4;
+  // for (int i = 0; i < num_of_instance; i++) {
+  //   trans_vec.push_back(rand());
+  // }
+
+  // char* data = (char*)malloc(message_size);
+  // for (int i = 0; i < num_of_instance; i++) {
+  //   *(uint32_t*)(data + i * 4) = rand();
+  // }
+
+  // if (data_type == 0) {
+  //   trans_unit->set_data_bytes(data, message_size);
+  // } else {
+  //   for (int i = 0; i < num_of_instance; i++) {
+  //     trans_unit->add_data(trans_vec[i]);
+  //   }
+  // }
+  // free(data);
+
+  int send_msg = 0;
+
+#ifndef NO_TCMALLOC
+#ifdef BASE_PROFILER_H_
+  if (enable_cpuprofile) {
+    ProfilerStart(profile_filename.c_str());
+  }
+  if (enable_heapprofile) {
+    HeapProfilerStart(heapprofile_filename.c_str());
+  }
+#endif
+#endif
+
+  std::vector<uint32_t> trans_vec;
+  int num_of_instance = message_size / 4;
+  for (int i = 0; i < num_of_instance; i++) {
+    trans_vec.push_back(rand());  // NOLINT
+  }
+
+  char* data = (char*)malloc(message_size);  // NOLINT
+
+  if (transport_freq > 0) {
+    auto start_time = apollo::cyber::Time::Now();
+    while (send_msg < send_msg_total) {
+      auto trans_unit = writer->AcquireMessage();
+      int base = rand();  // NOLINT
+
+      for (int i = 0; i < num_of_instance; i++) {
+        trans_vec[i] = base * i;
+      }
+
+      for (int i = 0; i < num_of_instance; i++) {
+        *(uint32_t*)(data + i * 4) = base * i;  // NOLINT
+      }
+
+      if (data_type == 0) {
+        trans_unit->set_data_bytes(data, message_size);
+      } else {
+        for (int i = 0; i < num_of_instance; i++) {
+          trans_unit->add_data(trans_vec[i]);
+        }
+      }
+
+      writer->Write(trans_unit);
+      ++send_msg;
+
+      rate_ctl.Sleep();
+    }
+    auto end_time = apollo::cyber::Time::Now();
+    test_time->set_value((end_time - start_time).ToSecond());
+  } else {
+    auto start_time = apollo::cyber::Time::Now();
+    auto current = start_time;
+    auto endtime = apollo::cyber::Time::Now() +
+                   apollo::cyber::Duration(static_cast<double>(running_time));
+    while (current < endtime) {
+      auto trans_unit = writer->AcquireMessage();
+      int base = rand();  // NOLINT
+
+      for (int i = 0; i < num_of_instance; i++) {
+        trans_vec[i] = base * i;
+      }
+
+      for (int i = 0; i < num_of_instance; i++) {
+        *(uint32_t*)(data + i * 4) = base * i;  // NOLINT
+      }
+
+      if (data_type == 0) {
+        trans_unit->set_data_bytes(data, message_size);
+      } else {
+        for (int i = 0; i < num_of_instance; i++) {
+          trans_unit->add_data(trans_vec[i]);
+        }
+      }
+
+      writer->Write(trans_unit);
+      ++send_msg;
+      current = apollo::cyber::Time::Now();
+    }
+    test_time->set_value((current - start_time).ToSecond());
+  }
+
+  auto m = writer->AcquireMessage();
+  if (data_type == 0) {
+    m->set_data_bytes(data, message_size);
+  } else {
+    for (int i = 0; i < num_of_instance; i++) {
+      m->add_data(trans_vec[i]);
+    }
+  }
+  test_message_size->set_value(m->ByteSizeLong());
+
+  free(data);
+
+#ifndef NO_TCMALLOC
+#ifdef BASE_PROFILER_H_
+  if (enable_cpuprofile) {
+    ProfilerStop();
+  }
+  if (enable_heapprofile) {
+    HeapProfilerDump("Befor shutdown");
+    HeapProfilerStop();
+  }
+#endif
+#endif
+  std::this_thread::sleep_for(std::chrono::milliseconds(1200));
+  apollo::cyber::Clear();
+
+  return 0;
+}
diff --git a/cyber/common/BUILD b/cyber/common/BUILD
index 5d9031d..386fc8e 100644
--- a/cyber/common/BUILD
+++ b/cyber/common/BUILD
@@ -1,16 +1,13 @@
 load("//tools:cpplint.bzl", "cpplint")
-load("//tools:apollo_package.bzl", "apollo_cc_library", "apollo_package", "apollo_cc_test")
+load("//tools:apollo_package.bzl", "apollo_cc_library", "apollo_cc_test", "apollo_package")
 
 package(default_visibility = ["//visibility:public"])
 
 apollo_cc_library(
     name = "cyber_common",
     srcs = [
-        "global_data.cc",
         "file.cc",
-    ],
-    data = [
-        "//cyber:cyber_conf",
+        "global_data.cc",
     ],
     hdrs = [
         "environment.h",
@@ -22,13 +19,17 @@ apollo_cc_library(
         "types.h",
         "util.h",
     ],
+    data = [
+        "//cyber:cyber_conf",
+    ],
     deps = [
         "//cyber:cyber_binary",
         "//cyber/base:cyber_base",
         "//cyber/proto:cyber_conf_cc_proto",
+        "//cyber/proto:transport_conf_cc_proto",
+        "@com_github_google_glog//:glog",
         "@com_github_nlohmann_json//:json",
         "@com_google_protobuf//:protobuf",
-        "@com_github_google_glog//:glog",
     ],
 )
 
diff --git a/cyber/common/file.cc b/cyber/common/file.cc
index 29b1930..44a61ef 100644
--- a/cyber/common/file.cc
+++ b/cyber/common/file.cc
@@ -66,6 +66,26 @@ bool SetProtoToASCIIFile(const google::protobuf::Message &message,
   return SetProtoToASCIIFile(message, fd);
 }
 
+bool SetStringToASCIIFile(const std::string &content,
+                          const std::string &file_name) {
+  int fd = open(file_name.c_str(), O_WRONLY | O_CREAT | O_TRUNC, S_IRWXU);
+  if (fd < 0) {
+    AERROR << "Unable to open file " << file_name << " to write.";
+    return false;
+  }
+  // Write the string data to the file
+  ssize_t bytes_written = write(fd, content.c_str(), content.size());
+  if (bytes_written < 0) {
+    AERROR << "Failed to write to file.";
+    close(fd);  // Ensure the file descriptor is closed even on error
+    return false;
+  }
+
+  close(fd);  // Close the file descriptor
+
+  return true;
+}
+
 bool GetProtoFromASCIIFile(const std::string &file_name,
                            google::protobuf::Message *message) {
   using google::protobuf::TextFormat;
@@ -227,12 +247,26 @@ bool CopyFile(const std::string &from, const std::string &to) {
   return true;
 }
 
+bool IsValidPath(const std::string &path) {
+  const std::string illegal_chars = "\0<>:\"|?*;";
+  for (char ch : path) {
+    if (illegal_chars.find(ch) != std::string::npos) {
+      return false;
+    }
+  }
+  return true;
+}
+
 bool CopyDir(const std::string &from, const std::string &to) {
   DIR *directory = opendir(from.c_str());
   if (directory == nullptr) {
     AERROR << "Cannot open directory " << from;
     return false;
   }
+  if (!IsValidPath(from) || !IsValidPath(to)) {
+    AERROR << "invalid path format: " << from << " to " << to;
+    return false;
+  }
 
   bool ret = true;
   if (EnsureDirectory(to)) {
diff --git a/cyber/common/file.h b/cyber/common/file.h
index eee9a97..ec3dd88 100644
--- a/cyber/common/file.h
+++ b/cyber/common/file.h
@@ -60,6 +60,16 @@ bool SetProtoToASCIIFile(const google::protobuf::Message &message,
 bool SetProtoToASCIIFile(const google::protobuf::Message &message,
                          const std::string &file_name);
 
+/**
+ * @brief Sets the content of the file specified by the file_name to be the
+ *        ascii representation of the input string.
+ * @param content The string to output to the specified file.
+ * @param file_name The name of the target file to set the content.
+ * @return If the action is successful.
+ */
+bool SetStringToASCIIFile(const std::string &content,
+                          const std::string &file_name);
+
 /**
  * @brief Parses the content of the file specified by the file_name as ascii
  *        representation of protobufs, and merges the parsed content to the
diff --git a/cyber/common/file_test.cc b/cyber/common/file_test.cc
index addd677..853daad 100644
--- a/cyber/common/file_test.cc
+++ b/cyber/common/file_test.cc
@@ -120,9 +120,9 @@ TEST(FileTest, Glob) {
   EXPECT_THAT(
       Glob("/apol?o/modules/p*"),
       testing::AllOf(
-          testing::Contains(std::string("/apollo/modules/perception")),
-          testing::Contains(std::string("/apollo/modules/planning")),
-          testing::Contains(std::string("/apollo/modules/prediction"))));
+          testing::Contains(std::string("modules/perception")),
+          testing::Contains(std::string("modules/planning")),
+          testing::Contains(std::string("modules/prediction"))));
 }
 
 TEST(FileTest, GetAbsolutePath) {
diff --git a/cyber/common/global_data.cc b/cyber/common/global_data.cc
index 7d94f1b..4a54063 100644
--- a/cyber/common/global_data.cc
+++ b/cyber/common/global_data.cc
@@ -103,6 +103,51 @@ bool GlobalData::IsMockTimeMode() const {
   return clock_mode_ == ClockMode::MODE_MOCK;
 }
 
+bool GlobalData::IsChannelEnableArenaShm(std::string channel_name) const {
+  if (!config_.has_transport_conf() ||
+      !config_.transport_conf().has_shm_conf() ||
+      !config_.transport_conf().shm_conf().has_arena_shm_conf()) {
+    return false;
+  }
+  bool found = false;
+  for (auto arena_channel_conf : config_.transport_conf()
+                                     .shm_conf()
+                                     .arena_shm_conf()
+                                     .arena_channel_conf()) {
+    if (channel_name == arena_channel_conf.channel_name()) {
+      found = true;
+      break;
+    }
+  }
+  return found;
+}
+
+bool GlobalData::IsChannelEnableArenaShm(uint64_t channel_id) const {
+  auto channel_name =
+      cyber::common::GlobalData::Instance()->GetChannelById(channel_id);
+  return IsChannelEnableArenaShm(channel_name);
+}
+
+apollo::cyber::proto::ArenaChannelConf GlobalData::GetChannelArenaConf(
+    std::string channel_name) const& {
+  for (auto arena_channel_conf : config_.transport_conf()
+                                     .shm_conf()
+                                     .arena_shm_conf()
+                                     .arena_channel_conf()) {
+    if (channel_name == arena_channel_conf.channel_name()) {
+      return arena_channel_conf;
+    }
+  }
+  return apollo::cyber::proto::ArenaChannelConf();
+}
+
+apollo::cyber::proto::ArenaChannelConf GlobalData::GetChannelArenaConf(
+    uint64_t channel_id) const& {
+  auto channel_name =
+      cyber::common::GlobalData::Instance()->GetChannelById(channel_id);
+  return GetChannelArenaConf(channel_name);
+}
+
 void GlobalData::InitHostInfo() {
   char host_name[1024];
   gethostname(host_name, sizeof(host_name));
diff --git a/cyber/common/global_data.h b/cyber/common/global_data.h
index 2e3a194..d3ce39b 100644
--- a/cyber/common/global_data.h
+++ b/cyber/common/global_data.h
@@ -21,6 +21,7 @@
 #include <unordered_map>
 
 #include "cyber/proto/cyber_conf.pb.h"
+#include "cyber/proto/transport_conf.pb.h"
 
 #include "cyber/base/atomic_hash_map.h"
 #include "cyber/base/atomic_rw_lock.h"
@@ -64,6 +65,13 @@ class GlobalData {
   bool IsRealityMode() const;
   bool IsMockTimeMode() const;
 
+  bool IsChannelEnableArenaShm(std::string channel_name) const;
+  bool IsChannelEnableArenaShm(uint64_t channel_id) const;
+  apollo::cyber::proto::ArenaChannelConf GetChannelArenaConf(
+      std::string channel_name) const&;
+  apollo::cyber::proto::ArenaChannelConf GetChannelArenaConf(
+      uint64_t channel_id) const&;
+
   static uint64_t GenerateHashId(const std::string& name) {
     return common::Hash(name);
   }
diff --git a/cyber/component/component.h b/cyber/component/component.h
index 4b36fd7..b1700b6 100644
--- a/cyber/component/component.h
+++ b/cyber/component/component.h
@@ -30,6 +30,8 @@
 #include "cyber/croutine/routine_factory.h"
 #include "cyber/data/data_visitor.h"
 #include "cyber/scheduler/scheduler.h"
+#include "cyber/statistics/statistics.h"
+#include "cyber/time/time.h"
 
 namespace apollo {
 namespace cyber {
@@ -181,15 +183,31 @@ bool Component<M0, NullType, NullType, NullType>::Initialize(
   reader_cfg.qos_profile.CopyFrom(config.readers(0).qos_profile());
   reader_cfg.pending_queue_size = config.readers(0).pending_queue_size();
 
+  auto role_attr = std::make_shared<proto::RoleAttributes>();
+  role_attr->set_node_name(config.name());
+  role_attr->set_channel_name(config.readers(0).channel());
+
   std::weak_ptr<Component<M0>> self =
       std::dynamic_pointer_cast<Component<M0>>(shared_from_this());
-  auto func = [self](const std::shared_ptr<M0>& msg) {
+  auto func = [self, role_attr](const std::shared_ptr<M0>& msg) {
+    auto start_time = Time::Now().ToMicrosecond();
     auto ptr = self.lock();
     if (ptr) {
       ptr->Process(msg);
     } else {
       AERROR << "Component object has been destroyed.";
     }
+    auto end_time = Time::Now().ToMicrosecond();
+    // sampling proc latency and cyber latency in microsecond
+    uint64_t process_start_time;
+    statistics::Statistics::Instance()->SamplingProcLatency<uint64_t>(
+        *role_attr, end_time - start_time);
+    if (statistics::Statistics::Instance()->GetProcStatus(
+            *role_attr, &process_start_time) &&
+        (start_time - process_start_time) > 0) {
+      statistics::Statistics::Instance()->SamplingCyberLatency(
+          *role_attr, start_time - process_start_time);
+    }
   };
 
   std::shared_ptr<Reader<M0>> reader = nullptr;
@@ -257,6 +275,10 @@ bool Component<M0, M1, NullType, NullType>::Initialize(
   reader_cfg.qos_profile.CopyFrom(config.readers(0).qos_profile());
   reader_cfg.pending_queue_size = config.readers(0).pending_queue_size();
 
+  auto role_attr = std::make_shared<proto::RoleAttributes>();
+  role_attr->set_node_name(config.name());
+  role_attr->set_channel_name(config.readers(0).channel());
+
   std::shared_ptr<Reader<M0>> reader0 = nullptr;
   if (cyber_likely(is_reality_mode)) {
     reader0 = node_->template CreateReader<M0>(reader_cfg);
@@ -267,12 +289,24 @@ bool Component<M0, M1, NullType, NullType>::Initialize(
     auto blocker1 = blocker::BlockerManager::Instance()->GetBlocker<M1>(
         config.readers(1).channel());
 
-    auto func = [self, blocker1](const std::shared_ptr<M0>& msg0) {
+    auto func = [self, blocker1, role_attr](const std::shared_ptr<M0>& msg0) {
+      auto start_time = Time::Now().ToMicrosecond();
       auto ptr = self.lock();
       if (ptr) {
         if (!blocker1->IsPublishedEmpty()) {
           auto msg1 = blocker1->GetLatestPublishedPtr();
           ptr->Process(msg0, msg1);
+          auto end_time = Time::Now().ToMicrosecond();
+          // sampling proc latency and cyber latency in microsecond
+          uint64_t process_start_time;
+          statistics::Statistics::Instance()->SamplingProcLatency<uint64_t>(
+              *role_attr, end_time - start_time);
+          if (statistics::Statistics::Instance()->GetProcStatus(
+                  *role_attr, &process_start_time) &&
+              (start_time - process_start_time) > 0) {
+            statistics::Statistics::Instance()->SamplingCyberLatency(
+                *role_attr, start_time - process_start_time);
+          }
         }
       } else {
         AERROR << "Component object has been destroyed.";
@@ -295,11 +329,23 @@ bool Component<M0, M1, NullType, NullType>::Initialize(
   auto sched = scheduler::Instance();
   std::weak_ptr<Component<M0, M1>> self =
       std::dynamic_pointer_cast<Component<M0, M1>>(shared_from_this());
-  auto func = [self](const std::shared_ptr<M0>& msg0,
-                     const std::shared_ptr<M1>& msg1) {
+  auto func = [self, role_attr](const std::shared_ptr<M0>& msg0,
+                                const std::shared_ptr<M1>& msg1) {
+    auto start_time = Time::Now().ToMicrosecond();
     auto ptr = self.lock();
     if (ptr) {
       ptr->Process(msg0, msg1);
+      auto end_time = Time::Now().ToMicrosecond();
+      // sampling proc latency and cyber latency in microsecond
+      uint64_t process_start_time;
+      statistics::Statistics::Instance()->SamplingProcLatency<uint64_t>(
+          *role_attr, end_time - start_time);
+      if (statistics::Statistics::Instance()->GetProcStatus(
+              *role_attr, &process_start_time) &&
+          (start_time - process_start_time) > 0) {
+        statistics::Statistics::Instance()->SamplingCyberLatency(
+            *role_attr, start_time - process_start_time);
+      }
     } else {
       AERROR << "Component object has been destroyed.";
     }
@@ -359,6 +405,11 @@ bool Component<M0, M1, M2, NullType>::Initialize(
   reader_cfg.channel_name = config.readers(0).channel();
   reader_cfg.qos_profile.CopyFrom(config.readers(0).qos_profile());
   reader_cfg.pending_queue_size = config.readers(0).pending_queue_size();
+
+  auto role_attr = std::make_shared<proto::RoleAttributes>();
+  role_attr->set_node_name(config.name());
+  role_attr->set_channel_name(config.readers(0).channel());
+
   std::shared_ptr<Reader<M0>> reader0 = nullptr;
   if (cyber_likely(is_reality_mode)) {
     reader0 = node_->template CreateReader<M0>(reader_cfg);
@@ -372,13 +423,26 @@ bool Component<M0, M1, M2, NullType>::Initialize(
     auto blocker2 = blocker::BlockerManager::Instance()->GetBlocker<M2>(
         config.readers(2).channel());
 
-    auto func = [self, blocker1, blocker2](const std::shared_ptr<M0>& msg0) {
+    auto func = [self, blocker1, blocker2,
+                 role_attr](const std::shared_ptr<M0>& msg0) {
+      auto start_time = Time::Now().ToMicrosecond();
       auto ptr = self.lock();
       if (ptr) {
         if (!blocker1->IsPublishedEmpty() && !blocker2->IsPublishedEmpty()) {
           auto msg1 = blocker1->GetLatestPublishedPtr();
           auto msg2 = blocker2->GetLatestPublishedPtr();
           ptr->Process(msg0, msg1, msg2);
+          auto end_time = Time::Now().ToMicrosecond();
+          // sampling proc latency and cyber latency in microsecond
+          uint64_t process_start_time;
+          statistics::Statistics::Instance()->SamplingProcLatency<uint64_t>(
+              *role_attr, end_time - start_time);
+          if (statistics::Statistics::Instance()->GetProcStatus(
+                  *role_attr, &process_start_time) &&
+              (start_time - process_start_time) > 0) {
+            statistics::Statistics::Instance()->SamplingCyberLatency(
+                *role_attr, start_time - process_start_time);
+          }
         }
       } else {
         AERROR << "Component object has been destroyed.";
@@ -404,12 +468,24 @@ bool Component<M0, M1, M2, NullType>::Initialize(
   std::weak_ptr<Component<M0, M1, M2, NullType>> self =
       std::dynamic_pointer_cast<Component<M0, M1, M2, NullType>>(
           shared_from_this());
-  auto func = [self](const std::shared_ptr<M0>& msg0,
-                     const std::shared_ptr<M1>& msg1,
-                     const std::shared_ptr<M2>& msg2) {
+  auto func = [self, role_attr](const std::shared_ptr<M0>& msg0,
+                                const std::shared_ptr<M1>& msg1,
+                                const std::shared_ptr<M2>& msg2) {
+    auto start_time = Time::Now().ToMicrosecond();
     auto ptr = self.lock();
     if (ptr) {
       ptr->Process(msg0, msg1, msg2);
+      auto end_time = Time::Now().ToMicrosecond();
+      // sampling proc latency and cyber latency in microsecond
+      uint64_t process_start_time;
+      statistics::Statistics::Instance()->SamplingProcLatency<uint64_t>(
+          *role_attr, end_time - start_time);
+      if (statistics::Statistics::Instance()->GetProcStatus(
+              *role_attr, &process_start_time) &&
+          (start_time - process_start_time) > 0) {
+        statistics::Statistics::Instance()->SamplingCyberLatency(
+            *role_attr, start_time - process_start_time);
+      }
     } else {
       AERROR << "Component object has been destroyed.";
     }
@@ -476,6 +552,10 @@ bool Component<M0, M1, M2, M3>::Initialize(const ComponentConfig& config) {
   reader_cfg.qos_profile.CopyFrom(config.readers(0).qos_profile());
   reader_cfg.pending_queue_size = config.readers(0).pending_queue_size();
 
+  auto role_attr = std::make_shared<proto::RoleAttributes>();
+  role_attr->set_node_name(config.name());
+  role_attr->set_channel_name(config.readers(0).channel());
+
   std::shared_ptr<Reader<M0>> reader0 = nullptr;
   if (cyber_likely(is_reality_mode)) {
     reader0 = node_->template CreateReader<M0>(reader_cfg);
@@ -491,8 +571,9 @@ bool Component<M0, M1, M2, M3>::Initialize(const ComponentConfig& config) {
     auto blocker3 = blocker::BlockerManager::Instance()->GetBlocker<M3>(
         config.readers(3).channel());
 
-    auto func = [self, blocker1, blocker2,
-                 blocker3](const std::shared_ptr<M0>& msg0) {
+    auto func = [self, blocker1, blocker2, blocker3,
+                 role_attr](const std::shared_ptr<M0>& msg0) {
+      auto start_time = Time::Now().ToMicrosecond();
       auto ptr = self.lock();
       if (ptr) {
         if (!blocker1->IsPublishedEmpty() && !blocker2->IsPublishedEmpty() &&
@@ -501,6 +582,17 @@ bool Component<M0, M1, M2, M3>::Initialize(const ComponentConfig& config) {
           auto msg2 = blocker2->GetLatestPublishedPtr();
           auto msg3 = blocker3->GetLatestPublishedPtr();
           ptr->Process(msg0, msg1, msg2, msg3);
+          auto end_time = Time::Now().ToMicrosecond();
+          // sampling proc latency and cyber latency in microsecond
+          uint64_t process_start_time;
+          statistics::Statistics::Instance()->SamplingProcLatency<uint64_t>(
+              *role_attr, end_time - start_time);
+          if (statistics::Statistics::Instance()->GetProcStatus(
+                  *role_attr, &process_start_time) &&
+              (start_time - process_start_time) > 0) {
+            statistics::Statistics::Instance()->SamplingCyberLatency(
+                *role_attr, start_time - process_start_time);
+          }
         }
       } else {
         AERROR << "Component object has been destroyed.";
@@ -527,16 +619,29 @@ bool Component<M0, M1, M2, M3>::Initialize(const ComponentConfig& config) {
   auto sched = scheduler::Instance();
   std::weak_ptr<Component<M0, M1, M2, M3>> self =
       std::dynamic_pointer_cast<Component<M0, M1, M2, M3>>(shared_from_this());
-  auto func =
-      [self](const std::shared_ptr<M0>& msg0, const std::shared_ptr<M1>& msg1,
-             const std::shared_ptr<M2>& msg2, const std::shared_ptr<M3>& msg3) {
-        auto ptr = self.lock();
-        if (ptr) {
-          ptr->Process(msg0, msg1, msg2, msg3);
-        } else {
-          AERROR << "Component object has been destroyed." << std::endl;
-        }
-      };
+  auto func = [self, role_attr](const std::shared_ptr<M0>& msg0,
+                                const std::shared_ptr<M1>& msg1,
+                                const std::shared_ptr<M2>& msg2,
+                                const std::shared_ptr<M3>& msg3) {
+    auto start_time = Time::Now().ToMicrosecond();
+    auto ptr = self.lock();
+    if (ptr) {
+      ptr->Process(msg0, msg1, msg2, msg3);
+      auto end_time = Time::Now().ToMicrosecond();
+      // sampling proc latency and cyber latency in microsecond
+      uint64_t process_start_time;
+      statistics::Statistics::Instance()->SamplingProcLatency<uint64_t>(
+          *role_attr, end_time - start_time);
+      if (statistics::Statistics::Instance()->GetProcStatus(
+              *role_attr, &process_start_time) &&
+          (start_time - process_start_time) > 0) {
+        statistics::Statistics::Instance()->SamplingCyberLatency(
+            *role_attr, start_time - process_start_time);
+      }
+    } else {
+      AERROR << "Component object has been destroyed." << std::endl;
+    }
+  };
 
   std::vector<data::VisitorConfig> config_list;
   for (auto& reader : readers_) {
diff --git a/cyber/component/timer_component.cc b/cyber/component/timer_component.cc
index 3248708..6cf96e0 100644
--- a/cyber/component/timer_component.cc
+++ b/cyber/component/timer_component.cc
@@ -16,6 +16,7 @@
 
 #include "cyber/component/timer_component.h"
 
+#include "cyber/statistics/statistics.h"
 #include "cyber/timer/timer.h"
 
 namespace apollo {
@@ -44,9 +45,21 @@ bool TimerComponent::Initialize(const TimerComponentConfig& config) {
   }
   interval_ = config.interval();
 
+  auto role_attr = std::make_shared<proto::RoleAttributes>();
+  role_attr->set_node_name(config.name());
+  role_attr->set_channel_name(statistics::TIMER_COMPONENT_CHAN_NAME);
+  statistics::Statistics::Instance()->RegisterChanVar(*role_attr);
+
   std::shared_ptr<TimerComponent> self =
       std::dynamic_pointer_cast<TimerComponent>(shared_from_this());
-  auto func = [self]() { self->Process(); };
+  auto func = [self, role_attr]() {
+    auto start_time = Time::Now().ToNanosecond();
+    self->Process();
+    auto end_time = Time::Now().ToNanosecond();
+    // sampling proc latency in microsecond
+    statistics::Statistics::Instance()->SamplingProcLatency<
+                  uint64_t>(*role_attr, (end_time-start_time)/1000);
+  };
   timer_.reset(new Timer(config.interval(), func, false));
   timer_->Start();
   return true;
diff --git a/cyber/conf/cyber.pb.conf b/cyber/conf/cyber.pb.conf
index 2ce5045..8cbf0f4 100644
--- a/cyber/conf/cyber.pb.conf
+++ b/cyber/conf/cyber.pb.conf
@@ -24,6 +24,29 @@
 #         max_history_depth: 1000
 #     }
 # }
+#
+transport_conf {
+  communication_mode {
+    same_proc: INTRA
+    diff_proc: SHM
+    diff_host: RTPS
+  }
+  participant_attr {
+    lease_duration: 12
+    announcement_period: 3
+    domain_id_gain: 250
+    port_base: 7400
+  }
+  shm_conf {
+    arena_shm_conf {
+      arena_channel_conf {
+        channel_name: "/apollo/msg"
+        max_msg_size: 33554432
+        max_pool_size: 32
+      }
+    }
+  }
+}
 
 run_mode_conf {
     run_mode: MODE_REALITY
diff --git a/cyber/context/BUILD b/cyber/context/BUILD
index 8628958..3dffa88 100644
--- a/cyber/context/BUILD
+++ b/cyber/context/BUILD
@@ -19,6 +19,7 @@ apollo_cc_test(
     size = "small",
     srcs = ["context_test.cc"],
     linkstatic = True,
+    linkopts = ["-lm"],
     deps = [
         ":cyber_context",
         "@com_google_googletest//:gtest_main",
diff --git a/cyber/cyberfile.xml b/cyber/cyberfile.xml
index 3f0195d..5601e16 100644
--- a/cyber/cyberfile.xml
+++ b/cyber/cyberfile.xml
@@ -16,7 +16,7 @@
   <src_path url="https://github.com/ApolloAuto/apollo">//cyber</src_path>
 
   <depend so_names="ncurses" repo_name="ncurses5">libncurses5-dev</depend>
-  <depend so_names="uuid" repo_name="uuid">libuuid1</depend>
+  <depend so_names="uuid" repo_name="uuid">uuid-dev</depend>
 
   <depend expose="False">3rd-rules-python</depend>
   <depend expose="False">3rd-grpc</depend>
@@ -26,7 +26,10 @@
   <depend expose="False">3rd-bazel-skylib</depend>
 
   <depend repo_name="com_google_protobuf" lib_names="protobuf">3rd-protobuf</depend>
-  <depend repo_name="fastrtps">3rd-fastrtps</depend>
+  <!-- <depend repo_name="fastdds">3rd-fastdds</depend> -->
+  <depend repo_name="fastdds" lib_names="fastdds">3rd-fastdds-wrap</depend>
+  <depend repo_name="proj">3rd-proj</depend>
+  <depend repo_name="eigen">3rd-eigen3</depend>
   <depend repo_name="com_github_google_glog" lib_names="glog">3rd-glog</depend>
   <depend repo_name="com_github_gflags_gflags" lib_names="gflags">3rd-gflags</depend>
   <depend type="binary" repo_name="common-msgs" lib_names="common-msgs">common-msgs</depend>
@@ -36,4 +39,10 @@
   <depend repo_name="tinyxml2" lib_names="tinyxml2">libtinyxml2-dev</depend>
   <depend>bazel-extend-tools</depend>
 
+  <depend>libunwind-dev</depend>
+  <depend>nethogs</depend>
+  <depend>sysstat</depend>
+  <depend>gperftools</depend>
+  <depend>bvar</depend>
+
 </package>
diff --git a/cyber/examples/common_component_example/common.launch b/cyber/examples/common_component_example/common.launch
index 2dd31bf..f32358e 100644
--- a/cyber/examples/common_component_example/common.launch
+++ b/cyber/examples/common_component_example/common.launch
@@ -2,6 +2,8 @@
     <module>
         <name>common</name>
         <dag_conf>/apollo/cyber/examples/common_component_example/common.dag</dag_conf>
+        <cpuprofile>/apollo/example_cpu.prof</cpuprofile>
+        <memprofile>/apollo/example_mem.prof</memprofile>
         <process_name>common</process_name>
     </module>
 </cyber>
diff --git a/cyber/examples/service.cc b/cyber/examples/service.cc
index babe651..8aaf561 100644
--- a/cyber/examples/service.cc
+++ b/cyber/examples/service.cc
@@ -40,7 +40,7 @@ int main(int argc, char* argv[]) {
   while (apollo::cyber::OK()) {
     auto res = client->SendRequest(driver_msg);
     if (res != nullptr) {
-      AINFO << "client: responese: " << res->ShortDebugString();
+      AINFO << "client: response: " << res->ShortDebugString();
     } else {
       AINFO << "client: service may not ready.";
     }
diff --git a/cyber/init.cc b/cyber/init.cc
index 86cd48b..a53cb22 100644
--- a/cyber/init.cc
+++ b/cyber/init.cc
@@ -22,10 +22,14 @@
 
 #include <csignal>
 #include <cstdio>
+#include <cstdlib>
 #include <ctime>
+#include <filesystem>
 #include <memory>
 #include <string>
 
+#include "gflags/gflags.h"
+
 #include "cyber/proto/clock.pb.h"
 
 #include "cyber/binary.h"
@@ -36,6 +40,7 @@
 #include "cyber/node/node.h"
 #include "cyber/scheduler/scheduler.h"
 #include "cyber/service_discovery/topology_manager.h"
+#include "cyber/statistics/statistics.h"
 #include "cyber/sysmo/sysmo.h"
 #include "cyber/task/task.h"
 #include "cyber/time/clock.h"
@@ -45,9 +50,6 @@
 namespace apollo {
 namespace cyber {
 
-using apollo::cyber::scheduler::Scheduler;
-using apollo::cyber::service_discovery::TopologyManager;
-
 namespace {
 
 const std::string& kClockChannel = "/clock";
@@ -93,7 +95,15 @@ void OnShutdown(int sig) {
 
 void ExitHandle() { Clear(); }
 
-bool Init(const char* binary_name) {
+bool Init(const char* binary_name, const std::string& dag_info) {
+  const char* apollo_runtime_path = std::getenv("APOLLO_RUNTIME_PATH");
+  if (apollo_runtime_path != nullptr) {
+    if (std::filesystem::is_directory(
+            std::filesystem::status(apollo_runtime_path))) {
+      std::filesystem::current_path(apollo_runtime_path);
+    }
+  }
+
   std::lock_guard<std::mutex> lg(g_mutex);
   if (GetState() != STATE_UNINITIALIZED) {
     return false;
@@ -127,6 +137,24 @@ bool Init(const char* binary_name) {
         };
     clock_node->CreateReader<apollo::cyber::proto::Clock>(kClockChannel, cb);
   }
+
+  if (dag_info != "") {
+    std::string dump_path;
+    if (dag_info.length() > 200) {
+      std::string truncated = dag_info.substr(0, 200);
+      dump_path = common::GetEnv("APOLLO_ENV_WORKROOT", "/apollo") + "/dumps/" +
+                  truncated;
+    } else {
+      dump_path = common::GetEnv("APOLLO_ENV_WORKROOT", "/apollo") + "/dumps/" +
+                  dag_info;
+    }
+    google::SetCommandLineOption("bvar_dump_file", dump_path.c_str());
+  } else {
+    statistics::Statistics::Instance()->DisableChanVar();
+  }
+  google::SetCommandLineOption("bvar_dump_exclude", "*qps");
+  google::SetCommandLineOption("bvar_dump", "true");
+
   return true;
 }
 
diff --git a/cyber/init.h b/cyber/init.h
index d28c8dc..bac78a6 100644
--- a/cyber/init.h
+++ b/cyber/init.h
@@ -17,14 +17,17 @@
 #ifndef CYBER_INIT_H_
 #define CYBER_INIT_H_
 
+#include <string>
+
 #include "cyber/common/log.h"
 #include "cyber/state.h"
 
 namespace apollo {
 namespace cyber {
 
-bool Init(const char* binary_name);
+bool Init(const char* binary_name, const std::string& dag_info = "");
 void Clear();
+void OnShutdown(int sig);
 
 }  // namespace cyber
 }  // namespace apollo
diff --git a/cyber/mainboard/BUILD b/cyber/mainboard/BUILD
index 7ae3f85..05feac4 100644
--- a/cyber/mainboard/BUILD
+++ b/cyber/mainboard/BUILD
@@ -12,9 +12,14 @@ apollo_cc_binary(
         "module_controller.cc",
         "module_controller.h",
     ],
-    linkopts = ["-pthread"],
+    linkopts = [
+        "-pthread",
+        "-lprofiler",
+        "-ltcmalloc",
+    ],
     deps = [
         "//cyber",
+        "//cyber/common:cyber_common",
         "//cyber/plugin_manager:cyber_plugin_manager",
         "//cyber/proto:dag_conf_cc_proto",
     ],
diff --git a/cyber/mainboard/mainboard.cc b/cyber/mainboard/mainboard.cc
index b518e08..1abe162 100644
--- a/cyber/mainboard/mainboard.cc
+++ b/cyber/mainboard/mainboard.cc
@@ -14,6 +14,11 @@
  * limitations under the License.
  *****************************************************************************/
 
+#include <string.h>
+
+#include <list>
+#include <string>
+
 #include "cyber/common/global_data.h"
 #include "cyber/common/log.h"
 #include "cyber/init.h"
@@ -21,6 +26,10 @@
 #include "cyber/mainboard/module_controller.h"
 #include "cyber/state.h"
 
+#include "gperftools/profiler.h"
+#include "gperftools/heap-profiler.h"
+#include "gperftools/malloc_extension.h"
+
 using apollo::cyber::mainboard::ModuleArgument;
 using apollo::cyber::mainboard::ModuleController;
 
@@ -29,8 +38,50 @@ int main(int argc, char** argv) {
   ModuleArgument module_args;
   module_args.ParseArgument(argc, argv);
 
+  auto dag_list = module_args.GetDAGConfList();
+
+  std::string dag_info;
+  for (auto&& i = dag_list.begin(); i != dag_list.end(); i++) {
+    size_t pos = 0;
+    for (size_t j = 0; j < (*i).length(); j++) {
+      pos = ((*i)[j] == '/') ? j: pos;
+    }
+    if (i != dag_list.begin()) dag_info += "_";
+
+    if (pos == 0) {
+      dag_info += *i;
+    } else {
+      dag_info +=
+        (pos == (*i).length()-1) ? (*i).substr(pos): (*i).substr(pos+1);
+    }
+  }
+
+  if (module_args.GetProcessGroup() !=
+        apollo::cyber::mainboard::DEFAULT_process_group_) {
+    dag_info = module_args.GetProcessGroup();
+  }
+
   // initialize cyber
-  apollo::cyber::Init(argv[0]);
+  apollo::cyber::Init(argv[0], dag_info);
+
+  static bool enable_cpu_profile = module_args.GetEnableCpuprofile();
+  static bool enable_mem_profile = module_args.GetEnableHeapprofile();
+  std::signal(SIGTERM, [](int sig){
+    apollo::cyber::OnShutdown(sig);
+    if (enable_cpu_profile) {
+      ProfilerStop();
+    }
+
+    if (enable_mem_profile) {
+      HeapProfilerDump("Befor shutdown");
+      HeapProfilerStop();
+    }
+  });
+
+  if (module_args.GetEnableHeapprofile()) {
+    auto profile_filename = module_args.GetHeapProfileFilename();
+    HeapProfilerStart(profile_filename.c_str());
+  }
 
   // start module
   ModuleController controller(module_args);
@@ -40,7 +91,22 @@ int main(int argc, char** argv) {
     return -1;
   }
 
+  if (module_args.GetEnableCpuprofile()) {
+    auto profile_filename = module_args.GetProfileFilename();
+    ProfilerStart(profile_filename.c_str());
+  }
+
   apollo::cyber::WaitForShutdown();
+
+  if (module_args.GetEnableCpuprofile()) {
+    ProfilerStop();
+  }
+
+  if (module_args.GetEnableHeapprofile()) {
+    HeapProfilerDump("Befor shutdown");
+    HeapProfilerStop();
+  }
+
   controller.Clear();
   AINFO << "exit mainboard.";
 
diff --git a/cyber/mainboard/module_argument.cc b/cyber/mainboard/module_argument.cc
index f169583..7e59cea 100644
--- a/cyber/mainboard/module_argument.cc
+++ b/cyber/mainboard/module_argument.cc
@@ -16,9 +16,15 @@
 
 #include "cyber/mainboard/module_argument.h"
 
+#include "cyber/common/environment.h"
+
 #include <getopt.h>
 #include <libgen.h>
 
+#if __has_include("gperftools/profiler.h")
+#include "gperftools/profiler.h"
+#endif
+
 using apollo::cyber::common::GlobalData;
 
 namespace apollo {
@@ -38,6 +44,14 @@ void ModuleArgument::DisplayUsage() {
            "plugin\n"
         << "    --disable_plugin_autoload : default enable autoload "
            "mode of plugins, use disable_plugin_autoload to ingore autoload\n"
+        << "    -c, --cpuprofile: enable gperftools cpu profile\n"
+        << "    -o, --profile_filename=filename: the filename to dump the "
+           "profile to, default value is ${process_group}_cpu.prof. Only work "
+           "with -c option\n"
+        << "    -H, --heapprofile: enable gperftools heap profile\n"
+        << "    -O, --heapprofile_filename=filename: the filename to dump the "
+           "profile to, default value is ${process_group}_mem.prof. Only work "
+           "with -c option\n"
         << "Example:\n"
         << "    " << binary_name_ << " -h\n"
         << "    " << binary_name_ << " -d dag_conf_file1 -d dag_conf_file2 "
@@ -57,6 +71,27 @@ void ModuleArgument::ParseArgument(const int argc, char* const argv[]) {
     sched_name_ = DEFAULT_sched_name_;
   }
 
+  if (enable_cpuprofile_ && profile_filename_.empty()) {
+    auto pwd = common::GetEnv("PWD");
+    profile_filename_ = pwd + "/" + process_group_ + std::string("_cpu.prof");
+  }
+
+  if (profile_filename_[0] != '/') {
+    auto pwd = common::GetEnv("PWD");
+    profile_filename_ = pwd + "/" + profile_filename_;
+  }
+
+  if (enable_heapprofile_ && heapprofile_filename_.empty()) {
+    auto pwd = common::GetEnv("PWD");
+    heapprofile_filename_ =
+        pwd + "/" + process_group_ + std::string("_mem.prof");
+  }
+
+  if (heapprofile_filename_[0] != '/') {
+    auto pwd = common::GetEnv("PWD");
+    heapprofile_filename_ = pwd + "/" + heapprofile_filename_;
+  }
+
   GlobalData::Instance()->SetProcessGroup(process_group_);
   GlobalData::Instance()->SetSchedName(sched_name_);
   AINFO << "binary_name_ is " << binary_name_ << ", process_group_ is "
@@ -69,7 +104,7 @@ void ModuleArgument::ParseArgument(const int argc, char* const argv[]) {
 void ModuleArgument::GetOptions(const int argc, char* const argv[]) {
   opterr = 0;  // extern int opterr
   int long_index = 0;
-  const std::string short_opts = "hd:p:s:";
+  const std::string short_opts = "hd:p:s:co:HO:";
   static const struct option long_opts[] = {
       {"help", no_argument, nullptr, 'h'},
       {"dag_conf", required_argument, nullptr, 'd'},
@@ -78,6 +113,10 @@ void ModuleArgument::GetOptions(const int argc, char* const argv[]) {
       {"plugin", required_argument, nullptr, ARGS_OPT_CODE_PLUGIN},
       {"disable_plugin_autoload", no_argument, nullptr,
        ARGS_OPT_CODE_DISABLE_PLUGIN_AUTOLOAD},
+      {"cpuprofile", no_argument, nullptr, 'c'},
+      {"profile_filename", required_argument, nullptr, 'o'},
+      {"heapprofile", no_argument, nullptr, 'H'},
+      {"heapprofile_filename", required_argument, nullptr, 'O'},
       {NULL, no_argument, nullptr, 0}};
 
   // log command for info
@@ -120,7 +159,25 @@ void ModuleArgument::GetOptions(const int argc, char* const argv[]) {
         plugin_description_list_.emplace_back(std::string(optarg));
         break;
       case ARGS_OPT_CODE_DISABLE_PLUGIN_AUTOLOAD:
-          disable_plugin_autoload_ = true;
+        disable_plugin_autoload_ = true;
+        break;
+      case 'c':
+#ifndef BASE_PROFILER_H_
+        AWARN << "gperftools not installed, ignore perf parameters";
+#endif
+        enable_cpuprofile_ = true;
+        break;
+      case 'o':
+        profile_filename_ = std::string(optarg);
+        break;
+      case 'H':
+#ifndef BASE_PROFILER_H_
+        AWARN << "gperftools not installed, ignore perf parameters";
+#endif
+        enable_heapprofile_ = true;
+        break;
+      case 'O':
+        heapprofile_filename_ = std::string(optarg);
         break;
       case 'h':
         DisplayUsage();
diff --git a/cyber/mainboard/module_argument.h b/cyber/mainboard/module_argument.h
index 5f2ed9f..ddc1dfa 100644
--- a/cyber/mainboard/module_argument.h
+++ b/cyber/mainboard/module_argument.h
@@ -47,6 +47,12 @@ class ModuleArgument {
   const std::string& GetSchedName() const;
   const std::list<std::string>& GetDAGConfList() const;
   const std::list<std::string>& GetPluginDescriptionList() const;
+  const bool GetEnableCpuprofile() const { return enable_cpuprofile_; }
+  const std::string GetProfileFilename() const { return profile_filename_; }
+  const bool GetEnableHeapprofile() const { return enable_heapprofile_; }
+  const std::string GetHeapProfileFilename() const {
+    return heapprofile_filename_;
+  }
   const bool& GetDisablePluginsAutoLoad() const;
 
  private:
@@ -55,6 +61,10 @@ class ModuleArgument {
   std::string binary_name_;
   std::string process_group_;
   std::string sched_name_;
+  bool enable_cpuprofile_ = false;
+  std::string profile_filename_;
+  bool enable_heapprofile_ = false;
+  std::string heapprofile_filename_;
   bool disable_plugin_autoload_ = false;
 };
 
diff --git a/cyber/message/BUILD b/cyber/message/BUILD
index e12d060..f0b690e 100644
--- a/cyber/message/BUILD
+++ b/cyber/message/BUILD
@@ -1,5 +1,5 @@
 load("//tools:cpplint.bzl", "cpplint")
-load("//tools:apollo_package.bzl", "apollo_package", "apollo_cc_library", "apollo_cc_test", "apollo_cc_binary")
+load("//tools:apollo_package.bzl", "apollo_cc_binary", "apollo_cc_library", "apollo_cc_test", "apollo_package")
 
 package(default_visibility = ["//visibility:public"])
 
@@ -15,7 +15,12 @@ apollo_cc_test(
 
 apollo_cc_library(
     name = "cyber_message",
+    srcs = [
+        "protobuf_factory.cc",
+    ],
     hdrs = [
+        "arena_manager_base.h",
+        "arena_message_wrapper.h",
         "message_header.h",
         "message_traits.h",
         "protobuf_factory.h",
@@ -25,9 +30,6 @@ apollo_cc_library(
         "raw_message.h",
         "raw_message_traits.h",
     ],
-    srcs = [
-        "protobuf_factory.cc",
-    ],
     deps = [
         "//cyber/common:cyber_common",
         "//cyber/proto:proto_desc_cc_proto",
@@ -67,4 +69,5 @@ apollo_cc_test(
 )
 
 apollo_package()
+
 cpplint()
diff --git a/cyber/message/arena_manager_base.h b/cyber/message/arena_manager_base.h
new file mode 100644
index 0000000..aa8209a
--- /dev/null
+++ b/cyber/message/arena_manager_base.h
@@ -0,0 +1,62 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+#ifndef CYBER_MESSAGE_ARENA_MANAGER_BASE_H_
+#define CYBER_MESSAGE_ARENA_MANAGER_BASE_H_
+
+#include <cstdint>
+#include <memory>
+
+namespace apollo {
+namespace cyber {
+namespace message {
+
+class ArenaMessageWrapper;
+
+class ArenaManagerBase {
+ public:
+  ArenaManagerBase() {}
+  virtual ~ArenaManagerBase() {}
+
+  virtual uint64_t GetBaseAddress(const ArenaMessageWrapper* wrapper) {
+    return 0;
+  }
+
+  virtual void* SetMessage(ArenaMessageWrapper* wrapper,
+                           const void* message) = 0;
+  virtual void* GetMessage(ArenaMessageWrapper* wrapper) = 0;
+
+  std::shared_ptr<message::ArenaMessageWrapper> CreateMessageWrapper() {
+    return std::make_shared<message::ArenaMessageWrapper>(this);
+  }
+
+  template <typename MessageT>
+  MessageT* SetMessage(ArenaMessageWrapper* wrapper, const MessageT& message) {
+    void* msg = SetMessage(wrapper, reinterpret_cast<const void*>(&message));
+    return reinterpret_cast<MessageT*>(msg);
+  }
+
+  template <typename MessageT>
+  MessageT* GetMessage(ArenaMessageWrapper* wrapper) {
+    void* msg = GetMessage(wrapper);
+    return reinterpret_cast<MessageT*>(msg);
+  }
+};
+
+}  // namespace message
+}  // namespace cyber
+}  // namespace apollo
+
+#endif
diff --git a/cyber/message/arena_message_wrapper.h b/cyber/message/arena_message_wrapper.h
new file mode 100644
index 0000000..92e573a
--- /dev/null
+++ b/cyber/message/arena_message_wrapper.h
@@ -0,0 +1,145 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+#ifndef CYBER_MESSAGE_ARENA_MESSAGE_WRAPPER_H_
+#define CYBER_MESSAGE_ARENA_MESSAGE_WRAPPER_H_
+
+#include <cstdint>
+#include <cstring>
+#include <memory>
+
+#include "cyber/message/arena_manager_base.h"
+
+namespace apollo {
+namespace cyber {
+namespace message {
+
+union ArenaMessageWrapperMeta {
+  struct {
+    uint64_t version_;
+    uint64_t addr_offset_;
+  } struct_;
+  uint8_t bytes_[128];
+};
+
+union ArenaMessageWrapperExtended {
+  uint8_t bytes_[256];
+};
+
+union ArenaMessageWrapperDataStruct {
+  struct {
+    union ArenaMessageWrapperMeta meta_;
+    union ArenaMessageWrapperExtended extended_;
+  } struct_;
+  uint8_t bytes_[1024];
+};
+
+class ArenaMessageWrapper {
+ public:
+  static const uint64_t kDefaultVersion = 1L;
+
+  ArenaMessageWrapper() : arena_manager_(nullptr) {
+    data_.struct_.meta_.struct_.version_ = kDefaultVersion;
+    data_.struct_.meta_.struct_.addr_offset_ = 0;
+  }
+
+  explicit ArenaMessageWrapper(ArenaManagerBase* arena_manager)
+      : arena_manager_(arena_manager) {
+    data_.struct_.meta_.struct_.version_ = kDefaultVersion;
+    data_.struct_.meta_.struct_.addr_offset_ = 0;
+  }
+
+  virtual ~ArenaMessageWrapper() {}
+
+  void SetVersion(uint64_t version) {
+    data_.struct_.meta_.struct_.version_ = version;
+  }
+  uint64_t GetVersion() const { return data_.struct_.meta_.struct_.version_; }
+
+  uint64_t GetMessageAddress() const {
+    return arena_manager_->GetBaseAddress(this) +
+           data_.struct_.meta_.struct_.addr_offset_;
+  }
+
+  void* GetData() { return reinterpret_cast<void*>(data_.bytes_); }
+
+  bool FillMeta(void* meta, uint64_t size) {
+    if (size > 128) {
+      return false;
+    }
+    memcpy(&data_.struct_.meta_, meta, size);
+    return true;
+  }
+
+  ArenaMessageWrapperMeta* GetMeta() {
+    return reinterpret_cast<ArenaMessageWrapperMeta*>(
+        data_.struct_.meta_.bytes_);
+  }
+
+  bool FillExtended(void* extended, uint64_t size) {
+    if (size > 256) {
+      return false;
+    }
+    memcpy(&data_.struct_.extended_, extended, size);
+    return true;
+  }
+
+  template <typename T>
+  T* GetExtended() {
+    return reinterpret_cast<T*>(data_.struct_.extended_.bytes_);
+  }
+
+  template <typename MessageT>
+  MessageT* GetMessage() {
+    // uint64_t base_address =
+    //     reinterpret_cast<uint64_t>(arena_manager_->GetBaseAddress());
+    // uint64_t message_address = base_address + data_.struct_.addr_offset_;
+    // return std::shared_ptr<MessageT>(
+    //     reinterpret_cast<MessageT*>(GetMessageAddress()));
+    auto msg_ptr = arena_manager_->GetMessage<MessageT>(this);
+    return msg_ptr;
+  }
+
+  template <typename MessageT>
+  MessageT* SetMessage(const MessageT& message) {
+    auto msg_ptr = arena_manager_->SetMessage(this, message);
+    return msg_ptr;
+  }
+
+ private:
+  // union {
+  //   struct {
+  //     union {
+  //       uint64_t version_;
+  //       uint64_t addr_offset_;
+  //       uint8_t bytes_[128];
+  //     } meta_;
+  //     union {
+  //       uint8_t bytes_[256];
+  //     } extended_;
+  //   } struct_;
+  //   uint8_t bytes_[1024];
+  // } data_;
+  ArenaMessageWrapperDataStruct data_;
+  // message holder
+  std::shared_ptr<void*> message_;
+  ArenaManagerBase* arena_manager_;
+};
+
+}  // namespace message
+}  // namespace cyber
+}  // namespace apollo
+
+#endif
diff --git a/cyber/message/message_traits.h b/cyber/message/message_traits.h
index 506203b..d5edc2f 100644
--- a/cyber/message/message_traits.h
+++ b/cyber/message/message_traits.h
@@ -18,9 +18,11 @@
 #define CYBER_MESSAGE_MESSAGE_TRAITS_H_
 
 #include <string>
+#include <typeinfo>
 
 #include "cyber/base/macros.h"
 #include "cyber/common/log.h"
+#include "cyber/message/arena_message_wrapper.h"
 #include "cyber/message/message_header.h"
 #include "cyber/message/protobuf_traits.h"
 #include "cyber/message/py_message_traits.h"
@@ -40,6 +42,9 @@ DEFINE_TYPE_TRAIT(HasSerializeToString, SerializeToString)
 DEFINE_TYPE_TRAIT(HasParseFromString, ParseFromString)
 DEFINE_TYPE_TRAIT(HasSerializeToArray, SerializeToArray)
 DEFINE_TYPE_TRAIT(HasParseFromArray, ParseFromArray)
+DEFINE_TYPE_TRAIT(HasSerializeToArenaMessageWrapper,
+                  SerializeToArenaMessageWrapper)
+DEFINE_TYPE_TRAIT(HasParseFromArenaMessageWrapper, ParseFromArenaMessageWrapper)
 
 template <typename T>
 class HasSerializer {
@@ -141,6 +146,26 @@ int FullByteSize(const T& message) {
   return content_size + static_cast<int>(sizeof(MessageHeader));
 }
 
+template <typename T>
+typename std::enable_if<HasParseFromArenaMessageWrapper<T>::value, bool>::type
+ParseFromArenaMessageWrapper(ArenaMessageWrapper* wrapper, T* message,
+                             T** message_ptr) {
+  return message->ParseFromArenaMessageWrapper(wrapper, message_ptr);
+}
+
+template <typename T,
+          typename std::enable_if<
+              !HasParseFromArenaMessageWrapper<T>::value &&
+                  !std::is_base_of<google::protobuf::Message, T>::value,
+              bool>::type = 0>
+bool ParseFromArenaMessageWrapper(ArenaMessageWrapper* wrapper, T* message,
+                                  T** message_ptr) {
+  (void)wrapper;
+  (void)message;
+  (void)message_ptr;
+  return false;
+}
+
 template <typename T>
 typename std::enable_if<HasParseFromArray<T>::value, bool>::type ParseFromArray(
     const void* data, int size, T* message) {
@@ -184,6 +209,27 @@ typename std::enable_if<!HasParseFromArray<T>::value, bool>::type ParseFromHC(
   return false;
 }
 
+template <typename T>
+typename std::enable_if<HasSerializeToArenaMessageWrapper<T>::value, bool>::type
+SerializeToArenaMessageWrapper(const T& message, ArenaMessageWrapper* wrapper,
+                               T** message_ptr) {
+  return message->SerializeToArenaMessageWrapper(wrapper, message_ptr);
+}
+
+template <typename T,
+          typename std::enable_if<
+              !HasSerializeToArenaMessageWrapper<T>::value &&
+                  !std::is_base_of<google::protobuf::Message, T>::value,
+              bool>::type = 0>
+bool SerializeToArenaMessageWrapper(const T& message,
+                                    ArenaMessageWrapper* wrapper,
+                                    T** message_ptr) {
+  (void)message;
+  (void)wrapper;
+  (void)message_ptr;
+  return false;
+}
+
 template <typename T>
 typename std::enable_if<HasSerializeToArray<T>::value, bool>::type
 SerializeToArray(const T& message, void* data, int size) {
diff --git a/cyber/message/protobuf_traits.h b/cyber/message/protobuf_traits.h
index 0a4317a..a03f690 100644
--- a/cyber/message/protobuf_traits.h
+++ b/cyber/message/protobuf_traits.h
@@ -21,6 +21,7 @@
 #include <memory>
 #include <string>
 
+#include "cyber/message/arena_message_wrapper.h"
 #include "cyber/message/protobuf_factory.h"
 
 namespace apollo {
@@ -69,6 +70,28 @@ bool RegisterMessage(const MessageT& message) {
   return ProtobufFactory::Instance()->RegisterMessage(message);
 }
 
+template <typename MessageT,
+          typename std::enable_if<
+              std::is_base_of<google::protobuf::Message, MessageT>::value,
+              bool>::type = true>
+bool SerializeToArenaMessageWrapper(const MessageT& message,
+                                    ArenaMessageWrapper* wrapper,
+                                    MessageT** message_ptr) {
+  *message_ptr = wrapper->SetMessage(message);
+  return true;
+}
+
+template <typename MessageT,
+          typename std::enable_if<
+              std::is_base_of<google::protobuf::Message, MessageT>::value,
+              bool>::type = true>
+bool ParseFromArenaMessageWrapper(ArenaMessageWrapper* wrapper,
+                                  MessageT* message, MessageT** message_ptr) {
+  *message_ptr = wrapper->GetMessage<MessageT>();
+  // message->CopyFrom(*message_ptr);
+  return true;
+}
+
 }  // namespace message
 }  // namespace cyber
 }  // namespace apollo
diff --git a/cyber/message/raw_message.h b/cyber/message/raw_message.h
index 85accc7..bc94866 100644
--- a/cyber/message/raw_message.h
+++ b/cyber/message/raw_message.h
@@ -22,6 +22,7 @@
 #include <memory>
 #include <string>
 
+#include "cyber/message/arena_message_wrapper.h"
 #include "cyber/message/protobuf_factory.h"
 
 namespace apollo {
@@ -82,6 +83,10 @@ struct RawMessage {
     return true;
   }
 
+  // bool SerializeToArenaMessageWrapper(ArenaMessageWrapper *wrapper) const {
+  //   return true;
+  // }
+
   bool ParseFromArray(const void *data, int size) {
     if (data == nullptr || size <= 0) {
       return false;
@@ -96,6 +101,10 @@ struct RawMessage {
     return true;
   }
 
+  // bool ParseFromArenaMessageWrapper(const ArenaMessageWrapper &wrapper) {
+  //   return true;
+  // }
+
   int ByteSize() const { return static_cast<int>(message.size()); }
 
   static std::string TypeName() { return "apollo.cyber.message.RawMessage"; }
diff --git a/cyber/message/raw_message_traits.h b/cyber/message/raw_message_traits.h
index 70e868f..5d4b21f 100644
--- a/cyber/message/raw_message_traits.h
+++ b/cyber/message/raw_message_traits.h
@@ -21,6 +21,7 @@
 #include <memory>
 #include <string>
 
+#include "cyber/message/arena_message_wrapper.h"
 #include "cyber/message/raw_message.h"
 
 namespace apollo {
@@ -38,6 +39,16 @@ inline bool ParseFromArray(const void* data, int size, RawMessage* message) {
 
 inline int ByteSize(const RawMessage& message) { return message.ByteSize(); }
 
+inline bool SerializeToArenaMessageWrapper(const RawMessage& message,
+                                           ArenaMessageWrapper* wrapper) {
+  return false;
+}
+
+inline bool ParseFromArenaMessageWrapper(ArenaMessageWrapper* wrapper,
+                                         RawMessage* message) {
+  return false;
+}
+
 }  // namespace message
 }  // namespace cyber
 }  // namespace apollo
diff --git a/cyber/node/BUILD b/cyber/node/BUILD
index 366d6b0..3d7bffc 100644
--- a/cyber/node/BUILD
+++ b/cyber/node/BUILD
@@ -17,6 +17,7 @@ apollo_cc_library(
         "writer.h",
         "writer_base.h",
     ],
+    linkopts = ["-lbvar"],
     deps = [
         "//cyber/blocker:cyber_blocker",
         "//cyber/common:cyber_common",
@@ -32,6 +33,7 @@ apollo_cc_library(
         "//cyber/transport:cyber_transport",
         "//cyber/event:cyber_event",
         "//cyber/proto:role_attributes_cc_proto",
+        # "//cyber/statistics:apollo_statistics",
     ],
 )
 
diff --git a/cyber/node/node.cc b/cyber/node/node.cc
index b524121..0c974ca 100644
--- a/cyber/node/node.cc
+++ b/cyber/node/node.cc
@@ -16,14 +16,9 @@
 
 #include "cyber/node/node.h"
 
-#include "cyber/common/global_data.h"
-#include "cyber/time/time.h"
-
 namespace apollo {
 namespace cyber {
 
-using proto::RoleType;
-
 Node::Node(const std::string& node_name, const std::string& name_space)
     : node_name_(node_name), name_space_(name_space) {
   node_channel_impl_.reset(new NodeChannelImpl(node_name));
diff --git a/cyber/node/node.h b/cyber/node/node.h
index 87a3def..b03844b 100644
--- a/cyber/node/node.h
+++ b/cyber/node/node.h
@@ -39,14 +39,14 @@ class TimerComponent;
  * A module can have different types of communication by defining
  * read/write and/or service/client in a node.
  * @warning Duplicate name is not allowed in topo objects, such as node,
- * reader/writer, service/clinet in the topo.
+ * reader/writer, service/client in the topo.
  */
 class Node {
  public:
   template <typename M0, typename M1, typename M2, typename M3>
   friend class Component;
   friend class TimerComponent;
-  friend bool Init(const char*);
+  friend bool Init(const char*, const std::string&);
   friend std::unique_ptr<Node> CreateNode(const std::string&,
                                           const std::string&);
   virtual ~Node();
diff --git a/cyber/node/reader.h b/cyber/node/reader.h
index 83f4fb5..5c098d0 100644
--- a/cyber/node/reader.h
+++ b/cyber/node/reader.h
@@ -35,6 +35,7 @@
 #include "cyber/node/reader_base.h"
 #include "cyber/scheduler/scheduler_factory.h"
 #include "cyber/service_discovery/topology_manager.h"
+#include "cyber/statistics/statistics.h"
 #include "cyber/time/time.h"
 #include "cyber/transport/transport.h"
 
@@ -259,11 +260,34 @@ bool Reader<MessageT>::Init() {
   if (init_.exchange(true)) {
     return true;
   }
+  auto statistics_center = statistics::Statistics::Instance();
+  if (!statistics_center->RegisterChanVar(role_attr_)) {
+    AWARN << "Failed to register reader var!";
+  }
   std::function<void(const std::shared_ptr<MessageT>&)> func;
   if (reader_func_ != nullptr) {
     func = [this](const std::shared_ptr<MessageT>& msg) {
+      uint64_t process_start_time;
+      uint64_t proc_done_time;
+      uint64_t proc_start_time;
+
       this->Enqueue(msg);
       this->reader_func_(msg);
+      // sampling proc latency in microsecond
+      proc_done_time = Time::Now().ToMicrosecond();
+      proc_start_time =
+          static_cast<uint64_t>(latest_recv_time_sec_ * 1000000UL);
+
+      statistics::Statistics::Instance()->SamplingProcLatency<uint64_t>(
+          this->role_attr_, (proc_done_time - proc_start_time));
+      if (statistics::Statistics::Instance()->GetProcStatus(
+              this->role_attr_, &process_start_time)) {
+        auto cyber_latency = proc_start_time - process_start_time;
+        if (process_start_time > 0 && cyber_latency > 0) {
+          statistics::Statistics::Instance()->SamplingCyberLatency(
+              this->role_attr_, cyber_latency);
+        }
+      }
     };
   } else {
     func = [this](const std::shared_ptr<MessageT>& msg) { this->Enqueue(msg); };
diff --git a/cyber/node/reader_base.h b/cyber/node/reader_base.h
index 57e393f..ae5caaf 100644
--- a/cyber/node/reader_base.h
+++ b/cyber/node/reader_base.h
@@ -158,7 +158,7 @@ class ReaderBase {
 /**
  * @brief One Channel is related to one Receiver.
  * ReceiverManager is in charge of attaching one Receiver to its responding
- * Channel. We pass a DataDispatche's callback func to this Receiver so when a
+ * Channel. We pass a DataDispatcher's callback func to this Receiver so when a
  * message is received, it will be push to the `ChannelBuffer`, and
  * `DataVisitor` will `Fetch` data and pass to `Reader`'s callback func
  *
diff --git a/cyber/node/writer.h b/cyber/node/writer.h
index b4a7a69..aad5f25 100644
--- a/cyber/node/writer.h
+++ b/cyber/node/writer.h
@@ -100,6 +100,12 @@ class Writer : public WriterBase {
    */
   void GetReaders(std::vector<proto::RoleAttributes>* readers) override;
 
+  /**
+   * @brief Acquire message instance to send
+   *
+   */ 
+  std::shared_ptr<MessageT> AcquireMessage();
+
  private:
   void JoinTheTopology();
   void LeaveTheTopology();
@@ -231,6 +237,23 @@ void Writer<MessageT>::GetReaders(std::vector<proto::RoleAttributes>* readers) {
   channel_manager_->GetReadersOfChannel(role_attr_.channel_name(), readers);
 }
 
+template <typename MessageT>
+std::shared_ptr<MessageT> Writer<MessageT>::AcquireMessage() {
+  if (!WriterBase::IsInit()) {
+    AERROR << "Please Acquire message after init writer!";
+    auto m = std::make_shared<MessageT>();
+    return m;
+  }
+
+  std::shared_ptr<MessageT> m(nullptr);
+  if (transmitter_->AcquireMessage(m)) {
+    return m;
+  } else {
+    m = std::make_shared<MessageT>();
+    return m;
+  }
+}
+
 }  // namespace cyber
 }  // namespace apollo
 
diff --git a/cyber/node/writer_base.h b/cyber/node/writer_base.h
index 6e2fa22..389cb82 100644
--- a/cyber/node/writer_base.h
+++ b/cyber/node/writer_base.h
@@ -83,6 +83,13 @@ class WriterBase {
     return role_attr_.channel_name();
   }
 
+  /**
+   * @brief Get Writer's Channel id
+   *
+   * @return const uint64_t& const reference to the channel id
+   */
+  const uint64_t GetChannelId() const { return role_attr_.channel_id(); }
+
   /**
    * @brief Is Writer initialized?
    *
diff --git a/cyber/parameter/BUILD b/cyber/parameter/BUILD
index d4868ac..8639b90 100644
--- a/cyber/parameter/BUILD
+++ b/cyber/parameter/BUILD
@@ -21,7 +21,7 @@ apollo_cc_library(
         "//cyber/proto:parameter_cc_proto",
         "//cyber/node:cyber_node",
         "//cyber/service:cyber_service",
-        "@fastrtps",
+        "@fastdds",
     ],
 )
 
diff --git a/cyber/parameter/parameter_client.h b/cyber/parameter/parameter_client.h
index c0345f3..5c29701 100644
--- a/cyber/parameter/parameter_client.h
+++ b/cyber/parameter/parameter_client.h
@@ -69,7 +69,7 @@ class ParameterClient {
    * @brief Set the Parameter object
    *
    * @param parameter parameter to be set
-   * @return true set parameter succues
+   * @return true set parameter success
    * @return false 1. call service timeout
    *               2. parameter not exists
    *               The corresponding log will be recorded at the same time
diff --git a/cyber/proto/BUILD b/cyber/proto/BUILD
index 118fb16..346e690 100644
--- a/cyber/proto/BUILD
+++ b/cyber/proto/BUILD
@@ -47,10 +47,10 @@ proto_library(
     name = "cyber_conf_proto",
     srcs = ["cyber_conf.proto"],
     deps = [
+        ":perf_conf_proto",
+        ":run_mode_conf_proto",
         ":scheduler_conf_proto",
         ":transport_conf_proto",
-        ":run_mode_conf_proto",
-        ":perf_conf_proto",
     ],
 )
 
@@ -74,12 +74,17 @@ proto_library(
     srcs = ["unit_test.proto"],
 )
 
+proto_library(
+    name = "simple_proto",
+    srcs = ["simple.proto"],
+)
+
 proto_library(
     name = "scheduler_conf_proto",
     srcs = ["scheduler_conf.proto"],
     deps = [
-        ":classic_conf_proto",
         ":choreography_conf_proto",
+        ":classic_conf_proto",
     ],
 )
 
diff --git a/cyber/proto/simple.proto b/cyber/proto/simple.proto
new file mode 100644
index 0000000..5cd64a0
--- /dev/null
+++ b/cyber/proto/simple.proto
@@ -0,0 +1,12 @@
+syntax = "proto2";
+
+package apollo.cyber.proto;
+
+message SimpleMessage {
+  optional int32 integer = 1;
+  optional string text = 2;
+}
+
+message SimpleRepeatedMessage {
+  repeated SimpleMessage message = 1;
+}
diff --git a/cyber/proto/transport_conf.proto b/cyber/proto/transport_conf.proto
index f7f34b2..b6db252 100644
--- a/cyber/proto/transport_conf.proto
+++ b/cyber/proto/transport_conf.proto
@@ -14,10 +14,25 @@ message ShmMulticastLocator {
   optional uint32 port = 2;
 };
 
+message ArenaChannelConf {
+  optional string channel_name = 1;
+  // the acutal arena segment size is equal with max_msg_size * max_pool_size + meta,
+  // so max_msg_size * max_pool_size should be less than the limit of ArenaAddressAllocator:
+  // 2^31 - 128 * 1024 * 1024, which is hardcode in the underlying implementation
+  optional uint64 max_msg_size = 2 [default = 33554432];
+  optional uint64 max_pool_size = 3 [default = 32];
+  optional uint64 shared_buffer_size = 4 [default = 0];
+};
+
+message ArenaShmConf {
+  repeated ArenaChannelConf arena_channel_conf = 1;
+};
+
 message ShmConf {
   optional string notifier_type = 1;
   optional string shm_type = 2;
   optional ShmMulticastLocator shm_locator = 3;
+  optional ArenaShmConf arena_shm_conf = 4;
 };
 
 message RtpsParticipantAttr {
diff --git a/cyber/python/cyber_py3/cyber.py b/cyber/python/cyber_py3/cyber.py
index 67912c2..466e414 100644
--- a/cyber/python/cyber_py3/cyber.py
+++ b/cyber/python/cyber_py3/cyber.py
@@ -35,7 +35,7 @@
 APOLLO_DISTRIBUTION_HOME = os.environ.get(
     'APOLLO_DISTRIBUTION_HOME', '/opt/apollo/neo')
 
-if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo'):
+if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo') or APOLLO_DISTRIBUTION_HOME.startswith('/home'):
     wrapper_lib_path = os.path.join(
         APOLLO_DISTRIBUTION_HOME, "lib", "cyber/python/internal")
 
diff --git a/cyber/python/cyber_py3/cyber_time.py b/cyber/python/cyber_py3/cyber_time.py
index 303fb02..ba0f93c 100644
--- a/cyber/python/cyber_py3/cyber_time.py
+++ b/cyber/python/cyber_py3/cyber_time.py
@@ -25,7 +25,7 @@
 APOLLO_DISTRIBUTION_HOME = os.environ.get(
     'APOLLO_DISTRIBUTION_HOME', '/opt/apollo/neo')
 
-if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo'):
+if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo') or APOLLO_DISTRIBUTION_HOME.startswith('/home'):
     wrapper_lib_path = os.path.join(
         APOLLO_DISTRIBUTION_HOME, "lib", "cyber/python/internal")
 
diff --git a/cyber/python/cyber_py3/cyber_timer.py b/cyber/python/cyber_py3/cyber_timer.py
index 5c1911a..3123843 100644
--- a/cyber/python/cyber_py3/cyber_timer.py
+++ b/cyber/python/cyber_py3/cyber_timer.py
@@ -30,7 +30,7 @@
     'APOLLO_DISTRIBUTION_HOME', '/opt/apollo/neo')
 
 # init vars
-if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo'):
+if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo') or APOLLO_DISTRIBUTION_HOME.startswith('/home'):
     wrapper_lib_path = os.path.join(
         APOLLO_DISTRIBUTION_HOME, "lib", "cyber/python/internal")
         
diff --git a/cyber/python/cyber_py3/parameter.py b/cyber/python/cyber_py3/parameter.py
index 03a91bc..60ef028 100644
--- a/cyber/python/cyber_py3/parameter.py
+++ b/cyber/python/cyber_py3/parameter.py
@@ -29,7 +29,7 @@
 APOLLO_DISTRIBUTION_HOME = os.environ.get(
     'APOLLO_DISTRIBUTION_HOME', '/opt/apollo/neo')
 
-if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo'):
+if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo') or APOLLO_DISTRIBUTION_HOME.startswith('/home'):
     wrapper_lib_path = os.path.join(
         APOLLO_DISTRIBUTION_HOME, "lib", "cyber/python/internal")
 
diff --git a/cyber/python/cyber_py3/record.py b/cyber/python/cyber_py3/record.py
index de5cd42..31d820e 100644
--- a/cyber/python/cyber_py3/record.py
+++ b/cyber/python/cyber_py3/record.py
@@ -30,7 +30,7 @@
 APOLLO_DISTRIBUTION_HOME = os.environ.get(
     'APOLLO_DISTRIBUTION_HOME', '/opt/apollo/neo')
 
-if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo'):
+if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo') or APOLLO_DISTRIBUTION_HOME.startswith('/home'):
     wrapper_lib_path = os.path.join(
         APOLLO_DISTRIBUTION_HOME, "lib", "cyber/python/internal")
 
diff --git a/cyber/python/cyber_py3/test/BUILD b/cyber/python/cyber_py3/test/BUILD
index 22a15f1..f519a52 100644
--- a/cyber/python/cyber_py3/test/BUILD
+++ b/cyber/python/cyber_py3/test/BUILD
@@ -16,20 +16,26 @@ py_test(
     name = "init_test",
     timeout = "short",
     srcs = ["init_test.py"],
+    imports = [
+        "../../internal",
+    ],
     deps = [
         "//cyber/python/cyber_py3:cyber",
     ],
 )
 
-# py_test(
-#     name = "cyber_test",
-#     timeout = "short",
-#     srcs = ["cyber_test.py"],
-#     deps = [
-#         "//cyber/python/cyber_py3:cyber",
-#         "//cyber/proto:simple_py_pb2",
-#     ],
-# )
+py_test(
+    name = "cyber_test",
+    timeout = "short",
+    srcs = ["cyber_test.py"],
+    imports = [
+        "../../internal",
+    ],
+    deps = [
+        "//cyber/proto:simple_py_pb2",
+        "//cyber/python/cyber_py3:cyber",
+    ],
+)
 # FIXME(all): parameter_test seems to run forever
 # py_test(
 #    name = "parameter_test",
@@ -45,6 +51,9 @@ py_test(
     name = "cyber_time_test",
     timeout = "short",
     srcs = ["cyber_time_test.py"],
+    imports = [
+        "../../internal",
+    ],
     deps = [
         "//cyber/python/cyber_py3:cyber",
         "//cyber/python/cyber_py3:cyber_time",
@@ -62,4 +71,4 @@ py_test(
 #    ],
 #)
 
-apollo_package()
\ No newline at end of file
+apollo_package()
diff --git a/cyber/python/internal/BUILD b/cyber/python/internal/BUILD
index e5ee8e0..6b95e3b 100644
--- a/cyber/python/internal/BUILD
+++ b/cyber/python/internal/BUILD
@@ -86,7 +86,7 @@ apollo_cc_library(
     hdrs = ["py_time.h"],
     deps = [
         "//cyber",
-        "@fastrtps",
+        "@fastdds",
         "@local_config_python//:python_headers",
         "@local_config_python//:python_lib",
     ],
diff --git a/cyber/python/internal/py_cyber.cc b/cyber/python/internal/py_cyber.cc
index a8dca54..3b0982c 100644
--- a/cyber/python/internal/py_cyber.cc
+++ b/cyber/python/internal/py_cyber.cc
@@ -89,7 +89,8 @@ template <typename T>
 T PyObjectToPtr(PyObject *pyobj, const std::string &type_ptr) {
   T obj_ptr = (T)PyCapsule_GetPointer(pyobj, type_ptr.c_str());
   if (obj_ptr == nullptr) {
-    AERROR << "PyObjectToPtr failed,type->" << type_ptr << "pyobj: " << pyobj;
+    AERROR << "PyObjectToPtr failed,type->" << type_ptr << " "
+           << "pyobj: " << pyobj;
   }
   return obj_ptr;
 }
@@ -139,11 +140,12 @@ PyObject *cyber_delete_PyWriter(PyObject *self, PyObject *args) {
 
 PyObject *cyber_PyWriter_write(PyObject *self, PyObject *args) {
   PyObject *pyobj_writer = nullptr;
-  char *data = nullptr;
-  Py_ssize_t len = 0;
-  if (!PyArg_ParseTuple(args, const_cast<char *>("Os#:cyber_PyWriter_write"),
-                        &pyobj_writer, &data, &len)) {
+  Py_buffer buffer;
+  // Py_ssize_t len = 0;
+  if (!PyArg_ParseTuple(args, const_cast<char *>("Oy*:cyber_PyWriter_write"),
+                        &pyobj_writer, &buffer)) {
     AERROR << "cyber_PyWriter_write:cyber_PyWriter_write failed!";
+    PyBuffer_Release(&buffer);
     return PyInt_FromLong(1);
   }
 
@@ -152,11 +154,14 @@ PyObject *cyber_PyWriter_write(PyObject *self, PyObject *args) {
 
   if (nullptr == writer) {
     AERROR << "cyber_PyWriter_write:writer ptr is null!";
+    PyBuffer_Release(&buffer);
     return PyInt_FromLong(1);
   }
 
-  std::string data_str(data, len);
+  std::string data_str(
+      const_cast<const char *>(static_cast<char *>(buffer.buf)), buffer.len);
   int ret = writer->write(data_str);
+  PyBuffer_Release(&buffer);
   return PyInt_FromLong(ret);
 }
 
@@ -297,11 +302,12 @@ PyObject *cyber_delete_PyClient(PyObject *self, PyObject *args) {
 
 PyObject *cyber_PyClient_send_request(PyObject *self, PyObject *args) {
   PyObject *pyobj_client = nullptr;
-  char *data = nullptr;
-  Py_ssize_t len = 0;
-  if (!PyArg_ParseTuple(args, const_cast<char *>("Os#:PyClient_send_request"),
-                        &pyobj_client, &data, &len)) {
+  Py_buffer buffer;
+  // Py_ssize_t len = 0;
+  if (!PyArg_ParseTuple(args, const_cast<char *>("Oy*:PyClient_send_request"),
+                        &pyobj_client, &buffer)) {
     AERROR << "cyber_PyClient_send_request:PyArg_ParseTuple failed!";
+    PyBuffer_Release(&buffer);
     return PYOBJECT_NULL_STRING;
   }
 
@@ -310,14 +316,17 @@ PyObject *cyber_PyClient_send_request(PyObject *self, PyObject *args) {
 
   if (nullptr == client) {
     AERROR << "cyber_PyClient_send_request:client ptr is null!";
+    PyBuffer_Release(&buffer);
     return PYOBJECT_NULL_STRING;
   }
 
-  std::string data_str(data, len);
+  std::string data_str(
+      const_cast<const char *>(static_cast<char *>(buffer.buf)), buffer.len);
   ADEBUG << "c++:PyClient_send_request data->[ " << data_str << "]";
   const std::string response_str =
       client->send_request((std::string const &)data_str);
   ADEBUG << "c++:response data->[ " << response_str << "]";
+  PyBuffer_Release(&buffer);
   return C_STR_TO_PY_BYTES(response_str);
 }
 
@@ -406,11 +415,12 @@ PyObject *cyber_PyService_read(PyObject *self, PyObject *args) {
 
 PyObject *cyber_PyService_write(PyObject *self, PyObject *args) {
   PyObject *pyobj_service = nullptr;
-  char *data = nullptr;
-  Py_ssize_t len = 0;
-  if (!PyArg_ParseTuple(args, const_cast<char *>("Os#:cyber_PyService_write"),
-                        &pyobj_service, &data, &len)) {
+  Py_buffer buffer;
+  // Py_ssize_t len = 0;
+  if (!PyArg_ParseTuple(args, const_cast<char *>("Oy*:cyber_PyService_write"),
+                        &pyobj_service, &buffer)) {
     AERROR << "cyber_PyService_write:PyArg_ParseTuple failed!";
+    PyBuffer_Release(&buffer);
     return PyInt_FromLong(1);
   }
 
@@ -419,12 +429,15 @@ PyObject *cyber_PyService_write(PyObject *self, PyObject *args) {
 
   if (nullptr == service) {
     AERROR << "cyber_PyService_write:writer ptr is null!";
+    PyBuffer_Release(&buffer);
     return PyInt_FromLong(1);
   }
 
-  std::string data_str(data, len);
+  std::string data_str(
+      const_cast<const char *>(static_cast<char *>(buffer.buf)), buffer.len);
   ADEBUG << "c++:PyService_write data->[ " << data_str << "]";
   int ret = service->write((std::string const &)data_str);
+  PyBuffer_Release(&buffer);
   return PyInt_FromLong(ret);
 }
 
@@ -594,24 +607,29 @@ PyObject *cyber_PyNode_shutdown(PyObject *self, PyObject *args) {
 
 PyObject *cyber_PyNode_register_message(PyObject *self, PyObject *args) {
   PyObject *pyobj_node = nullptr;
-  char *desc = nullptr;
-  int len = 0;
+  Py_buffer buffer;
+  // int len = 0;
   if (!PyArg_ParseTuple(args,
-                        const_cast<char *>("Os#:cyber_PyNode_register_message"),
-                        &pyobj_node, &desc, &len)) {
+                        const_cast<char *>("Oy*:cyber_PyNode_register_message"),
+                        &pyobj_node, &buffer)) {
     AERROR << "cyber_PyNode_register_message: failed!";
     Py_INCREF(Py_None);
+    PyBuffer_Release(&buffer);
     return Py_None;
   }
+  std::string desc_str(
+      const_cast<const char *>(static_cast<char *>(buffer.buf)), buffer.len);
   PyNode *node = PyObjectToPtr<PyNode *>(pyobj_node, "apollo_cyber_pynode");
   if (nullptr == node) {
-    AERROR << "cyber_PyNode_register_message:node ptr is null! desc->" << desc;
+    AERROR << "cyber_PyNode_register_message:node ptr is null! desc->"
+           << desc_str;
     Py_INCREF(Py_None);
+    PyBuffer_Release(&buffer);
     return Py_None;
   }
-  std::string desc_str(desc, len);
   node->register_message((std::string const &)desc_str);
   Py_INCREF(Py_None);
+  PyBuffer_Release(&buffer);
   return Py_None;
 }
 
diff --git a/cyber/python/internal/py_cyber.h b/cyber/python/internal/py_cyber.h
index 3f0d750..b1cca07 100644
--- a/cyber/python/internal/py_cyber.h
+++ b/cyber/python/internal/py_cyber.h
@@ -16,6 +16,7 @@
 
 #ifndef CYBER_PYTHON_INTERNAL_PY_CYBER_H_
 #define CYBER_PYTHON_INTERNAL_PY_CYBER_H_
+#define PY_SSIZE_T_CLEAN
 
 #include <unistd.h>
 
diff --git a/cyber/record/file/record_file_writer.cc b/cyber/record/file/record_file_writer.cc
index 1f0d80d..3f53273 100644
--- a/cyber/record/file/record_file_writer.cc
+++ b/cyber/record/file/record_file_writer.cc
@@ -222,7 +222,7 @@ bool RecordFileWriter::WriteMessage(const proto::SingleMessage& message) {
           header_.chunk_interval()) {
     need_flush = true;
   }
-  if (header_.chunk_raw_size() > 0 &&
+  if (!in_writing_ && header_.chunk_raw_size() > 0 &&
       chunk_active_->header_.raw_size() > header_.chunk_raw_size()) {
     need_flush = true;
   }
@@ -248,9 +248,11 @@ void RecordFileWriter::Flush() {
     if (chunk_flush_->empty()) {
       continue;
     }
+    in_writing_ = true;
     if (!WriteChunk(chunk_flush_->header_, *(chunk_flush_->body_.get()))) {
       AERROR << "Write chunk fail.";
     }
+    in_writing_ = false;
     chunk_flush_->clear();
   }
 }
diff --git a/cyber/record/file/record_file_writer.h b/cyber/record/file/record_file_writer.h
index 0a9481c..2f95f91 100644
--- a/cyber/record/file/record_file_writer.h
+++ b/cyber/record/file/record_file_writer.h
@@ -93,6 +93,7 @@ class RecordFileWriter : public RecordFileBase {
   bool WriteIndex();
   void Flush();
   std::atomic_bool is_writing_;
+  std::atomic_bool in_writing_{false};
   std::unique_ptr<Chunk> chunk_active_ = nullptr;
   std::unique_ptr<Chunk> chunk_flush_ = nullptr;
   std::shared_ptr<std::thread> flush_thread_ = nullptr;
diff --git a/cyber/record/header_builder.h b/cyber/record/header_builder.h
index 6a38350..3b89cfe 100644
--- a/cyber/record/header_builder.h
+++ b/cyber/record/header_builder.h
@@ -66,7 +66,7 @@ class HeaderBuilder {
       proto::CompressType::COMPRESS_NONE;
   static const uint64_t CHUNK_INTERVAL_ = 20 * 1000 * 1000 * 1000ULL;    // 20s
   static const uint64_t SEGMENT_INTERVAL_ = 60 * 1000 * 1000 * 1000ULL;  // 60s
-  static const uint64_t CHUNK_RAW_SIZE_ = 1 * 1024 * 1024ULL;            // 1MB
+  static const uint64_t CHUNK_RAW_SIZE_ = 16 * 1024 * 1024ULL;           // 16MB
   static const uint64_t SEGMENT_RAW_SIZE_ = 2048 * 1024 * 1024ULL;       // 2GB
 };
 
diff --git a/cyber/ros_bridge/BUILD b/cyber/ros_bridge/BUILD
new file mode 100644
index 0000000..3378128
--- /dev/null
+++ b/cyber/ros_bridge/BUILD
@@ -0,0 +1,59 @@
+load("//tools:cpplint.bzl", "cpplint")
+load("//tools:apollo_package.bzl", "apollo_cc_library", "apollo_cc_binary", "apollo_package")
+
+package(default_visibility = ["//visibility:public"])
+
+filegroup(
+    name = "runtime_data",
+    srcs = glob([
+        "conf/**",
+    ]),
+)
+
+apollo_cc_library(
+    name = "converter_base",
+    hdrs = [
+        "converter_base/message_converter.h",
+        "converter_base/converter_base.h", 
+        "converter_base/convert_ros_quadruple.h",
+        "converter_base/convert_ros_triple.h",
+        "converter_base/convert_ros_double.h",
+        "converter_base/convert_ros_single.h",
+        "converter_base/convert_apollo_quadruple.h",
+        "converter_base/convert_apollo_triple.h",
+        "converter_base/convert_apollo_double.h",
+        "converter_base/convert_apollo_single.h",
+	    "converter_base/converter_interface.h",
+
+        "common/bridge_argument.h",
+        "common/ros_bridge_gflags.h",
+        "common/utils.h",
+        "common/macros.h",
+    ],
+    srcs = [
+        "common/ros_bridge_gflags.cc",
+        "common/bridge_argument.cc",
+    ],
+    deps = [
+        "//cyber",
+        "//cyber/ros_bridge/proto:converter_conf_proto",
+        "@com_github_gflags_gflags//:gflags",
+        "@ros",
+    ],
+)
+
+apollo_cc_binary(
+    name = "ros_bridge",
+    srcs = ["ros_bridge.cc"],
+    linkopts = [
+        "-ltcmalloc",
+        "-lprofiler",
+    ],
+    deps = [
+        ":converter_base",
+        "//cyber/ros_bridge/proto:ros_bridge_conf_proto",
+    ]
+)
+
+apollo_package()
+cpplint()
diff --git a/cyber/ros_bridge/common/bridge_argument.cc b/cyber/ros_bridge/common/bridge_argument.cc
new file mode 100644
index 0000000..75c35fa
--- /dev/null
+++ b/cyber/ros_bridge/common/bridge_argument.cc
@@ -0,0 +1,112 @@
+/******************************************************************************
+ * Copyright 2018 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "cyber/ros_bridge/common/bridge_argument.h"
+
+#include <getopt.h>
+#include <libgen.h>
+
+namespace apollo {
+namespace cyber {
+
+void BridgeArgument::DisplayUsage() {
+  AINFO << "Usage: \n    " << binary_name_ << " [OPTION]...\n"
+        << "Description: \n"
+        << "    -h, --help: help information \n"
+        << "    -c, --cpuprofile: enable gperftools cpu profile\n"
+        << "    -o, --profile_filename=filename: the filename to dump the "
+            "profile to, default value is ${binary_name}_cpu.prof. Only work "
+            "with -c option\n"
+        << "    -H, --heapprofile: enable gperftools heap profile\n"
+        << "    -O, --heapprofile_filename=filename: the filename to dump the "
+            "profile to, default value is ${binary_name}_mem.prof. Only work "
+            "with -H option\n"
+        << "Example:\n"
+        << "    " << binary_name_ << " -h\n"
+        << "    " << binary_name_ << " -c -H ";
+}
+
+void BridgeArgument::ParseArgument(const int argc, char* const argv[]) {
+  binary_name_ = std::string(basename(argv[0]));
+  GetOptions(argc, argv);
+
+  if (enable_cpuprofile_ && profile_filename_.empty()) {
+    profile_filename_ = binary_name_ + std::string("_cpu.prof");
+  }
+
+  if (enable_heapprofile_ && heapprofile_filename_.empty()) {
+    heapprofile_filename_ = binary_name_ + std::string("_mem.prof");
+  }
+
+  AINFO << "binary_name_ is " << binary_name_;
+}
+
+void BridgeArgument::GetOptions(const int argc, char* const argv[]) {
+  opterr = 0;  // extern int opterr
+  int long_index = 0;
+  const std::string short_opts = "hco:HO:";
+  static const struct option long_opts[] = {
+      {"help", no_argument, nullptr, 'h'},
+      {"cpuprofile", no_argument, nullptr, 'c'},
+      {"profile_filename", required_argument, nullptr, 'o'},
+      {"heapprofile", no_argument, nullptr, 'H'},
+      {"heapprofile_filename", required_argument, nullptr, 'O'},
+      {NULL, no_argument, nullptr, 0}};
+
+  // log command for info
+  std::string cmd("");
+  for (int i = 0; i < argc; ++i) {
+    cmd += argv[i];
+    cmd += " ";
+  }
+  AINFO << "command: " << cmd;
+
+  do {
+    int opt =
+        getopt_long(argc, argv, short_opts.c_str(), long_opts, &long_index);
+    if (opt == -1) {
+      break;
+    }
+    switch (opt) {
+      case 'c':
+        enable_cpuprofile_ = true;
+        break;
+      case 'o':
+        profile_filename_ = std::string(optarg);
+        break;
+      case 'H':
+        enable_heapprofile_ = true;
+        break;
+      case 'O':
+        heapprofile_filename_ = std::string(optarg);
+        break;
+      case 'h':
+        DisplayUsage();
+        exit(0);
+      default:
+        break;
+    }
+  } while (true);
+
+  if (optind < argc) {
+    AINFO << "Found non-option ARGV-element \"" << argv[optind++] << "\"";
+    DisplayUsage();
+    exit(1);
+  }
+}
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/common/bridge_argument.h b/cyber/ros_bridge/common/bridge_argument.h
new file mode 100644
index 0000000..482a812
--- /dev/null
+++ b/cyber/ros_bridge/common/bridge_argument.h
@@ -0,0 +1,57 @@
+/******************************************************************************
+ * Copyright 2018 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#pragma once
+
+#include <list>
+#include <string>
+
+#include "cyber/common/global_data.h"
+#include "cyber/common/log.h"
+#include "cyber/common/types.h"
+
+namespace apollo {
+namespace cyber {
+
+class BridgeArgument {
+ public:
+  BridgeArgument() = default;
+  virtual ~BridgeArgument() = default;
+  void DisplayUsage();
+  void ParseArgument(int argc, char* const argv[]);
+  void GetOptions(const int argc, char* const argv[]);
+  const std::string& GetBinaryName() const;
+  const bool GetEnableCpuprofile() const { return enable_cpuprofile_; }
+  const std::string GetProfileFilename() const { return profile_filename_; }
+  const bool GetEnableHeapprofile() const { return enable_heapprofile_; }
+  const std::string GetHeapProfileFilename() const {
+    return heapprofile_filename_;
+  }
+
+ private:
+  std::string binary_name_;
+  bool enable_cpuprofile_ = false;
+  std::string profile_filename_;
+  bool enable_heapprofile_ = false;
+  std::string heapprofile_filename_;
+};
+
+inline const std::string& BridgeArgument::GetBinaryName() const {
+  return binary_name_;
+}
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/common/macros.h b/cyber/ros_bridge/common/macros.h
new file mode 100644
index 0000000..feccf11
--- /dev/null
+++ b/cyber/ros_bridge/common/macros.h
@@ -0,0 +1,26 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#ifndef ROS_BRIDGE_MACROS_H_
+#define ROS_BRIDGE_MACROS_H_
+
+// replacement macro for eprosima namespace to eprosima_wrap
+// for adapting different version fastdds on a single process
+#ifndef eprosima
+#define eprosima eprosima_wrap
+#endif
+
+#endif  // ROS_BRIDGE_MACROS_H_
diff --git a/cyber/ros_bridge/common/ros_bridge_gflags.cc b/cyber/ros_bridge/common/ros_bridge_gflags.cc
new file mode 100644
index 0000000..aeb32e7
--- /dev/null
+++ b/cyber/ros_bridge/common/ros_bridge_gflags.cc
@@ -0,0 +1,32 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+/**
+ * @file ros_bridge_gflags.h
+ * @brief The gflags used by ros bridge binary
+ */
+
+#include "cyber/ros_bridge/common/ros_bridge_gflags.h"
+
+namespace apollo {
+namespace cyber {
+
+// config path
+DEFINE_string(bridge_conf_path,
+  "ros_bridge/conf/ros_bridge_conf.pb.txt", "ros config file path");
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/common/ros_bridge_gflags.h b/cyber/ros_bridge/common/ros_bridge_gflags.h
new file mode 100644
index 0000000..6efd55f
--- /dev/null
+++ b/cyber/ros_bridge/common/ros_bridge_gflags.h
@@ -0,0 +1,33 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+/**
+ * @file ros_bridge_gflags.h
+ * @brief The gflags used by ros bridge binary
+ */
+
+#pragma once
+
+#include "gflags/gflags.h"
+
+namespace apollo {
+namespace cyber {
+
+// config path
+DECLARE_string(bridge_conf_path);
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/common/utils.h b/cyber/ros_bridge/common/utils.h
new file mode 100644
index 0000000..5ee9df8
--- /dev/null
+++ b/cyber/ros_bridge/common/utils.h
@@ -0,0 +1,34 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#pragma once
+
+#include <string>
+
+namespace apollo {
+namespace cyber {
+
+std::string GetFullConverterClassName(const std::string& class_name) {
+  static const std::string kNameSpace = "apollo::cyber::";
+  // If the class name already has namespace in it, do nothing.
+  if (class_name.find("::") != std::string::npos) {
+    return class_name;
+  }
+  return kNameSpace + class_name;
+}
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/conf/ros_bridge_conf.pb.txt b/cyber/ros_bridge/conf/ros_bridge_conf.pb.txt
new file mode 100644
index 0000000..3c1ae1d
--- /dev/null
+++ b/cyber/ros_bridge/conf/ros_bridge_conf.pb.txt
@@ -0,0 +1,19 @@
+converter {
+  type: "LidarPointcloud"
+}
+
+converter {
+  type: "HeadingMsgFusion"
+}
+
+converter {
+  type: "ImuMsgConverter"
+}
+
+converter {
+  type: "NavMsgConverter"
+}
+
+converter {
+  type: "OdometryMsgConverter"
+}
diff --git a/cyber/ros_bridge/converter_base/convert_apollo_double.h b/cyber/ros_bridge/converter_base/convert_apollo_double.h
new file mode 100644
index 0000000..7a0136a
--- /dev/null
+++ b/cyber/ros_bridge/converter_base/convert_apollo_double.h
@@ -0,0 +1,384 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#ifndef CYBER_APOLLO_ROS_SINGLE_H_
+#define CYBER_APOLLO_ROS_SINGLE_H_
+
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "cyber/ros_bridge/common/macros.h"
+
+#include "cyber/cyber.h"
+#include "cyber/ros_bridge/converter_base/converter_base.h"
+#include "cyber/ros_bridge/converter_base/message_converter.h"
+
+namespace apollo {
+namespace cyber {
+
+template <typename InType0, typename InType1, typename OutType0>
+class ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
+    OutputTypes<std::shared_ptr<OutType0>>> : public MessageConverter {
+ public:
+  ApolloRosMessageConverter() {}
+  ~ApolloRosMessageConverter() override {}
+
+  bool Init() override;
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>& input,
+      OutputTypes<std::shared_ptr<OutType0>>& output) = 0;
+};
+
+template <typename InType0, typename InType1, typename OutType0>
+bool ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
+    OutputTypes<std::shared_ptr<OutType0>>>::Init() {
+  MessageConverter::Init();
+  if (!init_.load()) {
+    return false;
+  }
+  if (!LoadConfig(&converter_conf_)) {
+    return false;
+  }
+
+  apollo::cyber::ReaderConfig reader_cfg_0;
+  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
+
+  apollo::cyber::ReaderConfig reader_cfg_1;
+  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
+  auto apollo_reader_1 =
+      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
+  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+
+  auto apollo_blocker_1 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
+          reader_cfg_1.channel_name);
+#ifdef RCLCPP__RCLCPP_HPP_
+  auto ros_publisher_0 =
+      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
+  ros_publishers_.push_back(std::move(ros_publisher_0));
+  auto func = [this, ros_publisher_0,
+               apollo_blocker_1](const std::shared_ptr<InType0> in) {
+#else
+  auto func = [this, apollo_blocker_1](const std::shared_ptr<InType0> in) {
+#endif
+    auto out = std::make_shared<OutType0>();
+    if (!apollo_blocker_1->IsPublishedEmpty()) {
+      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
+      auto in_container =
+          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>{
+              std::make_tuple(in, msg1)};
+      auto out_container =
+          OutputTypes<std::shared_ptr<OutType0>>{std::make_tuple(out)};
+      this->ConvertMsg(in_container, out_container);
+#ifdef RCLCPP__RCLCPP_HPP_
+      ros_publisher_0->publish(*out);
+#endif
+    }
+  };
+  auto apollo_reader_0 =
+      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
+  apollo_readers_.push_back(std::move(apollo_reader_0));
+  apollo_readers_.push_back(std::move(apollo_reader_1));
+
+  return true;
+}
+
+template <typename InType0, typename InType1, typename OutType0,
+          typename OutType1>
+class ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>
+    : public MessageConverter {
+ public:
+  ApolloRosMessageConverter() {}
+  ~ApolloRosMessageConverter() override {}
+
+  bool Init() override;
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>&
+          output) = 0;
+};
+
+template <typename InType0, typename InType1, typename OutType0,
+          typename OutType1>
+bool ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>::Init() {
+  MessageConverter::Init();
+  if (!init_.load()) {
+    return false;
+  }
+  if (!LoadConfig(&converter_conf_)) {
+    return false;
+  }
+
+  apollo::cyber::ReaderConfig reader_cfg_0;
+  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
+
+  apollo::cyber::ReaderConfig reader_cfg_1;
+  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
+  auto apollo_reader_1 =
+      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
+
+  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+
+  auto apollo_blocker_1 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
+          reader_cfg_1.channel_name);
+
+#ifdef RCLCPP__RCLCPP_HPP_
+  auto ros_publisher_0 =
+      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
+  auto ros_publisher_1 =
+      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
+  ros_publishers_.push_back(std::move(ros_publisher_0));
+  ros_publishers_.push_back(std::move(ros_publisher_1));
+  auto func = [this, apollo_blocker_1, ros_publisher_0,
+               ros_publisher_1](const std::shared_ptr<InType0> in) {
+#else
+  auto func = [this, apollo_blocker_1](const std::shared_ptr<InType0> in) {
+#endif
+    if (!apollo_blocker_1->IsPublishedEmpty()) {
+      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
+      auto out_0 = std::make_shared<OutType0>();
+      auto out_1 = std::make_shared<OutType1>();
+      auto in_container =
+          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>{
+              std::make_tuple(in, msg1)};
+      auto out_container =
+          OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>{
+              std::make_tuple(out_0, out_1)};
+      this->ConvertMsg(in_container, out_container);
+#ifdef RCLCPP__RCLCPP_HPP_
+      ros_publisher_0->publish(*out_0);
+      ros_publisher_1->publish(*out_1);
+#endif
+    }
+  };
+  auto apollo_reader_0 =
+      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
+  apollo_readers_.push_back(std::move(apollo_reader_0));
+  apollo_readers_.push_back(std::move(apollo_reader_1));
+
+  return true;
+}
+
+template <typename InType0, typename InType1, typename OutType0,
+          typename OutType1, typename OutType2>
+class ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>>> : public MessageConverter {
+ public:
+  ApolloRosMessageConverter() {}
+  ~ApolloRosMessageConverter() override {}
+
+  bool Init() override;
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                  std::shared_ptr<OutType2>>& output) = 0;
+};
+
+template <typename InType0, typename InType1, typename OutType0,
+          typename OutType1, typename OutType2>
+bool ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>>>::Init() {
+  MessageConverter::Init();
+  if (!init_.load()) {
+    return false;
+  }
+  if (!LoadConfig(&converter_conf_)) {
+    return false;
+  }
+
+  apollo::cyber::ReaderConfig reader_cfg_0;
+  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
+
+  apollo::cyber::ReaderConfig reader_cfg_1;
+  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
+  auto apollo_reader_1 =
+      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
+
+  auto apollo_blocker_1 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
+          reader_cfg_1.channel_name);
+
+  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+  std::string ros_topic_name_2 = converter_conf_.ros_topic_name_2();
+
+#ifdef RCLCPP__RCLCPP_HPP_
+  auto ros_publisher_0 =
+      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
+  auto ros_publisher_1 =
+      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
+  auto ros_publisher_2 =
+      ros_node_->create_publisher<OutType2>(ros_topic_name_2, 10);
+  ros_publishers_.push_back(std::move(ros_publisher_0));
+  ros_publishers_.push_back(std::move(ros_publisher_1));
+  ros_publishers_.push_back(std::move(ros_publisher_2));
+  auto func = [this, apollo_blocker_1, ros_publisher_0, ros_publisher_1,
+               ros_publisher_2](const std::shared_ptr<InType0> in) {
+#else
+  auto func = [this, apollo_blocker_1](const std::shared_ptr<InType0> in) {
+#endif
+    if (!apollo_blocker_1->IsPublishedEmpty()) {
+      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
+      auto out_0 = std::make_shared<OutType0>();
+      auto out_1 = std::make_shared<OutType1>();
+      auto out_2 = std::make_shared<OutType2>();
+      auto in_container =
+          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>{
+              std::make_tuple(in, msg1)};
+      auto out_container =
+          OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                      std::shared_ptr<OutType2>>{
+              std::make_tuple(out_0, out_1, out_2)};
+      this->ConvertMsg(in_container, out_container);
+#ifdef RCLCPP__RCLCPP_HPP_
+      ros_publisher_0->publish(*out_0);
+      ros_publisher_1->publish(*out_1);
+      ros_publisher_2->publish(*out_2);
+#endif
+    }
+  };
+  auto apollo_reader_0 =
+      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
+  apollo_readers_.push_back(std::move(apollo_reader_0));
+  apollo_readers_.push_back(std::move(apollo_reader_1));
+
+  return true;
+}
+
+template <typename InType0, typename InType1, typename OutType0,
+          typename OutType1, typename OutType2, typename OutType3>
+class ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>
+    : public MessageConverter {
+ public:
+  ApolloRosMessageConverter() {}
+  ~ApolloRosMessageConverter() override {}
+
+  bool Init() override;
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                  std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>&
+          output) = 0;
+};
+
+template <typename InType0, typename InType1, typename OutType0,
+          typename OutType1, typename OutType2, typename OutType3>
+bool ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>::Init() {
+  MessageConverter::Init();
+  if (!init_.load()) {
+    return false;
+  }
+  if (!LoadConfig(&converter_conf_)) {
+    return false;
+  }
+
+  apollo::cyber::ReaderConfig reader_cfg_0;
+  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
+
+  apollo::cyber::ReaderConfig reader_cfg_1;
+  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
+  auto apollo_reader_1 =
+      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
+
+  auto apollo_blocker_1 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
+          reader_cfg_1.channel_name);
+
+  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+  std::string ros_topic_name_2 = converter_conf_.ros_topic_name_2();
+  std::string ros_topic_name_3 = converter_conf_.ros_topic_name_3();
+
+#ifdef RCLCPP__RCLCPP_HPP_
+  auto ros_publisher_0 =
+      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
+  auto ros_publisher_1 =
+      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
+  auto ros_publisher_2 =
+      ros_node_->create_publisher<OutType2>(ros_topic_name_2, 10);
+  auto ros_publisher_3 =
+      ros_node_->create_publisher<OutType2>(ros_topic_name_3, 10);
+  ros_publishers_.push_back(std::move(ros_publisher_0));
+  ros_publishers_.push_back(std::move(ros_publisher_1));
+  ros_publishers_.push_back(std::move(ros_publisher_2));
+  ros_publishers_.push_back(std::move(ros_publisher_3));
+  auto func = [this, apollo_blocker_1, ros_publisher_0, ros_publisher_1,
+               ros_publisher_2,
+               ros_publisher_3](const std::shared_ptr<InType0> in) {
+#else
+  auto func = [this, apollo_blocker_1](const std::shared_ptr<InType0> in) {
+#endif
+    if (!apollo_blocker_1->IsPublishedEmpty()) {
+      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
+      auto out_0 = std::make_shared<OutType0>();
+      auto out_1 = std::make_shared<OutType1>();
+      auto out_2 = std::make_shared<OutType2>();
+      auto out_3 = std::make_shared<OutType3>();
+      auto in_container =
+          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>{
+              std::make_tuple(in, msg1)};
+      auto out_container =
+          OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                      std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>{
+              std::make_tuple(out_0, out_1, out_2, out_3)};
+      this->ConvertMsg(in_container, out_container);
+#ifdef RCLCPP__RCLCPP_HPP_
+      ros_publisher_0->publish(*out_0);
+      ros_publisher_1->publish(*out_1);
+      ros_publisher_2->publish(*out_2);
+      ros_publisher_3->publish(*out_2);
+#endif
+    }
+  };
+  auto apollo_reader_0 =
+      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
+  apollo_readers_.push_back(std::move(apollo_reader_0));
+  apollo_readers_.push_back(std::move(apollo_reader_1));
+
+  return true;
+}
+
+}  // namespace cyber
+}  // namespace apollo
+
+#endif  // CYBER_APOLLO_ROS_MESSAGE_CONVERTER_H_
diff --git a/cyber/ros_bridge/converter_base/convert_apollo_quadruple.h b/cyber/ros_bridge/converter_base/convert_apollo_quadruple.h
new file mode 100644
index 0000000..815a5e0
--- /dev/null
+++ b/cyber/ros_bridge/converter_base/convert_apollo_quadruple.h
@@ -0,0 +1,503 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#ifndef CYBER_APOLLO_ROS_SINGLE_H_
+#define CYBER_APOLLO_ROS_SINGLE_H_
+
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "cyber/ros_bridge/common/macros.h"
+
+#include "cyber/cyber.h"
+#include "cyber/ros_bridge/converter_base/converter_base.h"
+#include "cyber/ros_bridge/converter_base/message_converter.h"
+
+namespace apollo {
+namespace cyber {
+
+template <typename InType0, typename InType1, typename InType2,
+          typename InType3, typename OutType0>
+class ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
+    OutputTypes<std::shared_ptr<OutType0>>> : public MessageConverter {
+ public:
+  ApolloRosMessageConverter() {}
+  ~ApolloRosMessageConverter() override {}
+
+  bool Init() {
+    MessageConverter::Init();
+    if (!init_.load()) {
+      return false;
+    }
+    if (!LoadConfig(&converter_conf_)) {
+      return false;
+    }
+
+    apollo::cyber::ReaderConfig reader_cfg_0;
+    reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
+
+    apollo::cyber::ReaderConfig reader_cfg_1;
+    reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
+    auto apollo_reader_1 =
+        cyber_node_->template CreateReader<InType1>(reader_cfg_1);
+
+    apollo::cyber::ReaderConfig reader_cfg_2;
+    reader_cfg_2.channel_name = converter_conf_.apollo_channel_name_2();
+    auto apollo_reader_2 =
+        cyber_node_->template CreateReader<InType2>(reader_cfg_2);
+
+    apollo::cyber::ReaderConfig reader_cfg_3;
+    reader_cfg_3.channel_name = converter_conf_.apollo_channel_name_3();
+    auto apollo_reader_3 =
+        cyber_node_->template CreateReader<InType3>(reader_cfg_3);
+
+    std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+
+    auto apollo_blocker_1 =
+        blocker::BlockerManager::Instance()->GetBlocker<InType1>(
+            reader_cfg_1.channel_name);
+    auto apollo_blocker_2 =
+        blocker::BlockerManager::Instance()->GetBlocker<InType2>(
+            reader_cfg_2.channel_name);
+    auto apollo_blocker_3 =
+        blocker::BlockerManager::Instance()->GetBlocker<InType3>(
+            reader_cfg_3.channel_name);
+#ifdef RCLCPP__RCLCPP_HPP_
+    auto ros_publisher_0 =
+        ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
+    ros_publishers_.push_back(std::move(ros_publisher_0));
+    auto func = [this, ros_publisher_0, apollo_blocker_1, apollo_blocker_2,
+                 apollo_blocker_3](const std::shared_ptr<InType0> in) {
+#else
+    auto func = [this, apollo_blocker_1, apollo_blocker_2,
+                 apollo_blocker_3](const std::shared_ptr<InType0> in) {
+#endif
+      auto out = std::make_shared<OutType0>();
+      if (!apollo_blocker_1->IsPublishedEmpty() &&
+          !apollo_blocker_2->IsPublishedEmpty() &&
+          !apollo_blocker_3->IsPublishedEmpty()) {
+        auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
+        auto msg2 = apollo_blocker_2->GetLatestPublishedPtr();
+        auto msg3 = apollo_blocker_3->GetLatestPublishedPtr();
+        auto in_container =
+            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                       std::shared_ptr<InType2>, std::shared_ptr<InType3>>{
+                std::make_tuple(in, msg1, msg2, msg3)};
+        auto out_container =
+            OutputTypes<std::shared_ptr<OutType0>>{std::make_tuple(out)};
+        this->ConvertMsg(in_container, out_container);
+#ifdef RCLCPP__RCLCPP_HPP_
+        ros_publisher_0->publish(*out);
+#endif
+      }
+    };
+    auto apollo_reader_0 =
+        cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
+    apollo_readers_.push_back(std::move(apollo_reader_0));
+    apollo_readers_.push_back(std::move(apollo_reader_1));
+    apollo_readers_.push_back(std::move(apollo_reader_2));
+    apollo_readers_.push_back(std::move(apollo_reader_3));
+
+    return true;
+  }
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                 std::shared_ptr<InType2>, std::shared_ptr<InType3>>& input,
+      OutputTypes<std::shared_ptr<OutType0>>& output) = 0;
+};  // NOLINT
+
+// template <typename InType0, typename InType1, typename InType2,
+//           typename InType3, typename OutType0>
+// bool ApolloRosMessageConverter<InputTypes<
+//                                   std::shared_ptr<InType0>,
+//                                   std::shared_ptr<InType1>,
+//                                   std::shared_ptr<InType2>,
+//                                   std::shared_ptr<InType3>>,
+//                                OutputTypes<std::shared_ptr<OutType0>>>::Init()
+
+template <typename InType0, typename InType1, typename InType2,
+          typename InType3, typename OutType0, typename OutType1>
+class ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>
+    : public MessageConverter {
+ public:
+  ApolloRosMessageConverter() {}
+  ~ApolloRosMessageConverter() override {}
+
+  bool Init() override;
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                 std::shared_ptr<InType2>, std::shared_ptr<InType3>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>&
+          output) = 0;
+};
+
+template <typename InType0, typename InType1, typename InType2,
+          typename InType3, typename OutType0, typename OutType1>
+bool ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>::Init() {
+  MessageConverter::Init();
+  if (!init_.load()) {
+    return false;
+  }
+  if (!LoadConfig(&converter_conf_)) {
+    return false;
+  }
+
+  apollo::cyber::ReaderConfig reader_cfg_0;
+  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
+
+  apollo::cyber::ReaderConfig reader_cfg_1;
+  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
+  auto apollo_reader_1 =
+      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
+
+  apollo::cyber::ReaderConfig reader_cfg_2;
+  reader_cfg_2.channel_name = converter_conf_.apollo_channel_name_2();
+  auto apollo_reader_2 =
+      cyber_node_->template CreateReader<InType2>(reader_cfg_2);
+
+  apollo::cyber::ReaderConfig reader_cfg_3;
+  reader_cfg_3.channel_name = converter_conf_.apollo_channel_name_3();
+  auto apollo_reader_3 =
+      cyber_node_->template CreateReader<InType3>(reader_cfg_3);
+
+  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+
+  auto apollo_blocker_1 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
+          reader_cfg_1.channel_name);
+  auto apollo_blocker_2 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType2>(
+          reader_cfg_2.channel_name);
+  auto apollo_blocker_3 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType3>(
+          reader_cfg_3.channel_name);
+
+#ifdef RCLCPP__RCLCPP_HPP_
+  auto ros_publisher_0 =
+      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
+  auto ros_publisher_1 =
+      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
+  ros_publishers_.push_back(std::move(ros_publisher_0));
+  ros_publishers_.push_back(std::move(ros_publisher_1));
+  auto func = [this, apollo_blocker_1, apollo_blocker_2, apollo_blocker_3,
+               ros_publisher_0,
+               ros_publisher_1](const std::shared_ptr<InType0> in) {
+#else
+  auto func = [this, apollo_blocker_1, apollo_blocker_2,
+               apollo_blocker_3](const std::shared_ptr<InType0> in) {
+#endif
+    if (!apollo_blocker_1->IsPublishedEmpty() &&
+        !apollo_blocker_2->IsPublishedEmpty() &&
+        !apollo_blocker_3->IsPublishedEmpty()) {
+      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
+      auto msg2 = apollo_blocker_2->GetLatestPublishedPtr();
+      auto msg3 = apollo_blocker_3->GetLatestPublishedPtr();
+      auto out_0 = std::make_shared<OutType0>();
+      auto out_1 = std::make_shared<OutType1>();
+      auto in_container =
+          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                     std::shared_ptr<InType2>, std::shared_ptr<InType3>>{
+              std::make_tuple(in, msg1, msg2, msg3)};
+      auto out_container =
+          OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>{
+              std::make_tuple(out_0, out_1)};
+      this->ConvertMsg(in_container, out_container);
+#ifdef RCLCPP__RCLCPP_HPP_
+      ros_publisher_0->publish(*out_0);
+      ros_publisher_1->publish(*out_1);
+#endif
+    }
+  };
+  auto apollo_reader_0 =
+      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
+  apollo_readers_.push_back(std::move(apollo_reader_0));
+  apollo_readers_.push_back(std::move(apollo_reader_1));
+  apollo_readers_.push_back(std::move(apollo_reader_2));
+  apollo_readers_.push_back(std::move(apollo_reader_3));
+
+  return true;
+}
+
+template <typename InType0, typename InType1, typename InType2,
+          typename InType3, typename OutType0, typename OutType1,
+          typename OutType2>
+class ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>>> : public MessageConverter {
+ public:
+  ApolloRosMessageConverter() {}
+  ~ApolloRosMessageConverter() override {}
+
+  bool Init() override;
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                 std::shared_ptr<InType2>, std::shared_ptr<InType3>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                  std::shared_ptr<OutType2>>& output) = 0;
+};
+
+template <typename InType0, typename InType1, typename InType2,
+          typename InType3, typename OutType0, typename OutType1,
+          typename OutType2>
+bool ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>>>::Init() {
+  MessageConverter::Init();
+  if (!init_.load()) {
+    return false;
+  }
+  if (!LoadConfig(&converter_conf_)) {
+    return false;
+  }
+
+  apollo::cyber::ReaderConfig reader_cfg_0;
+  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
+
+  apollo::cyber::ReaderConfig reader_cfg_1;
+  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
+  auto apollo_reader_1 =
+      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
+
+  apollo::cyber::ReaderConfig reader_cfg_2;
+  reader_cfg_2.channel_name = converter_conf_.apollo_channel_name_2();
+  auto apollo_reader_2 =
+      cyber_node_->template CreateReader<InType2>(reader_cfg_2);
+
+  apollo::cyber::ReaderConfig reader_cfg_3;
+  reader_cfg_3.channel_name = converter_conf_.apollo_channel_name_3();
+  auto apollo_reader_3 =
+      cyber_node_->template CreateReader<InType3>(reader_cfg_3);
+
+  auto apollo_blocker_1 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
+          reader_cfg_1.channel_name);
+  auto apollo_blocker_2 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType2>(
+          reader_cfg_2.channel_name);
+  auto apollo_blocker_3 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType3>(
+          reader_cfg_3.channel_name);
+
+  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+  std::string ros_topic_name_2 = converter_conf_.ros_topic_name_2();
+
+#ifdef RCLCPP__RCLCPP_HPP_
+  auto ros_publisher_0 =
+      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
+  auto ros_publisher_1 =
+      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
+  auto ros_publisher_2 =
+      ros_node_->create_publisher<OutType2>(ros_topic_name_2, 10);
+  ros_publishers_.push_back(std::move(ros_publisher_0));
+  ros_publishers_.push_back(std::move(ros_publisher_1));
+  ros_publishers_.push_back(std::move(ros_publisher_2));
+  auto func = [this, apollo_blocker_1, apollo_blocker_2, apollo_blocker_3,
+               ros_publisher_0, ros_publisher_1,
+               ros_publisher_2](const std::shared_ptr<InType0> in) {
+#else
+  auto func = [this, apollo_blocker_1, apollo_blocker_2,
+               apollo_blocker_3](const std::shared_ptr<InType0> in) {
+#endif
+    if (!apollo_blocker_1->IsPublishedEmpty() &&
+        !apollo_blocker_1->IsPublishedEmpty() &&
+        !apollo_blocker_1->IsPublishedEmpty()) {
+      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
+      auto msg2 = apollo_blocker_2->GetLatestPublishedPtr();
+      auto msg3 = apollo_blocker_3->GetLatestPublishedPtr();
+      auto out_0 = std::make_shared<OutType0>();
+      auto out_1 = std::make_shared<OutType1>();
+      auto out_2 = std::make_shared<OutType2>();
+      auto in_container =
+          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                     std::shared_ptr<InType2>, std::shared_ptr<InType3>>{
+              std::make_tuple(in, msg1, msg2, msg3)};
+      auto out_container =
+          OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                      std::shared_ptr<OutType2>>{
+              std::make_tuple(out_0, out_1, out_2)};
+      this->ConvertMsg(in_container, out_container);
+#ifdef RCLCPP__RCLCPP_HPP_
+      ros_publisher_0->publish(*out_0);
+      ros_publisher_1->publish(*out_1);
+      ros_publisher_2->publish(*out_2);
+#endif
+    }
+  };
+  auto apollo_reader_0 =
+      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
+  apollo_readers_.push_back(std::move(apollo_reader_0));
+  apollo_readers_.push_back(std::move(apollo_reader_1));
+  apollo_readers_.push_back(std::move(apollo_reader_2));
+  apollo_readers_.push_back(std::move(apollo_reader_3));
+
+  return true;
+}
+
+template <typename InType0, typename InType1, typename InType2,
+          typename InType3, typename OutType0, typename OutType1,
+          typename OutType2, typename OutType3>
+class ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>
+    : public MessageConverter {
+ public:
+  ApolloRosMessageConverter() {}
+  ~ApolloRosMessageConverter() override {}
+
+  bool Init() override;
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                 std::shared_ptr<InType2>, std::shared_ptr<InType3>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                  std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>&
+          output) = 0;
+};
+
+template <typename InType0, typename InType1, typename InType2,
+          typename InType3, typename OutType0, typename OutType1,
+          typename OutType2, typename OutType3>
+bool ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>::Init() {
+  MessageConverter::Init();
+  if (!init_.load()) {
+    return false;
+  }
+  if (!LoadConfig(&converter_conf_)) {
+    return false;
+  }
+
+  apollo::cyber::ReaderConfig reader_cfg_0;
+  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
+
+  apollo::cyber::ReaderConfig reader_cfg_1;
+  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
+  auto apollo_reader_1 =
+      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
+
+  apollo::cyber::ReaderConfig reader_cfg_2;
+  reader_cfg_2.channel_name = converter_conf_.apollo_channel_name_2();
+  auto apollo_reader_2 =
+      cyber_node_->template CreateReader<InType2>(reader_cfg_2);
+
+  apollo::cyber::ReaderConfig reader_cfg_3;
+  reader_cfg_3.channel_name = converter_conf_.apollo_channel_name_3();
+  auto apollo_reader_3 =
+      cyber_node_->template CreateReader<InType3>(reader_cfg_3);
+
+  auto apollo_blocker_1 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
+          reader_cfg_1.channel_name);
+  auto apollo_blocker_2 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType2>(
+          reader_cfg_2.channel_name);
+  auto apollo_blocker_3 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType3>(
+          reader_cfg_3.channel_name);
+
+  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+  std::string ros_topic_name_2 = converter_conf_.ros_topic_name_2();
+  std::string ros_topic_name_3 = converter_conf_.ros_topic_name_3();
+
+#ifdef RCLCPP__RCLCPP_HPP_
+  auto ros_publisher_0 =
+      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
+  auto ros_publisher_1 =
+      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
+  auto ros_publisher_2 =
+      ros_node_->create_publisher<OutType2>(ros_topic_name_2, 10);
+  auto ros_publisher_3 =
+      ros_node_->create_publisher<OutType2>(ros_topic_name_3, 10);
+  ros_publishers_.push_back(std::move(ros_publisher_0));
+  ros_publishers_.push_back(std::move(ros_publisher_1));
+  ros_publishers_.push_back(std::move(ros_publisher_2));
+  ros_publishers_.push_back(std::move(ros_publisher_3));
+  auto func = [this, apollo_blocker_1, apollo_blocker_2, apollo_blocker_3,
+               ros_publisher_0, ros_publisher_1, ros_publisher_2,
+               ros_publisher_3](const std::shared_ptr<InType0> in) {
+#else
+  auto func = [this, apollo_blocker_1, apollo_blocker_2,
+               apollo_blocker_3](const std::shared_ptr<InType0> in) {
+#endif
+    if (!apollo_blocker_1->IsPublishedEmpty() &&
+        !apollo_blocker_2->IsPublishedEmpty() &&
+        !apollo_blocker_3->IsPublishedEmpty()) {
+      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
+      auto msg2 = apollo_blocker_2->GetLatestPublishedPtr();
+      auto msg3 = apollo_blocker_3->GetLatestPublishedPtr();
+      auto out_0 = std::make_shared<OutType0>();
+      auto out_1 = std::make_shared<OutType1>();
+      auto out_2 = std::make_shared<OutType2>();
+      auto out_3 = std::make_shared<OutType3>();
+      auto in_container =
+          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                     std::shared_ptr<InType2>, std::shared_ptr<InType3>>{
+              std::make_tuple(in, msg1, msg2, msg3)};
+      auto out_container =
+          OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                      std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>{
+              std::make_tuple(out_0, out_1, out_2, out_3)};
+      this->ConvertMsg(in_container, out_container);
+#ifdef RCLCPP__RCLCPP_HPP_
+      ros_publisher_0->publish(*out_0);
+      ros_publisher_1->publish(*out_1);
+      ros_publisher_2->publish(*out_2);
+      ros_publisher_3->publish(*out_2);
+#endif
+    }
+  };
+  auto apollo_reader_0 =
+      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
+  apollo_readers_.push_back(std::move(apollo_reader_0));
+  apollo_readers_.push_back(std::move(apollo_reader_1));
+  apollo_readers_.push_back(std::move(apollo_reader_2));
+  apollo_readers_.push_back(std::move(apollo_reader_3));
+
+  return true;
+}
+
+}  // namespace cyber
+}  // namespace apollo
+
+#endif  // CYBER_APOLLO_ROS_MESSAGE_CONVERTER_H_
diff --git a/cyber/ros_bridge/converter_base/convert_apollo_single.h b/cyber/ros_bridge/converter_base/convert_apollo_single.h
new file mode 100644
index 0000000..aa6bab6
--- /dev/null
+++ b/cyber/ros_bridge/converter_base/convert_apollo_single.h
@@ -0,0 +1,325 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#ifndef CYBER_APOLLO_ROS_SINGLE_H_
+#define CYBER_APOLLO_ROS_SINGLE_H_
+
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "cyber/ros_bridge/common/macros.h"
+
+#include "cyber/cyber.h"
+#include "cyber/ros_bridge/converter_base/converter_base.h"
+#include "cyber/ros_bridge/converter_base/message_converter.h"
+
+namespace apollo {
+namespace cyber {
+
+template <typename InType0, typename OutType0>
+class ApolloRosMessageConverter<InputTypes<std::shared_ptr<InType0>>,
+                                OutputTypes<std::shared_ptr<OutType0>>>
+    : public MessageConverter {
+ public:
+  ApolloRosMessageConverter() {}
+  ~ApolloRosMessageConverter() override {}
+
+  bool Init() override;
+
+ protected:
+  virtual bool ConvertMsg(InputTypes<std::shared_ptr<InType0>>& input,
+                          OutputTypes<std::shared_ptr<OutType0>>& output) = 0;
+};
+
+template <typename InType0, typename OutType0>
+bool ApolloRosMessageConverter<InputTypes<std::shared_ptr<InType0>>,
+                               OutputTypes<std::shared_ptr<OutType0>>>::Init() {
+  MessageConverter::Init();
+  if (!init_.load()) {
+    return false;
+  }
+  if (!LoadConfig(&converter_conf_)) {
+    return false;
+  }
+
+  apollo::cyber::ReaderConfig reader_cfg_0;
+  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
+
+  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+
+#ifdef RCLCPP__RCLCPP_HPP_
+  auto ros_publisher_0 =
+      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
+  // ros_publishers_.push_back(ros_publisher_0);
+  auto func = [this, ros_publisher_0](const std::shared_ptr<InType0> in) {
+#else
+  auto func = [this](const std::shared_ptr<InType0> in) {
+#endif
+    std::shared_ptr<OutType0> out(new OutType0);
+    auto in_container =
+        InputTypes<std::shared_ptr<InType0>>{std::make_tuple(in)};
+    auto out_container =
+        OutputTypes<std::shared_ptr<OutType0>>{std::make_tuple(out)};
+    this->ConvertMsg(in_container, out_container);
+    AERROR << "out of convert";
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_publisher_0->publish(*out);
+#endif
+    AERROR << "after ros publish";
+  };
+  auto apollo_reader_0 =
+      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
+  apollo_readers_.push_back(std::move(apollo_reader_0));
+
+  return true;
+}
+
+template <typename InType0, typename OutType0, typename OutType1>
+class ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>
+    : public MessageConverter {
+ public:
+  ApolloRosMessageConverter() {}
+  ~ApolloRosMessageConverter() override {}
+
+  bool Init() override;
+
+ protected:
+  virtual bool ConvertMsg(InputTypes<std::shared_ptr<InType0>>& input,
+                          OutputTypes<std::shared_ptr<OutType0>,
+                                      std::shared_ptr<OutType1>>& output) = 0;
+};
+
+template <typename InType0, typename OutType0, typename OutType1>
+bool ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>::Init() {
+  MessageConverter::Init();
+  if (!init_.load()) {
+    return false;
+  }
+  if (!LoadConfig(&converter_conf_)) {
+    return false;
+  }
+
+  apollo::cyber::ReaderConfig reader_cfg_0;
+  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
+
+  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+
+#ifdef RCLCPP__RCLCPP_HPP_
+  auto ros_publisher_0 =
+      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
+  auto ros_publisher_1 =
+      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
+  ros_publishers_.push_back(std::move(ros_publisher_0));
+  ros_publishers_.push_back(std::move(ros_publisher_1));
+  auto func = [this, ros_publisher_0,
+               ros_publisher_1](const std::shared_ptr<InType0> in) {
+#else
+  auto func = [this](const std::shared_ptr<InType0> in) {
+#endif
+    auto out_0 = std::make_shared<OutType0>();
+    auto out_1 = std::make_shared<OutType1>();
+    auto in_container =
+        InputTypes<std::shared_ptr<InType0>>{std::make_tuple(in)};
+    auto out_container =
+        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>{
+            std::make_tuple(out_0, out_1)};
+    this->ConvertMsg(in_container, out_container);
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_publisher_0->publish(*out_0);
+    ros_publisher_1->publish(*out_1);
+#endif
+  };
+  auto apollo_reader_0 =
+      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
+  apollo_readers_.push_back(std::move(apollo_reader_0));
+
+  return true;
+}
+
+template <typename InType0, typename OutType0, typename OutType1,
+          typename OutType2>
+class ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>>> : public MessageConverter {
+ public:
+  ApolloRosMessageConverter() {}
+  ~ApolloRosMessageConverter() override {}
+
+  bool Init() override;
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                  std::shared_ptr<OutType2>>& output) = 0;
+};
+
+template <typename InType0, typename OutType0, typename OutType1,
+          typename OutType2>
+bool ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>>>::Init() {
+  MessageConverter::Init();
+  if (!init_.load()) {
+    return false;
+  }
+  if (!LoadConfig(&converter_conf_)) {
+    return false;
+  }
+
+  apollo::cyber::ReaderConfig reader_cfg_0;
+  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
+
+  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+  std::string ros_topic_name_2 = converter_conf_.ros_topic_name_2();
+
+#ifdef RCLCPP__RCLCPP_HPP_
+  auto ros_publisher_0 =
+      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
+  auto ros_publisher_1 =
+      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
+  auto ros_publisher_2 =
+      ros_node_->create_publisher<OutType2>(ros_topic_name_2, 10);
+  ros_publishers_.push_back(std::move(ros_publisher_0));
+  ros_publishers_.push_back(std::move(ros_publisher_1));
+  ros_publishers_.push_back(std::move(ros_publisher_2));
+  auto func = [this, ros_publisher_0, ros_publisher_1,
+               ros_publisher_2](const std::shared_ptr<InType0> in) {
+#else
+  auto func = [this](const std::shared_ptr<InType0> in) {
+#endif
+    auto out_0 = std::make_shared<OutType0>();
+    auto out_1 = std::make_shared<OutType1>();
+    auto out_2 = std::make_shared<OutType2>();
+    auto in_container =
+        InputTypes<std::shared_ptr<InType0>>{std::make_tuple(in)};
+    auto out_container =
+        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                    std::shared_ptr<OutType2>>{
+            std::make_tuple(out_0, out_1, out_2)};
+    this->ConvertMsg(in_container, out_container);
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_publisher_0->publish(*out_0);
+    ros_publisher_1->publish(*out_1);
+    ros_publisher_2->publish(*out_2);
+#endif
+  };
+  auto apollo_reader_0 =
+      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
+  apollo_readers_.push_back(std::move(apollo_reader_0));
+
+  return true;
+}
+
+template <typename InType0, typename OutType0, typename OutType1,
+          typename OutType2, typename OutType3>
+class ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>
+    : public MessageConverter {
+ public:
+  ApolloRosMessageConverter() {}
+  ~ApolloRosMessageConverter() override {}
+
+  bool Init() override;
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                  std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>&
+          output) = 0;
+};
+
+template <typename InType0, typename OutType0, typename OutType1,
+          typename OutType2, typename OutType3>
+bool ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>::Init() {
+  MessageConverter::Init();
+  if (!init_.load()) {
+    return false;
+  }
+  if (!LoadConfig(&converter_conf_)) {
+    return false;
+  }
+
+  apollo::cyber::ReaderConfig reader_cfg_0;
+  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
+
+  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+  std::string ros_topic_name_2 = converter_conf_.ros_topic_name_2();
+  std::string ros_topic_name_3 = converter_conf_.ros_topic_name_3();
+
+#ifdef RCLCPP__RCLCPP_HPP_
+  auto ros_publisher_0 =
+      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
+  auto ros_publisher_1 =
+      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
+  auto ros_publisher_2 =
+      ros_node_->create_publisher<OutType2>(ros_topic_name_2, 10);
+  auto ros_publisher_3 =
+      ros_node_->create_publisher<OutType2>(ros_topic_name_3, 10);
+  ros_publishers_.push_back(std::move(ros_publisher_0));
+  ros_publishers_.push_back(std::move(ros_publisher_1));
+  ros_publishers_.push_back(std::move(ros_publisher_2));
+  ros_publishers_.push_back(std::move(ros_publisher_3));
+  auto func = [this, ros_publisher_0, ros_publisher_1, ros_publisher_2,
+               ros_publisher_3](const std::shared_ptr<InType0> in) {
+#else
+  auto func = [this](const std::shared_ptr<InType0> in) {
+#endif
+    auto out_0 = std::make_shared<OutType0>();
+    auto out_1 = std::make_shared<OutType1>();
+    auto out_2 = std::make_shared<OutType2>();
+    auto out_3 = std::make_shared<OutType3>();
+    auto in_container =
+        InputTypes<std::shared_ptr<InType0>>{std::make_tuple(in)};
+    auto out_container =
+        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                    std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>{
+            std::make_tuple(out_0, out_1, out_2, out_3)};
+    this->ConvertMsg(in_container, out_container);
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_publisher_0->publish(*out_0);
+    ros_publisher_1->publish(*out_1);
+    ros_publisher_2->publish(*out_2);
+    ros_publisher_3->publish(*out_2);
+#endif
+  };
+  auto apollo_reader_0 =
+      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
+  apollo_readers_.push_back(std::move(apollo_reader_0));
+
+  return true;
+}
+
+}  // namespace cyber
+}  // namespace apollo
+
+#endif  // CYBER_APOLLO_ROS_MESSAGE_CONVERTER_H_
diff --git a/cyber/ros_bridge/converter_base/convert_apollo_triple.h b/cyber/ros_bridge/converter_base/convert_apollo_triple.h
new file mode 100644
index 0000000..e1a5140
--- /dev/null
+++ b/cyber/ros_bridge/converter_base/convert_apollo_triple.h
@@ -0,0 +1,450 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#ifndef CYBER_APOLLO_ROS_SINGLE_H_
+#define CYBER_APOLLO_ROS_SINGLE_H_
+
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "cyber/ros_bridge/common/macros.h"
+
+#include "cyber/cyber.h"
+#include "cyber/ros_bridge/converter_base/converter_base.h"
+#include "cyber/ros_bridge/converter_base/message_converter.h"
+
+namespace apollo {
+namespace cyber {
+
+template <typename InType0, typename InType1, typename InType2,
+          typename OutType0>
+class ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>>,
+    OutputTypes<std::shared_ptr<OutType0>>> : public MessageConverter {
+ public:
+  ApolloRosMessageConverter() {}
+  ~ApolloRosMessageConverter() override {}
+
+  bool Init() override;
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                 std::shared_ptr<InType2>>& input,
+      OutputTypes<std::shared_ptr<OutType0>>& output) = 0;
+};
+
+template <typename InType0, typename InType1, typename InType2,
+          typename OutType0>
+bool ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>>,
+    OutputTypes<std::shared_ptr<OutType0>>>::Init() {
+  MessageConverter::Init();
+  if (!init_.load()) {
+    return false;
+  }
+  if (!LoadConfig(&converter_conf_)) {
+    return false;
+  }
+
+  apollo::cyber::ReaderConfig reader_cfg_0;
+  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
+
+  apollo::cyber::ReaderConfig reader_cfg_1;
+  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
+  auto apollo_reader_1 =
+      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
+
+  apollo::cyber::ReaderConfig reader_cfg_2;
+  reader_cfg_2.channel_name = converter_conf_.apollo_channel_name_2();
+  auto apollo_reader_2 =
+      cyber_node_->template CreateReader<InType2>(reader_cfg_2);
+
+  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+
+  auto apollo_blocker_1 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
+          reader_cfg_1.channel_name);
+  auto apollo_blocker_2 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType2>(
+          reader_cfg_2.channel_name);
+#ifdef RCLCPP__RCLCPP_HPP_
+  auto ros_publisher_0 =
+      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
+  ros_publishers_.push_back(std::move(ros_publisher_0));
+  auto func = [this, ros_publisher_0, apollo_blocker_1,
+               apollo_blocker_2](const std::shared_ptr<InType0> in) {
+#else
+  auto func = [this, apollo_blocker_1,
+               apollo_blocker_2](const std::shared_ptr<InType0> in) {
+#endif
+    auto out = std::make_shared<OutType0>();
+    if (!apollo_blocker_1->IsPublishedEmpty() &&
+        !apollo_blocker_2->IsPublishedEmpty()) {
+      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
+      auto msg2 = apollo_blocker_2->GetLatestPublishedPtr();
+      auto in_container =
+          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                     std::shared_ptr<InType2>>{std::make_tuple(in, msg1, msg2)};
+      auto out_container =
+          OutputTypes<std::shared_ptr<OutType0>>{std::make_tuple(out)};
+      this->ConvertMsg(in_container, out_container);
+#ifdef RCLCPP__RCLCPP_HPP_
+      ros_publisher_0->publish(*out);
+#endif
+    }
+  };
+  auto apollo_reader_0 =
+      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
+  apollo_readers_.push_back(std::move(apollo_reader_0));
+  apollo_readers_.push_back(std::move(apollo_reader_1));
+  apollo_readers_.push_back(std::move(apollo_reader_2));
+
+  return true;
+}
+
+template <typename InType0, typename InType1, typename InType2,
+          typename OutType0, typename OutType1>
+class ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>
+    : public MessageConverter {
+ public:
+  ApolloRosMessageConverter() {}
+  ~ApolloRosMessageConverter() override {}
+
+  bool Init() override;
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                 std::shared_ptr<InType2>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>&
+          output) = 0;
+};
+
+template <typename InType0, typename InType1, typename InType2,
+          typename OutType0, typename OutType1>
+bool ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>::Init() {
+  MessageConverter::Init();
+  if (!init_.load()) {
+    return false;
+  }
+  if (!LoadConfig(&converter_conf_)) {
+    return false;
+  }
+
+  apollo::cyber::ReaderConfig reader_cfg_0;
+  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
+
+  apollo::cyber::ReaderConfig reader_cfg_1;
+  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
+  auto apollo_reader_1 =
+      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
+
+  apollo::cyber::ReaderConfig reader_cfg_2;
+  reader_cfg_2.channel_name = converter_conf_.apollo_channel_name_2();
+  auto apollo_reader_2 =
+      cyber_node_->template CreateReader<InType2>(reader_cfg_2);
+
+  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+
+  auto apollo_blocker_1 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
+          reader_cfg_1.channel_name);
+  auto apollo_blocker_2 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType2>(
+          reader_cfg_2.channel_name);
+
+#ifdef RCLCPP__RCLCPP_HPP_
+  auto ros_publisher_0 =
+      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
+  auto ros_publisher_1 =
+      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
+  ros_publishers_.push_back(std::move(ros_publisher_0));
+  ros_publishers_.push_back(std::move(ros_publisher_1));
+  auto func = [this, apollo_blocker_1, apollo_blocker_2, ros_publisher_0,
+               ros_publisher_1](const std::shared_ptr<InType0> in) {
+#else
+  auto func = [this, apollo_blocker_1,
+               apollo_blocker_2](const std::shared_ptr<InType0> in) {
+#endif
+    if (!apollo_blocker_1->IsPublishedEmpty() &&
+        !apollo_blocker_2->IsPublishedEmpty()) {
+      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
+      auto msg2 = apollo_blocker_2->GetLatestPublishedPtr();
+      auto out_0 = std::make_shared<OutType0>();
+      auto out_1 = std::make_shared<OutType1>();
+      auto in_container =
+          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                     std::shared_ptr<InType2>>{std::make_tuple(in, msg1, msg2)};
+      auto out_container =
+          OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>{
+              std::make_tuple(out_0, out_1)};
+      this->ConvertMsg(in_container, out_container);
+#ifdef RCLCPP__RCLCPP_HPP_
+      ros_publisher_0->publish(*out_0);
+      ros_publisher_1->publish(*out_1);
+#endif
+    }
+  };
+  auto apollo_reader_0 =
+      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
+  apollo_readers_.push_back(std::move(apollo_reader_0));
+  apollo_readers_.push_back(std::move(apollo_reader_1));
+  apollo_readers_.push_back(std::move(apollo_reader_2));
+
+  return true;
+}
+
+template <typename InType0, typename InType1, typename InType2,
+          typename OutType0, typename OutType1, typename OutType2>
+class ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>>> : public MessageConverter {
+ public:
+  ApolloRosMessageConverter() {}
+  ~ApolloRosMessageConverter() override {}
+
+  bool Init() override;
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                 std::shared_ptr<InType2>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                  std::shared_ptr<OutType2>>& output) = 0;
+};
+
+template <typename InType0, typename InType1, typename InType2,
+          typename OutType0, typename OutType1, typename OutType2>
+bool ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>>>::Init() {
+  MessageConverter::Init();
+  if (!init_.load()) {
+    return false;
+  }
+  if (!LoadConfig(&converter_conf_)) {
+    return false;
+  }
+
+  apollo::cyber::ReaderConfig reader_cfg_0;
+  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
+
+  apollo::cyber::ReaderConfig reader_cfg_1;
+  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
+  auto apollo_reader_1 =
+      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
+
+  apollo::cyber::ReaderConfig reader_cfg_2;
+  reader_cfg_2.channel_name = converter_conf_.apollo_channel_name_2();
+  auto apollo_reader_2 =
+      cyber_node_->template CreateReader<InType2>(reader_cfg_2);
+
+  auto apollo_blocker_1 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
+          reader_cfg_1.channel_name);
+  auto apollo_blocker_2 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType2>(
+          reader_cfg_2.channel_name);
+
+  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+  std::string ros_topic_name_2 = converter_conf_.ros_topic_name_2();
+
+#ifdef RCLCPP__RCLCPP_HPP_
+  auto ros_publisher_0 =
+      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
+  auto ros_publisher_1 =
+      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
+  auto ros_publisher_2 =
+      ros_node_->create_publisher<OutType2>(ros_topic_name_2, 10);
+  ros_publishers_.push_back(std::move(ros_publisher_0));
+  ros_publishers_.push_back(std::move(ros_publisher_1));
+  ros_publishers_.push_back(std::move(ros_publisher_2));
+  auto func = [this, apollo_blocker_1, apollo_blocker_2, ros_publisher_0,
+               ros_publisher_1,
+               ros_publisher_2](const std::shared_ptr<InType0> in) {
+#else
+  auto func = [this, apollo_blocker_1,
+               apollo_blocker_2](const std::shared_ptr<InType0> in) {
+#endif
+    if (!apollo_blocker_1->IsPublishedEmpty() &&
+        !apollo_blocker_1->IsPublishedEmpty()) {
+      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
+      auto msg2 = apollo_blocker_2->GetLatestPublishedPtr();
+      auto out_0 = std::make_shared<OutType0>();
+      auto out_1 = std::make_shared<OutType1>();
+      auto out_2 = std::make_shared<OutType2>();
+      auto in_container =
+          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                     std::shared_ptr<InType2>>{std::make_tuple(in, msg1, msg2)};
+      auto out_container =
+          OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                      std::shared_ptr<OutType2>>{
+              std::make_tuple(out_0, out_1, out_2)};
+      this->ConvertMsg(in_container, out_container);
+#ifdef RCLCPP__RCLCPP_HPP_
+      ros_publisher_0->publish(*out_0);
+      ros_publisher_1->publish(*out_1);
+      ros_publisher_2->publish(*out_2);
+#endif
+    }
+  };
+  auto apollo_reader_0 =
+      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
+  apollo_readers_.push_back(std::move(apollo_reader_0));
+  apollo_readers_.push_back(std::move(apollo_reader_1));
+  apollo_readers_.push_back(std::move(apollo_reader_2));
+
+  return true;
+}
+
+template <typename InType0, typename InType1, typename InType2,
+          typename OutType0, typename OutType1, typename OutType2,
+          typename OutType3>
+class ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>
+    : public MessageConverter {
+ public:
+  ApolloRosMessageConverter() {}
+  ~ApolloRosMessageConverter() override {}
+
+  bool Init() override;
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                 std::shared_ptr<InType2>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                  std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>&
+          output) = 0;
+};
+
+template <typename InType0, typename InType1, typename InType2,
+          typename OutType0, typename OutType1, typename OutType2,
+          typename OutType3>
+bool ApolloRosMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>::Init() {
+  MessageConverter::Init();
+  if (!init_.load()) {
+    return false;
+  }
+  if (!LoadConfig(&converter_conf_)) {
+    return false;
+  }
+
+  apollo::cyber::ReaderConfig reader_cfg_0;
+  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
+
+  apollo::cyber::ReaderConfig reader_cfg_1;
+  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
+  auto apollo_reader_1 =
+      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
+
+  apollo::cyber::ReaderConfig reader_cfg_2;
+  reader_cfg_2.channel_name = converter_conf_.apollo_channel_name_2();
+  auto apollo_reader_2 =
+      cyber_node_->template CreateReader<InType2>(reader_cfg_2);
+
+  auto apollo_blocker_1 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
+          reader_cfg_1.channel_name);
+  auto apollo_blocker_2 =
+      blocker::BlockerManager::Instance()->GetBlocker<InType2>(
+          reader_cfg_2.channel_name);
+
+  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+  std::string ros_topic_name_2 = converter_conf_.ros_topic_name_2();
+  std::string ros_topic_name_3 = converter_conf_.ros_topic_name_3();
+
+#ifdef RCLCPP__RCLCPP_HPP_
+  auto ros_publisher_0 =
+      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
+  auto ros_publisher_1 =
+      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
+  auto ros_publisher_2 =
+      ros_node_->create_publisher<OutType2>(ros_topic_name_2, 10);
+  auto ros_publisher_3 =
+      ros_node_->create_publisher<OutType2>(ros_topic_name_3, 10);
+  ros_publishers_.push_back(std::move(ros_publisher_0));
+  ros_publishers_.push_back(std::move(ros_publisher_1));
+  ros_publishers_.push_back(std::move(ros_publisher_2));
+  ros_publishers_.push_back(std::move(ros_publisher_3));
+  auto func = [this, apollo_blocker_1, apollo_blocker_2, ros_publisher_0,
+               ros_publisher_1, ros_publisher_2,
+               ros_publisher_3](const std::shared_ptr<InType0> in) {
+#else
+  auto func = [this, apollo_blocker_1,
+               apollo_blocker_2](const std::shared_ptr<InType0> in) {
+#endif
+    if (!apollo_blocker_1->IsPublishedEmpty() &&
+        !apollo_blocker_2->IsPublishedEmpty()) {
+      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
+      auto msg2 = apollo_blocker_2->GetLatestPublishedPtr();
+      auto out_0 = std::make_shared<OutType0>();
+      auto out_1 = std::make_shared<OutType1>();
+      auto out_2 = std::make_shared<OutType2>();
+      auto out_3 = std::make_shared<OutType3>();
+      auto in_container =
+          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                     std::shared_ptr<InType2>>{std::make_tuple(in, msg1, msg2)};
+      auto out_container =
+          OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                      std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>{
+              std::make_tuple(out_0, out_1, out_2, out_3)};
+      this->ConvertMsg(in_container, out_container);
+#ifdef RCLCPP__RCLCPP_HPP_
+      ros_publisher_0->publish(*out_0);
+      ros_publisher_1->publish(*out_1);
+      ros_publisher_2->publish(*out_2);
+      ros_publisher_3->publish(*out_2);
+#endif
+    }
+  };
+  auto apollo_reader_0 =
+      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
+  apollo_readers_.push_back(std::move(apollo_reader_0));
+  apollo_readers_.push_back(std::move(apollo_reader_1));
+  apollo_readers_.push_back(std::move(apollo_reader_2));
+
+  return true;
+}
+
+}  // namespace cyber
+}  // namespace apollo
+
+#endif  // CYBER_APOLLO_ROS_MESSAGE_CONVERTER_H_
diff --git a/cyber/ros_bridge/converter_base/convert_ros_base.h b/cyber/ros_bridge/converter_base/convert_ros_base.h
new file mode 100644
index 0000000..a127f1a
--- /dev/null
+++ b/cyber/ros_bridge/converter_base/convert_ros_base.h
@@ -0,0 +1,63 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#ifndef CYBER_ROS_APOLLO_BASE_H_
+#define CYBER_ROS_APOLLO_BASE_H_
+
+#include <memory>
+#include <string>
+#include <thread>
+#include <utility>
+
+#include "cyber/ros_bridge/common/macros.h"
+
+#include "cyber/cyber.h"
+#include "cyber/ros_bridge/converter_base/message_converter.h"
+
+namespace apollo {
+namespace cyber {
+
+template <typename R0 = NullType, typename R1 = NullType,
+          typename R2 = NullType, typename R3 = NullType,
+          typename M0 = NullType, typename M1 = NullType,
+          typename M2 = NullType, typename M3 = NullType>
+class RosApolloMessageConverter : public MessageConverter {
+ public:
+  RosApolloMessageConverter() {}
+  ~RosApolloMessageConverter() override {}
+
+  bool Init() override;
+
+ protected:
+  virtual bool ConvertMsg(
+      const std::shared_ptr<R0>& ros_msg0, const std::shared_ptr<R1>& ros_msg1,
+      const std::shared_ptr<R2>& ros_msg2, const std::shared_ptr<R3>& ros_msg3,
+      std::shared_ptr<M0>& apollo_msg0, std::shared_ptr<M1>& apollo_msg1,
+      std::shared_ptr<M2>& apollo_msg2, std::shared_ptr<M3>& apollo_msg3) = 0;
+
+#ifdef RCLCPP__RCLCPP_HPP_
+ private:
+  void TopicCallback(const std::shared_ptr<R0>& ros_msg0,
+                     const std::shared_ptr<R1>& ros_msg1,
+                     const std::shared_ptr<R2>& ros_msg2,
+                     const std::shared_ptr<R3>& ros_msg3);
+#endif
+};
+
+}  // namespace cyber
+}  // namespace apollo
+
+#endif  // CYBER_APOLLO_ROS_MESSAGE_CONVERTER_H_
diff --git a/cyber/ros_bridge/converter_base/convert_ros_double.h b/cyber/ros_bridge/converter_base/convert_ros_double.h
new file mode 100644
index 0000000..bd8b5b0
--- /dev/null
+++ b/cyber/ros_bridge/converter_base/convert_ros_double.h
@@ -0,0 +1,452 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#ifndef CYBER_ROS_APOLLO_DOUBLE_H_
+#define CYBER_ROS_APOLLO_DOUBLE_H_
+
+#include <memory>
+#include <utility>
+
+#include "cyber/ros_bridge/common/macros.h"
+
+#include "cyber/cyber.h"
+#include "cyber/ros_bridge/converter_base/converter_base.h"
+
+namespace apollo {
+namespace cyber {
+
+template <typename InType0, typename InType1, typename OutType0>
+class RosApolloMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
+    OutputTypes<std::shared_ptr<OutType0>>> : public MessageConverter {
+ private:
+#ifdef RCLCPP__RCLCPP_HPP_
+  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1>
+      approximate_sync_policy;
+  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
+      syncApproximate_;
+#endif
+  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
+
+ public:
+  RosApolloMessageConverter() {}
+  ~RosApolloMessageConverter() override {}
+
+  bool Init() override {
+    MessageConverter::Init();
+    if (!init_.load()) {
+      return false;
+    }
+    if (!LoadConfig(&converter_conf_)) {
+      return false;
+    }
+
+    auto writer_attrs =
+        std::make_shared<apollo::cyber::proto::RoleAttributes>();
+    writer_attrs->set_channel_name(converter_conf_.apollo_channel_name_0());
+    apollo_attrs_.push_back(writer_attrs);
+    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+
+    apollo_writer_0_ =
+        cyber_node_->template CreateWriter<OutType0>(*writer_attrs);
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
+            ros_node_, ros_topic_name_0)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
+            ros_node_, ros_topic_name_1)));
+    syncApproximate_ = std::make_shared<
+        message_filters::Synchronizer<approximate_sync_policy>>(
+        approximate_sync_policy(10),
+        *dynamic_cast<message_filters::Subscriber<InType0>*>(
+            ros_msg_subs_[0].get()),
+        *dynamic_cast<message_filters::Subscriber<InType1>*>(
+            ros_msg_subs_[1].get()));
+    syncApproximate_->registerCallback(
+        &RosApolloMessageConverter<
+            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
+            OutputTypes<std::shared_ptr<OutType0>>>::TopicCallback,
+        this);
+
+    ros_spin_thread_ =
+        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
+#endif
+    return true;
+  }
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>& input,
+      OutputTypes<std::shared_ptr<OutType0>>& output) = 0;
+
+#ifdef RCLCPP__RCLCPP_HPP_
+ private:
+  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
+                     std::shared_ptr<InType1> ros_msg1) {
+    auto out = std::make_shared<OutType0>();
+    typename InType0::SharedPtr internal_in_prt_0 =
+        std::make_shared<InType0>(*ros_msg0.get());
+    typename InType1::SharedPtr internal_in_prt_1 =
+        std::make_shared<InType1>(*ros_msg1.get());
+    auto in_container =
+        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>{
+            std::make_tuple(internal_in_prt_0, internal_in_prt_1)};
+    auto out_container =
+        OutputTypes<std::shared_ptr<OutType0>>{std::make_tuple(out)};
+    this->ConvertMsg(in_container, out_container);
+    apollo_writer_0_->Write(out);
+  }
+#endif
+};
+
+template <typename InType0, typename InType1, typename OutType0,
+          typename OutType1>
+class RosApolloMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>
+    : public MessageConverter {
+ private:
+#ifdef RCLCPP__RCLCPP_HPP_
+  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1>
+      approximate_sync_policy;
+  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
+      syncApproximate_;
+#endif
+  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
+  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
+
+ public:
+  RosApolloMessageConverter() {}
+  ~RosApolloMessageConverter() override {}
+
+  bool Init() override {
+    MessageConverter::Init();
+    if (!init_.load()) {
+      return false;
+    }
+    if (!LoadConfig(&converter_conf_)) {
+      return false;
+    }
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
+
+    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+
+    apollo_writer_0_ =
+        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
+    apollo_writer_1_ =
+        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
+            ros_node_, ros_topic_name_0)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
+            ros_node_, ros_topic_name_1)));
+    syncApproximate_ = std::make_shared<
+        message_filters::Synchronizer<approximate_sync_policy>>(
+        approximate_sync_policy(10),
+        *dynamic_cast<message_filters::Subscriber<InType0>*>(
+            ros_msg_subs_[0].get()),
+        *dynamic_cast<message_filters::Subscriber<InType1>*>(
+            ros_msg_subs_[1].get()));
+    syncApproximate_->registerCallback(
+        &RosApolloMessageConverter<
+            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
+            OutputTypes<std::shared_ptr<OutType0>,
+                        std::shared_ptr<OutType1>>>::TopicCallback,
+        this);
+
+    ros_spin_thread_ =
+        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
+#endif
+    return true;
+  }
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>&
+          output) = 0;
+
+#ifdef RCLCPP__RCLCPP_HPP_
+ private:
+  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
+                     std::shared_ptr<InType1> ros_msg1) {
+    auto out_0 = std::make_shared<OutType0>();
+    auto out_1 = std::make_shared<OutType1>();
+    typename InType0::SharedPtr internal_in_prt_0 =
+        std::make_shared<InType0>(*ros_msg0.get());
+    typename InType1::SharedPtr internal_in_prt_1 =
+        std::make_shared<InType1>(*ros_msg1.get());
+    auto in_container =
+        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>{
+            std::make_tuple(internal_in_prt_0, internal_in_prt_1)};
+    auto out_container =
+        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>{
+            std::make_tuple(out_0, out_1)};
+    this->ConvertMsg(in_container, out_container);
+    apollo_writer_0_->Write(out_0);
+    apollo_writer_1_->Write(out_1);
+  }
+#endif
+};
+
+template <typename InType0, typename InType1, typename OutType0,
+          typename OutType1, typename OutType2>
+class RosApolloMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>>> : public MessageConverter {
+ private:
+#ifdef RCLCPP__RCLCPP_HPP_
+  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1>
+      approximate_sync_policy;
+  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
+      syncApproximate_;
+#endif
+  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
+  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
+  std::shared_ptr<Writer<OutType2>> apollo_writer_2_ = nullptr;
+
+ public:
+  RosApolloMessageConverter() {}
+  ~RosApolloMessageConverter() override {}
+
+  bool Init() override {
+    MessageConverter::Init();
+    if (!init_.load()) {
+      return false;
+    }
+    if (!LoadConfig(&converter_conf_)) {
+      return false;
+    }
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[2]->set_channel_name(converter_conf_.apollo_channel_name_2());
+
+    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+
+    apollo_writer_0_ =
+        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
+    apollo_writer_1_ =
+        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
+    apollo_writer_2_ =
+        cyber_node_->template CreateWriter<OutType2>(*apollo_attrs_[2]);
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
+            ros_node_, ros_topic_name_0)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
+            ros_node_, ros_topic_name_1)));
+    syncApproximate_ = std::make_shared<
+        message_filters::Synchronizer<approximate_sync_policy>>(
+        approximate_sync_policy(10),
+        *dynamic_cast<message_filters::Subscriber<InType0>*>(
+            ros_msg_subs_[0].get()),
+        *dynamic_cast<message_filters::Subscriber<InType1>*>(
+            ros_msg_subs_[1].get()));
+    syncApproximate_->registerCallback(
+        &RosApolloMessageConverter<
+            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
+            OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                        std::shared_ptr<OutType2>>>::TopicCallback,
+        this);
+
+    ros_spin_thread_ =
+        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
+#endif
+    return true;
+  }
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                  std::shared_ptr<OutType2>>& output) = 0;
+
+#ifdef RCLCPP__RCLCPP_HPP_
+ private:
+  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
+                     std::shared_ptr<InType1> ros_msg1) {
+    auto out_0 = std::make_shared<OutType0>();
+    auto out_1 = std::make_shared<OutType1>();
+    auto out_2 = std::make_shared<OutType2>();
+    typename InType0::SharedPtr internal_in_prt_0 =
+        std::make_shared<InType0>(*ros_msg0.get());
+    typename InType1::SharedPtr internal_in_prt_1 =
+        std::make_shared<InType1>(*ros_msg1.get());
+    auto in_container =
+        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>{
+            std::make_tuple(internal_in_prt_0, internal_in_prt_1)};
+    auto out_container =
+        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                    std::shared_ptr<OutType2>>{
+            std::make_tuple(out_0, out_1, out_2)};
+    this->ConvertMsg(in_container, out_container);
+    apollo_writer_0_->Write(out_0);
+    apollo_writer_1_->Write(out_1);
+    apollo_writer_2_->Write(out_2);
+  }
+#endif
+};
+
+template <typename InType0, typename InType1, typename OutType0,
+          typename OutType1, typename OutType2, typename OutType3>
+class RosApolloMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>
+    : public MessageConverter {
+ private:
+#ifdef RCLCPP__RCLCPP_HPP_
+  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1>
+      approximate_sync_policy;
+  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
+      syncApproximate_;
+#endif
+  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
+  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
+  std::shared_ptr<Writer<OutType2>> apollo_writer_2_ = nullptr;
+  std::shared_ptr<Writer<OutType3>> apollo_writer_3_ = nullptr;
+
+ public:
+  RosApolloMessageConverter() {}
+  ~RosApolloMessageConverter() override {}
+
+  bool Init() override {
+    MessageConverter::Init();
+    if (!init_.load()) {
+      return false;
+    }
+    if (!LoadConfig(&converter_conf_)) {
+      return false;
+    }
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[2]->set_channel_name(converter_conf_.apollo_channel_name_2());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[3]->set_channel_name(converter_conf_.apollo_channel_name_3());
+
+    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+
+    apollo_writer_0_ =
+        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
+    apollo_writer_1_ =
+        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
+    apollo_writer_2_ =
+        cyber_node_->template CreateWriter<OutType2>(*apollo_attrs_[2]);
+    apollo_writer_3_ =
+        cyber_node_->template CreateWriter<OutType3>(*apollo_attrs_[3]);
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
+            ros_node_, ros_topic_name_0)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
+            ros_node_, ros_topic_name_1)));
+    syncApproximate_ = std::make_shared<
+        message_filters::Synchronizer<approximate_sync_policy>>(
+        approximate_sync_policy(10),
+        *dynamic_cast<message_filters::Subscriber<InType0>*>(
+            ros_msg_subs_[0].get()),
+        *dynamic_cast<message_filters::Subscriber<InType1>*>(
+            ros_msg_subs_[1].get()));
+    syncApproximate_->registerCallback(
+        &RosApolloMessageConverter<
+            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
+            OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                        std::shared_ptr<OutType2>,
+                        std::shared_ptr<OutType3>>>::TopicCallback,
+        this);
+
+    ros_spin_thread_ =
+        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
+#endif
+    return true;
+  }
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                  std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>&
+          output) = 0;
+
+#ifdef RCLCPP__RCLCPP_HPP_
+ private:
+  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
+                     std::shared_ptr<InType1> ros_msg1) {
+    auto out_0 = std::make_shared<OutType0>();
+    auto out_1 = std::make_shared<OutType1>();
+    auto out_2 = std::make_shared<OutType2>();
+    auto out_3 = std::make_shared<OutType3>();
+    typename InType0::SharedPtr internal_in_prt_0 =
+        std::make_shared<InType0>(*ros_msg0.get());
+    typename InType1::SharedPtr internal_in_prt_1 =
+        std::make_shared<InType1>(*ros_msg1.get());
+    auto in_container =
+        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>{
+            std::make_tuple(internal_in_prt_0, internal_in_prt_1)};
+    auto out_container =
+        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                    std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>{
+            std::make_tuple(out_0, out_1, out_2, out_3)};
+    this->ConvertMsg(in_container, out_container);
+    apollo_writer_0_->Write(out_0);
+    apollo_writer_1_->Write(out_1);
+    apollo_writer_2_->Write(out_2);
+    apollo_writer_3_->Write(out_3);
+  }
+#endif
+};
+
+}  // namespace cyber
+}  // namespace apollo
+
+#endif  // CYBER_APOLLO_ROS_MESSAGE_CONVERTER_H_
diff --git a/cyber/ros_bridge/converter_base/convert_ros_quadruple.h b/cyber/ros_bridge/converter_base/convert_ros_quadruple.h
new file mode 100644
index 0000000..8e80160
--- /dev/null
+++ b/cyber/ros_bridge/converter_base/convert_ros_quadruple.h
@@ -0,0 +1,551 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#ifndef CYBER_ROS_APOLLO_TRIPLE_H_
+#define CYBER_ROS_APOLLO_TRIPLE_H_
+
+#include <memory>
+#include <utility>
+
+#include "cyber/ros_bridge/common/macros.h"
+
+#include "cyber/cyber.h"
+#include "cyber/ros_bridge/converter_base/converter_base.h"
+
+namespace apollo {
+namespace cyber {
+
+template <typename InType0, typename InType1, typename InType2,
+          typename InType3, typename OutType0>
+class RosApolloMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
+    OutputTypes<std::shared_ptr<OutType0>>> : public MessageConverter {
+ private:
+#ifdef RCLCPP__RCLCPP_HPP_
+  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1,
+                                                          InType2, InType3>
+      approximate_sync_policy;
+  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
+      syncApproximate_;
+#endif
+  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
+
+ public:
+  RosApolloMessageConverter() {}
+  ~RosApolloMessageConverter() override {}
+
+  bool Init() override {
+    MessageConverter::Init();
+    if (!init_.load()) {
+      return false;
+    }
+    if (!LoadConfig(&converter_conf_)) {
+      return false;
+    }
+
+    auto writer_attrs =
+        std::make_shared<apollo::cyber::proto::RoleAttributes>();
+    writer_attrs->set_channel_name(converter_conf_.apollo_channel_name_0());
+    apollo_attrs_.push_back(writer_attrs);
+    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+    auto ros_topic_name_2 = converter_conf_.ros_topic_name_2();
+    auto ros_topic_name_3 = converter_conf_.ros_topic_name_3();
+
+    apollo_writer_0_ =
+        cyber_node_->template CreateWriter<OutType0>(*writer_attrs);
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
+            ros_node_, ros_topic_name_0)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
+            ros_node_, ros_topic_name_1)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType2>>(
+            ros_node_, ros_topic_name_2)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType3>>(
+            ros_node_, ros_topic_name_3)));
+    syncApproximate_ = std::make_shared<
+        message_filters::Synchronizer<approximate_sync_policy>>(
+        approximate_sync_policy(10),
+        *dynamic_cast<message_filters::Subscriber<InType0>*>(
+            ros_msg_subs_[0].get()),
+        *dynamic_cast<message_filters::Subscriber<InType1>*>(
+            ros_msg_subs_[1].get()),
+        *dynamic_cast<message_filters::Subscriber<InType2>*>(
+            ros_msg_subs_[2].get()),
+        *dynamic_cast<message_filters::Subscriber<InType3>*>(
+            ros_msg_subs_[3].get()));
+    syncApproximate_->registerCallback(
+        &RosApolloMessageConverter<
+            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                       std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
+            OutputTypes<std::shared_ptr<OutType0>>>::TopicCallback,
+        this);
+
+    ros_spin_thread_ =
+        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
+#endif
+    return true;
+  }
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                 std::shared_ptr<InType2>, std::shared_ptr<InType3>>& input,
+      OutputTypes<std::shared_ptr<OutType0>>& output) = 0;
+
+#ifdef RCLCPP__RCLCPP_HPP_
+ private:
+  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
+                     std::shared_ptr<InType1> ros_msg1,
+                     std::shared_ptr<InType2> ros_msg2,
+                     std::shared_ptr<InType3> ros_msg3) {
+    auto out = std::make_shared<OutType0>();
+    typename InType0::SharedPtr internal_in_prt_0 =
+        std::make_shared<InType0>(*ros_msg0.get());
+    typename InType1::SharedPtr internal_in_prt_1 =
+        std::make_shared<InType1>(*ros_msg1.get());
+    typename InType2::SharedPtr internal_in_prt_2 =
+        std::make_shared<InType2>(*ros_msg2.get());
+    typename InType3::SharedPtr internal_in_prt_3 =
+        std::make_shared<InType3>(*ros_msg3.get());
+    auto in_container =
+        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                   std::shared_ptr<InType2>, std::shared_ptr<InType3>>{
+            std::make_tuple(internal_in_prt_0, internal_in_prt_1,
+                            internal_in_prt_2, internal_in_prt_3)};
+    auto out_container =
+        OutputTypes<std::shared_ptr<OutType0>>{std::make_tuple(out)};
+    this->ConvertMsg(in_container, out_container);
+    apollo_writer_0_->Write(out);
+  }
+#endif
+};
+
+template <typename InType0, typename InType1, typename InType2,
+          typename InType3, typename OutType0, typename OutType1>
+class RosApolloMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>
+    : public MessageConverter {
+ private:
+#ifdef RCLCPP__RCLCPP_HPP_
+  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1,
+                                                          InType2, InType3>
+      approximate_sync_policy;
+  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
+      syncApproximate_;
+#endif
+  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
+  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
+
+ public:
+  RosApolloMessageConverter() {}
+  ~RosApolloMessageConverter() override {}
+
+  bool Init() override {
+    MessageConverter::Init();
+    if (!init_.load()) {
+      return false;
+    }
+    if (!LoadConfig(&converter_conf_)) {
+      return false;
+    }
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
+
+    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+    auto ros_topic_name_2 = converter_conf_.ros_topic_name_2();
+    auto ros_topic_name_3 = converter_conf_.ros_topic_name_3();
+
+    apollo_writer_0_ =
+        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
+    apollo_writer_1_ =
+        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
+            ros_node_, ros_topic_name_0)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
+            ros_node_, ros_topic_name_1)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType2>>(
+            ros_node_, ros_topic_name_2)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType3>>(
+            ros_node_, ros_topic_name_3)));
+    syncApproximate_ = std::make_shared<
+        message_filters::Synchronizer<approximate_sync_policy>>(
+        approximate_sync_policy(10),
+        *dynamic_cast<message_filters::Subscriber<InType0>*>(
+            ros_msg_subs_[0].get()),
+        *dynamic_cast<message_filters::Subscriber<InType1>*>(
+            ros_msg_subs_[1].get()),
+        *dynamic_cast<message_filters::Subscriber<InType2>*>(
+            ros_msg_subs_[2].get()),
+        *dynamic_cast<message_filters::Subscriber<InType3>*>(
+            ros_msg_subs_[3].get()));
+    syncApproximate_->registerCallback(
+        &RosApolloMessageConverter<
+            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                       std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
+            OutputTypes<std::shared_ptr<OutType0>,
+                        std::shared_ptr<OutType1>>>::TopicCallback,
+        this);
+
+    ros_spin_thread_ =
+        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
+#endif
+    return true;
+  }
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                 std::shared_ptr<InType2>, std::shared_ptr<InType3>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>&
+          output) = 0;
+
+#ifdef RCLCPP__RCLCPP_HPP_
+ private:
+  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
+                     std::shared_ptr<InType1> ros_msg1,
+                     std::shared_ptr<InType2> ros_msg2,
+                     std::shared_ptr<InType3> ros_msg3) {
+    auto out_0 = std::make_shared<OutType0>();
+    auto out_1 = std::make_shared<OutType1>();
+    typename InType0::SharedPtr internal_in_prt_0 =
+        std::make_shared<InType0>(*ros_msg0.get());
+    typename InType1::SharedPtr internal_in_prt_1 =
+        std::make_shared<InType1>(*ros_msg1.get());
+    typename InType2::SharedPtr internal_in_prt_2 =
+        std::make_shared<InType2>(*ros_msg2.get());
+    typename InType3::SharedPtr internal_in_prt_3 =
+        std::make_shared<InType3>(*ros_msg3.get());
+    auto in_container =
+        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                   std::shared_ptr<InType2>, std::shared_ptr<InType3>>{
+            std::make_tuple(internal_in_prt_0, internal_in_prt_1,
+                            internal_in_prt_2, internal_in_prt_3)};
+    auto out_container =
+        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>{
+            std::make_tuple(out_0, out_1)};
+    this->ConvertMsg(in_container, out_container);
+    apollo_writer_0_->Write(out_0);
+    apollo_writer_1_->Write(out_1);
+  }
+#endif
+};
+
+template <typename InType0, typename InType1, typename InType2,
+          typename InType3, typename OutType0, typename OutType1,
+          typename OutType2>
+class RosApolloMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>>> : public MessageConverter {
+ private:
+#ifdef RCLCPP__RCLCPP_HPP_
+  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1,
+                                                          InType2, InType3>
+      approximate_sync_policy;
+  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
+      syncApproximate_;
+#endif
+  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
+  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
+  std::shared_ptr<Writer<OutType2>> apollo_writer_2_ = nullptr;
+
+ public:
+  RosApolloMessageConverter() {}
+  ~RosApolloMessageConverter() override {}
+
+  bool Init() override {
+    MessageConverter::Init();
+    if (!init_.load()) {
+      return false;
+    }
+    if (!LoadConfig(&converter_conf_)) {
+      return false;
+    }
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[2]->set_channel_name(converter_conf_.apollo_channel_name_2());
+
+    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+    auto ros_topic_name_2 = converter_conf_.ros_topic_name_2();
+    auto ros_topic_name_3 = converter_conf_.ros_topic_name_3();
+
+    apollo_writer_0_ =
+        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
+    apollo_writer_1_ =
+        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
+    apollo_writer_2_ =
+        cyber_node_->template CreateWriter<OutType2>(*apollo_attrs_[2]);
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
+            ros_node_, ros_topic_name_0)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
+            ros_node_, ros_topic_name_1)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType2>>(
+            ros_node_, ros_topic_name_2)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType3>>(
+            ros_node_, ros_topic_name_3)));
+    syncApproximate_ = std::make_shared<
+        message_filters::Synchronizer<approximate_sync_policy>>(
+        approximate_sync_policy(10),
+        *dynamic_cast<message_filters::Subscriber<InType0>*>(
+            ros_msg_subs_[0].get()),
+        *dynamic_cast<message_filters::Subscriber<InType1>*>(
+            ros_msg_subs_[1].get()),
+        *dynamic_cast<message_filters::Subscriber<InType2>*>(
+            ros_msg_subs_[2].get()),
+        *dynamic_cast<message_filters::Subscriber<InType3>*>(
+            ros_msg_subs_[3].get()));
+    syncApproximate_->registerCallback(
+        &RosApolloMessageConverter<
+            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                       std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
+            OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                        std::shared_ptr<OutType2>>>::TopicCallback,
+        this);
+
+    ros_spin_thread_ =
+        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
+#endif
+    return true;
+  }
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                 std::shared_ptr<InType2>, std::shared_ptr<InType3>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                  std::shared_ptr<OutType2>>& output) = 0;
+
+#ifdef RCLCPP__RCLCPP_HPP_
+ private:
+  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
+                     std::shared_ptr<InType1> ros_msg1,
+                     std::shared_ptr<InType2> ros_msg2,
+                     std::shared_ptr<InType3> ros_msg3) {
+    auto out_0 = std::make_shared<OutType0>();
+    auto out_1 = std::make_shared<OutType1>();
+    auto out_2 = std::make_shared<OutType2>();
+    typename InType0::SharedPtr internal_in_prt_0 =
+        std::make_shared<InType0>(*ros_msg0.get());
+    typename InType1::SharedPtr internal_in_prt_1 =
+        std::make_shared<InType1>(*ros_msg1.get());
+    typename InType2::SharedPtr internal_in_prt_2 =
+        std::make_shared<InType2>(*ros_msg2.get());
+    typename InType3::SharedPtr internal_in_prt_3 =
+        std::make_shared<InType3>(*ros_msg3.get());
+    auto in_container =
+        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                   std::shared_ptr<InType2>, std::shared_ptr<InType3>>{
+            std::make_tuple(internal_in_prt_0, internal_in_prt_1,
+                            internal_in_prt_2, internal_in_prt_3)};
+    auto out_container =
+        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                    std::shared_ptr<OutType2>>{
+            std::make_tuple(out_0, out_1, out_2)};
+    this->ConvertMsg(in_container, out_container);
+    apollo_writer_0_->Write(out_0);
+    apollo_writer_1_->Write(out_1);
+    apollo_writer_2_->Write(out_2);
+  }
+#endif
+};
+
+template <typename InType0, typename InType1, typename InType2,
+          typename InType3, typename OutType0, typename OutType1,
+          typename OutType2, typename OutType3>
+class RosApolloMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>
+    : public MessageConverter {
+ private:
+#ifdef RCLCPP__RCLCPP_HPP_
+  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1,
+                                                          InType2, InType3>
+      approximate_sync_policy;
+  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
+      syncApproximate_;
+#endif
+  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
+  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
+  std::shared_ptr<Writer<OutType2>> apollo_writer_2_ = nullptr;
+  std::shared_ptr<Writer<OutType3>> apollo_writer_3_ = nullptr;
+
+ public:
+  RosApolloMessageConverter() {}
+  ~RosApolloMessageConverter() override {}
+
+  bool Init() override {
+    MessageConverter::Init();
+    if (!init_.load()) {
+      return false;
+    }
+    if (!LoadConfig(&converter_conf_)) {
+      return false;
+    }
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[2]->set_channel_name(converter_conf_.apollo_channel_name_2());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[3]->set_channel_name(converter_conf_.apollo_channel_name_3());
+
+    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+    auto ros_topic_name_2 = converter_conf_.ros_topic_name_2();
+    auto ros_topic_name_3 = converter_conf_.ros_topic_name_3();
+
+    apollo_writer_0_ =
+        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
+    apollo_writer_1_ =
+        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
+    apollo_writer_2_ =
+        cyber_node_->template CreateWriter<OutType2>(*apollo_attrs_[2]);
+    apollo_writer_3_ =
+        cyber_node_->template CreateWriter<OutType3>(*apollo_attrs_[3]);
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
+            ros_node_, ros_topic_name_0)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
+            ros_node_, ros_topic_name_1)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType2>>(
+            ros_node_, ros_topic_name_2)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType3>>(
+            ros_node_, ros_topic_name_3)));
+    syncApproximate_ = std::make_shared<
+        message_filters::Synchronizer<approximate_sync_policy>>(
+        approximate_sync_policy(10),
+        *dynamic_cast<message_filters::Subscriber<InType0>*>(
+            ros_msg_subs_[0].get()),
+        *dynamic_cast<message_filters::Subscriber<InType1>*>(
+            ros_msg_subs_[1].get()),
+        *dynamic_cast<message_filters::Subscriber<InType2>*>(
+            ros_msg_subs_[2].get()),
+        *dynamic_cast<message_filters::Subscriber<InType3>*>(
+            ros_msg_subs_[3].get()));
+    syncApproximate_->registerCallback(
+        &RosApolloMessageConverter<
+            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                       std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
+            OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                        std::shared_ptr<OutType2>,
+                        std::shared_ptr<OutType3>>>::TopicCallback,
+        this);
+
+    ros_spin_thread_ =
+        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
+#endif
+    return true;
+  }
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                 std::shared_ptr<InType2>, std::shared_ptr<InType3>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                  std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>&
+          output) = 0;
+
+#ifdef RCLCPP__RCLCPP_HPP_
+ private:
+  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
+                     std::shared_ptr<InType1> ros_msg1,
+                     std::shared_ptr<InType2> ros_msg2,
+                     std::shared_ptr<InType3> ros_msg3) {
+    auto out_0 = std::make_shared<OutType0>();
+    auto out_1 = std::make_shared<OutType1>();
+    auto out_2 = std::make_shared<OutType2>();
+    auto out_3 = std::make_shared<OutType3>();
+    typename InType0::SharedPtr internal_in_prt_0 =
+        std::make_shared<InType0>(*ros_msg0.get());
+    typename InType1::SharedPtr internal_in_prt_1 =
+        std::make_shared<InType1>(*ros_msg1.get());
+    typename InType2::SharedPtr internal_in_prt_2 =
+        std::make_shared<InType2>(*ros_msg2.get());
+    typename InType3::SharedPtr internal_in_prt_3 =
+        std::make_shared<InType3>(*ros_msg3.get());
+    auto in_container =
+        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                   std::shared_ptr<InType2>, std::shared_ptr<InType3>>{
+            std::make_tuple(internal_in_prt_0, internal_in_prt_1,
+                            internal_in_prt_2, internal_in_prt_3)};
+    auto out_container =
+        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                    std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>{
+            std::make_tuple(out_0, out_1, out_2, out_3)};
+    this->ConvertMsg(in_container, out_container);
+    apollo_writer_0_->Write(out_0);
+    apollo_writer_1_->Write(out_1);
+    apollo_writer_2_->Write(out_2);
+    apollo_writer_3_->Write(out_3);
+  }
+#endif
+};
+
+}  // namespace cyber
+}  // namespace apollo
+
+#endif  // CYBER_APOLLO_ROS_MESSAGE_CONVERTER_H_
diff --git a/cyber/ros_bridge/converter_base/convert_ros_single.h b/cyber/ros_bridge/converter_base/convert_ros_single.h
new file mode 100644
index 0000000..3e0f391
--- /dev/null
+++ b/cyber/ros_bridge/converter_base/convert_ros_single.h
@@ -0,0 +1,364 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#ifndef CYBER_ROS_APOLLO_SINGLE_H_
+#define CYBER_ROS_APOLLO_SINGLE_H_
+
+#include <memory>
+#include <utility>
+
+#include "cyber/ros_bridge/common/macros.h"
+
+#include "cyber/cyber.h"
+#include "cyber/ros_bridge/converter_base/converter_base.h"
+
+namespace apollo {
+namespace cyber {
+
+template <typename InType0, typename OutType0>
+class RosApolloMessageConverter<InputTypes<std::shared_ptr<InType0>>,
+                                OutputTypes<std::shared_ptr<OutType0>>>
+    : public MessageConverter {
+ private:
+  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
+
+ public:
+  RosApolloMessageConverter() {}
+  ~RosApolloMessageConverter() override {}
+
+  bool Init() override {
+    MessageConverter::Init();
+    if (!init_.load()) {
+      return false;
+    }
+    if (!LoadConfig(&converter_conf_)) {
+      AERROR << "load config failed";
+      return false;
+    }
+
+    auto writer_attrs =
+        std::make_shared<apollo::cyber::proto::RoleAttributes>();
+    writer_attrs->set_channel_name(converter_conf_.apollo_channel_name_0());
+    apollo_attrs_.push_back(writer_attrs);
+    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+
+    apollo_writer_0_ =
+        cyber_node_->template CreateWriter<OutType0>(*writer_attrs);
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_subscriptions_.push_back(
+        std::move(ros_node_->create_subscription<InType0>(
+            ros_topic_name_0, 10,
+            std::bind(
+                &RosApolloMessageConverter<
+                    InputTypes<std::shared_ptr<InType0>>,
+                    OutputTypes<std::shared_ptr<OutType0>>>::TopicCallback,
+                this, std::placeholders::_1))));
+    ros_spin_thread_ =
+        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
+#endif
+    return true;
+  }
+
+ protected:
+  virtual bool ConvertMsg(InputTypes<std::shared_ptr<InType0>>& input,
+                          OutputTypes<std::shared_ptr<OutType0>>& output) = 0;
+
+#ifdef RCLCPP__RCLCPP_HPP_
+ private:
+  void TopicCallback(std::shared_ptr<InType0> ros_msg0) {
+    auto out = std::make_shared<OutType0>();
+    typename InType0::SharedPtr internal_in_prt =
+        std::make_shared<InType0>(*ros_msg0.get());
+    auto in_container =
+        InputTypes<std::shared_ptr<InType0>>{std::make_tuple(internal_in_prt)};
+    auto out_container =
+        OutputTypes<std::shared_ptr<OutType0>>{std::make_tuple(out)};
+    this->ConvertMsg(in_container, out_container);
+    apollo_writer_0_->Write(out);
+  }
+#endif
+};
+
+template <typename InType0, typename OutType0, typename OutType1>
+class RosApolloMessageConverter<
+    InputTypes<std::shared_ptr<InType0>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>
+    : public MessageConverter {
+ private:
+  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
+  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
+
+ public:
+  RosApolloMessageConverter() {}
+  ~RosApolloMessageConverter() override {}
+
+  bool Init() override {
+    MessageConverter::Init();
+    if (!init_.load()) {
+      return false;
+    }
+    if (!LoadConfig(&converter_conf_)) {
+      return false;
+    }
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
+
+    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+
+    apollo_writer_0_ =
+        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
+    apollo_writer_1_ =
+        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_subscriptions_.push_back(
+        std::move(ros_node_->create_subscription<InType0>(
+            ros_topic_name_0, 10,
+            std::bind(
+                &RosApolloMessageConverter<
+                    InputTypes<std::shared_ptr<InType0>>,
+                    OutputTypes<std::shared_ptr<OutType0>,
+                                std::shared_ptr<OutType1>>>::TopicCallback,
+                this, std::placeholders::_1))));
+    ros_spin_thread_ =
+        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
+#endif
+    return true;
+  }
+
+ protected:
+  virtual bool ConvertMsg(InputTypes<std::shared_ptr<InType0>>& input,
+                          OutputTypes<std::shared_ptr<OutType0>,
+                                      std::shared_ptr<OutType1>>& output) = 0;
+
+#ifdef RCLCPP__RCLCPP_HPP_
+ private:
+  void TopicCallback(std::shared_ptr<InType0> ros_msg0) {
+    auto out_0 = std::make_shared<OutType0>();
+    auto out_1 = std::make_shared<OutType1>();
+    typename InType0::SharedPtr internal_in_prt =
+        std::make_shared<InType0>(*ros_msg0.get());
+    auto in_container =
+        InputTypes<std::shared_ptr<InType0>>{std::make_tuple(internal_in_prt)};
+    auto out_container =
+        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>{
+            std::make_tuple(out_0, out_1)};
+    this->ConvertMsg(in_container, out_container);
+    apollo_writer_0_->Write(out_0);
+    apollo_writer_1_->Write(out_1);
+  }
+#endif
+};
+
+template <typename InType0, typename OutType0, typename OutType1,
+          typename OutType2>
+class RosApolloMessageConverter<
+    InputTypes<std::shared_ptr<InType0>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>>> : public MessageConverter {
+ private:
+  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
+  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
+  std::shared_ptr<Writer<OutType2>> apollo_writer_2_ = nullptr;
+
+ public:
+  RosApolloMessageConverter() {}
+  ~RosApolloMessageConverter() override {}
+
+  bool Init() override {
+    MessageConverter::Init();
+    if (!init_.load()) {
+      return false;
+    }
+    if (!LoadConfig(&converter_conf_)) {
+      return false;
+    }
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[2]->set_channel_name(converter_conf_.apollo_channel_name_2());
+
+    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+
+    apollo_writer_0_ =
+        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
+    apollo_writer_1_ =
+        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
+    apollo_writer_2_ =
+        cyber_node_->template CreateWriter<OutType2>(*apollo_attrs_[2]);
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_subscriptions_.push_back(
+        std::move(ros_node_->create_subscription<InType0>(
+            ros_topic_name_0, 10,
+            std::bind(
+                &RosApolloMessageConverter<
+                    InputTypes<std::shared_ptr<InType0>>,
+                    OutputTypes<std::shared_ptr<OutType0>,
+                                std::shared_ptr<OutType1>,
+                                std::shared_ptr<OutType2>>>::TopicCallback,
+                this, std::placeholders::_1))));
+    ros_spin_thread_ =
+        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
+#endif
+    return true;
+  }
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                  std::shared_ptr<OutType2>>& output) = 0;
+
+#ifdef RCLCPP__RCLCPP_HPP_
+ private:
+  void TopicCallback(std::shared_ptr<InType0> ros_msg0) {
+    auto out_0 = std::make_shared<OutType0>();
+    auto out_1 = std::make_shared<OutType1>();
+    auto out_2 = std::make_shared<OutType2>();
+    typename InType0::SharedPtr internal_in_prt =
+        std::make_shared<InType0>(*ros_msg0.get());
+    auto in_container =
+        InputTypes<std::shared_ptr<InType0>>{std::make_tuple(internal_in_prt)};
+    auto out_container =
+        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                    std::shared_ptr<OutType2>>{
+            std::make_tuple(out_0, out_1, out_2)};
+    this->ConvertMsg(in_container, out_container);
+    apollo_writer_0_->Write(out_0);
+    apollo_writer_1_->Write(out_1);
+    apollo_writer_2_->Write(out_2);
+  }
+#endif
+};
+
+template <typename InType0, typename OutType0, typename OutType1,
+          typename OutType2, typename OutType3>
+class RosApolloMessageConverter<
+    InputTypes<std::shared_ptr<InType0>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>
+    : public MessageConverter {
+ private:
+  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
+  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
+  std::shared_ptr<Writer<OutType2>> apollo_writer_2_ = nullptr;
+  std::shared_ptr<Writer<OutType3>> apollo_writer_3_ = nullptr;
+
+ public:
+  RosApolloMessageConverter() {}
+  ~RosApolloMessageConverter() override {}
+
+  bool Init() override {
+    MessageConverter::Init();
+    if (!init_.load()) {
+      return false;
+    }
+    if (!LoadConfig(&converter_conf_)) {
+      return false;
+    }
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[2]->set_channel_name(converter_conf_.apollo_channel_name_2());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[3]->set_channel_name(converter_conf_.apollo_channel_name_3());
+
+    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+
+    apollo_writer_0_ =
+        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
+    apollo_writer_1_ =
+        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
+    apollo_writer_2_ =
+        cyber_node_->template CreateWriter<OutType2>(*apollo_attrs_[2]);
+    apollo_writer_3_ =
+        cyber_node_->template CreateWriter<OutType3>(*apollo_attrs_[3]);
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_subscriptions_.push_back(
+        std::move(ros_node_->create_subscription<InType0>(
+            ros_topic_name_0, 10,
+            std::bind(
+                &RosApolloMessageConverter<
+                    InputTypes<std::shared_ptr<InType0>>,
+                    OutputTypes<std::shared_ptr<OutType0>,
+                                std::shared_ptr<OutType1>,
+                                std::shared_ptr<OutType2>,
+                                std::shared_ptr<OutType3>>>::TopicCallback,
+                this, std::placeholders::_1))));
+    ros_spin_thread_ =
+        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
+#endif
+    return true;
+  }
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                  std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>&
+          output) = 0;
+
+#ifdef RCLCPP__RCLCPP_HPP_
+ private:
+  void TopicCallback(std::shared_ptr<InType0> ros_msg0) {
+    auto out_0 = std::make_shared<OutType0>();
+    auto out_1 = std::make_shared<OutType1>();
+    auto out_2 = std::make_shared<OutType2>();
+    auto out_3 = std::make_shared<OutType3>();
+    typename InType0::SharedPtr internal_in_prt =
+        std::make_shared<InType0>(*ros_msg0.get());
+    auto in_container =
+        InputTypes<std::shared_ptr<InType0>>{std::make_tuple(internal_in_prt)};
+    auto out_container =
+        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                    std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>{
+            std::make_tuple(out_0, out_1, out_2, out_3)};
+    this->ConvertMsg(in_container, out_container);
+    apollo_writer_0_->Write(out_0);
+    apollo_writer_1_->Write(out_1);
+    apollo_writer_2_->Write(out_2);
+    apollo_writer_3_->Write(out_3);
+  }
+#endif
+};
+
+}  // namespace cyber
+}  // namespace apollo
+
+#endif  // CYBER_APOLLO_ROS_MESSAGE_CONVERTER_H_
diff --git a/cyber/ros_bridge/converter_base/convert_ros_triple.h b/cyber/ros_bridge/converter_base/convert_ros_triple.h
new file mode 100644
index 0000000..0d576fc
--- /dev/null
+++ b/cyber/ros_bridge/converter_base/convert_ros_triple.h
@@ -0,0 +1,509 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#ifndef CYBER_ROS_APOLLO_TRIPLE_H_
+#define CYBER_ROS_APOLLO_TRIPLE_H_
+
+#include <memory>
+#include <utility>
+
+#include "cyber/ros_bridge/common/macros.h"
+
+#include "cyber/cyber.h"
+#include "cyber/ros_bridge/converter_base/converter_base.h"
+
+namespace apollo {
+namespace cyber {
+
+template <typename InType0, typename InType1, typename InType2,
+          typename OutType0>
+class RosApolloMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>>,
+    OutputTypes<std::shared_ptr<OutType0>>> : public MessageConverter {
+ private:
+#ifdef RCLCPP__RCLCPP_HPP_
+  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1,
+                                                          InType2>
+      approximate_sync_policy;
+  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
+      syncApproximate_;
+#endif
+  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
+
+ public:
+  RosApolloMessageConverter() {}
+  ~RosApolloMessageConverter() override {}
+
+  bool Init() override {
+    MessageConverter::Init();
+    if (!init_.load()) {
+      return false;
+    }
+    if (!LoadConfig(&converter_conf_)) {
+      return false;
+    }
+
+    auto writer_attrs =
+        std::make_shared<apollo::cyber::proto::RoleAttributes>();
+    writer_attrs->set_channel_name(converter_conf_.apollo_channel_name_0());
+    apollo_attrs_.push_back(writer_attrs);
+    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+    auto ros_topic_name_2 = converter_conf_.ros_topic_name_2();
+
+    apollo_writer_0_ =
+        cyber_node_->template CreateWriter<OutType0>(*writer_attrs);
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
+            ros_node_, ros_topic_name_0)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
+            ros_node_, ros_topic_name_1)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType2>>(
+            ros_node_, ros_topic_name_2)));
+    syncApproximate_ = std::make_shared<
+        message_filters::Synchronizer<approximate_sync_policy>>(
+        approximate_sync_policy(10),
+        *dynamic_cast<message_filters::Subscriber<InType0>*>(
+            ros_msg_subs_[0].get()),
+        *dynamic_cast<message_filters::Subscriber<InType1>*>(
+            ros_msg_subs_[1].get()),
+        *dynamic_cast<message_filters::Subscriber<InType2>*>(
+            ros_msg_subs_[2].get()));
+    syncApproximate_->registerCallback(
+        &RosApolloMessageConverter<
+            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                       std::shared_ptr<InType2>>,
+            OutputTypes<std::shared_ptr<OutType0>>>::TopicCallback,
+        this);
+
+    ros_spin_thread_ =
+        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
+#endif
+    return true;
+  }
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                 std::shared_ptr<InType2>>& input,
+      OutputTypes<std::shared_ptr<OutType0>>& output) = 0;
+
+#ifdef RCLCPP__RCLCPP_HPP_
+ private:
+  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
+                     std::shared_ptr<InType1> ros_msg1,
+                     std::shared_ptr<InType2> ros_msg2) {
+    auto out = std::make_shared<OutType0>();
+    typename InType0::SharedPtr internal_in_prt_0 =
+        std::make_shared<InType0>(*ros_msg0.get());
+    typename InType1::SharedPtr internal_in_prt_1 =
+        std::make_shared<InType1>(*ros_msg1.get());
+    typename InType2::SharedPtr internal_in_prt_2 =
+        std::make_shared<InType2>(*ros_msg2.get());
+    auto in_container =
+        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                   std::shared_ptr<InType2>>{std::make_tuple(
+            internal_in_prt_0, internal_in_prt_1, internal_in_prt_2)};
+    auto out_container =
+        OutputTypes<std::shared_ptr<OutType0>>{std::make_tuple(out)};
+    this->ConvertMsg(in_container, out_container);
+    apollo_writer_0_->Write(out);
+  }
+#endif
+};
+
+template <typename InType0, typename InType1, typename InType2,
+          typename OutType0, typename OutType1>
+class RosApolloMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>
+    : public MessageConverter {
+ private:
+#ifdef RCLCPP__RCLCPP_HPP_
+  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1,
+                                                          InType2>
+      approximate_sync_policy;
+  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
+      syncApproximate_;
+#endif
+  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
+  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
+
+ public:
+  RosApolloMessageConverter() {}
+  ~RosApolloMessageConverter() override {}
+
+  bool Init() override {
+    MessageConverter::Init();
+    if (!init_.load()) {
+      return false;
+    }
+    if (!LoadConfig(&converter_conf_)) {
+      return false;
+    }
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
+
+    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+    auto ros_topic_name_2 = converter_conf_.ros_topic_name_2();
+
+    apollo_writer_0_ =
+        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
+    apollo_writer_1_ =
+        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
+            ros_node_, ros_topic_name_0)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
+            ros_node_, ros_topic_name_1)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType2>>(
+            ros_node_, ros_topic_name_2)));
+    syncApproximate_ = std::make_shared<
+        message_filters::Synchronizer<approximate_sync_policy>>(
+        approximate_sync_policy(10),
+        *dynamic_cast<message_filters::Subscriber<InType0>*>(
+            ros_msg_subs_[0].get()),
+        *dynamic_cast<message_filters::Subscriber<InType1>*>(
+            ros_msg_subs_[1].get()),
+        *dynamic_cast<message_filters::Subscriber<InType2>*>(
+            ros_msg_subs_[2].get()));
+    syncApproximate_->registerCallback(
+        &RosApolloMessageConverter<
+            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                       std::shared_ptr<InType2>>,
+            OutputTypes<std::shared_ptr<OutType0>,
+                        std::shared_ptr<OutType1>>>::TopicCallback,
+        this);
+
+    ros_spin_thread_ =
+        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
+#endif
+    return true;
+  }
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                 std::shared_ptr<InType2>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>&
+          output) = 0;
+
+#ifdef RCLCPP__RCLCPP_HPP_
+ private:
+  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
+                     std::shared_ptr<InType1> ros_msg1,
+                     std::shared_ptr<InType2> ros_msg2) {
+    auto out_0 = std::make_shared<OutType0>();
+    auto out_1 = std::make_shared<OutType1>();
+    typename InType0::SharedPtr internal_in_prt_0 =
+        std::make_shared<InType0>(*ros_msg0.get());
+    typename InType1::SharedPtr internal_in_prt_1 =
+        std::make_shared<InType1>(*ros_msg1.get());
+    typename InType2::SharedPtr internal_in_prt_2 =
+        std::make_shared<InType2>(*ros_msg2.get());
+    auto in_container =
+        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                   std::shared_ptr<InType2>>{std::make_tuple(
+            internal_in_prt_0, internal_in_prt_1, internal_in_prt_2)};
+    auto out_container =
+        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>{
+            std::make_tuple(out_0, out_1)};
+    this->ConvertMsg(in_container, out_container);
+    apollo_writer_0_->Write(out_0);
+    apollo_writer_1_->Write(out_1);
+  }
+#endif
+};
+
+template <typename InType0, typename InType1, typename InType2,
+          typename OutType0, typename OutType1, typename OutType2>
+class RosApolloMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>>> : public MessageConverter {
+ private:
+#ifdef RCLCPP__RCLCPP_HPP_
+  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1,
+                                                          InType2>
+      approximate_sync_policy;
+  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
+      syncApproximate_;
+#endif
+  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
+  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
+  std::shared_ptr<Writer<OutType2>> apollo_writer_2_ = nullptr;
+
+ public:
+  RosApolloMessageConverter() {}
+  ~RosApolloMessageConverter() override {}
+
+  bool Init() override {
+    MessageConverter::Init();
+    if (!init_.load()) {
+      return false;
+    }
+    if (!LoadConfig(&converter_conf_)) {
+      return false;
+    }
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[2]->set_channel_name(converter_conf_.apollo_channel_name_2());
+
+    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+    auto ros_topic_name_2 = converter_conf_.ros_topic_name_2();
+
+    apollo_writer_0_ =
+        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
+    apollo_writer_1_ =
+        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
+    apollo_writer_2_ =
+        cyber_node_->template CreateWriter<OutType2>(*apollo_attrs_[2]);
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
+            ros_node_, ros_topic_name_0)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
+            ros_node_, ros_topic_name_1)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType2>>(
+            ros_node_, ros_topic_name_2)));
+    syncApproximate_ = std::make_shared<
+        message_filters::Synchronizer<approximate_sync_policy>>(
+        approximate_sync_policy(10),
+        *dynamic_cast<message_filters::Subscriber<InType0>*>(
+            ros_msg_subs_[0].get()),
+        *dynamic_cast<message_filters::Subscriber<InType1>*>(
+            ros_msg_subs_[1].get()),
+        *dynamic_cast<message_filters::Subscriber<InType2>*>(
+            ros_msg_subs_[2].get()));
+    syncApproximate_->registerCallback(
+        &RosApolloMessageConverter<
+            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                       std::shared_ptr<InType2>>,
+            OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                        std::shared_ptr<OutType2>>>::TopicCallback,
+        this);
+
+    ros_spin_thread_ =
+        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
+#endif
+    return true;
+  }
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                 std::shared_ptr<InType2>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                  std::shared_ptr<OutType2>>& output) = 0;
+
+#ifdef RCLCPP__RCLCPP_HPP_
+ private:
+  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
+                     std::shared_ptr<InType1> ros_msg1,
+                     std::shared_ptr<InType2> ros_msg2) {
+    auto out_0 = std::make_shared<OutType0>();
+    auto out_1 = std::make_shared<OutType1>();
+    auto out_2 = std::make_shared<OutType2>();
+    typename InType0::SharedPtr internal_in_prt_0 =
+        std::make_shared<InType0>(*ros_msg0.get());
+    typename InType1::SharedPtr internal_in_prt_1 =
+        std::make_shared<InType1>(*ros_msg1.get());
+    typename InType2::SharedPtr internal_in_prt_2 =
+        std::make_shared<InType2>(*ros_msg2.get());
+    auto in_container =
+        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                   std::shared_ptr<InType2>>{std::make_tuple(
+            internal_in_prt_0, internal_in_prt_1, internal_in_prt_2)};
+    auto out_container =
+        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                    std::shared_ptr<OutType2>>{
+            std::make_tuple(out_0, out_1, out_2)};
+    this->ConvertMsg(in_container, out_container);
+    apollo_writer_0_->Write(out_0);
+    apollo_writer_1_->Write(out_1);
+    apollo_writer_2_->Write(out_2);
+  }
+#endif
+};
+
+template <typename InType0, typename InType1, typename InType2,
+          typename OutType0, typename OutType1, typename OutType2,
+          typename OutType3>
+class RosApolloMessageConverter<
+    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+               std::shared_ptr<InType2>>,
+    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>
+    : public MessageConverter {
+ private:
+#ifdef RCLCPP__RCLCPP_HPP_
+  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1>
+      approximate_sync_policy;
+  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
+      syncApproximate_;
+#endif
+  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
+  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
+  std::shared_ptr<Writer<OutType2>> apollo_writer_2_ = nullptr;
+  std::shared_ptr<Writer<OutType3>> apollo_writer_3_ = nullptr;
+
+ public:
+  RosApolloMessageConverter() {}
+  ~RosApolloMessageConverter() override {}
+
+  bool Init() override {
+    MessageConverter::Init();
+    if (!init_.load()) {
+      return false;
+    }
+    if (!LoadConfig(&converter_conf_)) {
+      return false;
+    }
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[2]->set_channel_name(converter_conf_.apollo_channel_name_2());
+
+    apollo_attrs_.push_back(
+        std::make_shared<apollo::cyber::proto::RoleAttributes>());
+    apollo_attrs_[3]->set_channel_name(converter_conf_.apollo_channel_name_3());
+
+    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
+    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
+    auto ros_topic_name_2 = converter_conf_.ros_topic_name_2();
+
+    apollo_writer_0_ =
+        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
+    apollo_writer_1_ =
+        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
+    apollo_writer_2_ =
+        cyber_node_->template CreateWriter<OutType2>(*apollo_attrs_[2]);
+    apollo_writer_3_ =
+        cyber_node_->template CreateWriter<OutType3>(*apollo_attrs_[3]);
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
+            ros_node_, ros_topic_name_0)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
+            ros_node_, ros_topic_name_1)));
+    ros_msg_subs_.push_back(
+        std::move(std::make_shared<message_filters::Subscriber<InType2>>(
+            ros_node_, ros_topic_name_2)));
+    syncApproximate_ = std::make_shared<
+        message_filters::Synchronizer<approximate_sync_policy>>(
+        approximate_sync_policy(10),
+        *dynamic_cast<message_filters::Subscriber<InType0>*>(
+            ros_msg_subs_[0].get()),
+        *dynamic_cast<message_filters::Subscriber<InType1>*>(
+            ros_msg_subs_[1].get()),
+        *dynamic_cast<message_filters::Subscriber<InType2>*>(
+            ros_msg_subs_[2].get()));
+    syncApproximate_->registerCallback(
+        &RosApolloMessageConverter<
+            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                       std::shared_ptr<InType2>>,
+            OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                        std::shared_ptr<OutType2>,
+                        std::shared_ptr<OutType3>>>::TopicCallback,
+        this);
+
+    ros_spin_thread_ =
+        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
+#endif
+    return true;
+  }
+
+ protected:
+  virtual bool ConvertMsg(
+      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                 std::shared_ptr<InType2>>& input,
+      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                  std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>&
+          output) = 0;
+
+#ifdef RCLCPP__RCLCPP_HPP_
+ private:
+  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
+                     std::shared_ptr<InType1> ros_msg1,
+                     std::shared_ptr<InType2> ros_msg2) {
+    auto out_0 = std::make_shared<OutType0>();
+    auto out_1 = std::make_shared<OutType1>();
+    auto out_2 = std::make_shared<OutType2>();
+    auto out_3 = std::make_shared<OutType3>();
+    typename InType0::SharedPtr internal_in_prt_0 =
+        std::make_shared<InType0>(*ros_msg0.get());
+    typename InType1::SharedPtr internal_in_prt_1 =
+        std::make_shared<InType1>(*ros_msg1.get());
+    typename InType2::SharedPtr internal_in_prt_2 =
+        std::make_shared<InType1>(*ros_msg2.get());
+    auto in_container =
+        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
+                   std::shared_ptr<InType2>>{std::make_tuple(
+            internal_in_prt_0, internal_in_prt_1, internal_in_prt_2)};
+    auto out_container =
+        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
+                    std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>{
+            std::make_tuple(out_0, out_1, out_2, out_3)};
+    this->ConvertMsg(in_container, out_container);
+    apollo_writer_0_->Write(out_0);
+    apollo_writer_1_->Write(out_1);
+    apollo_writer_2_->Write(out_2);
+    apollo_writer_3_->Write(out_3);
+  }
+#endif
+};
+
+}  // namespace cyber
+}  // namespace apollo
+
+#endif  // CYBER_APOLLO_ROS_MESSAGE_CONVERTER_H_
diff --git a/cyber/ros_bridge/converter_base/converter_base.h b/cyber/ros_bridge/converter_base/converter_base.h
new file mode 100644
index 0000000..5cbb418
--- /dev/null
+++ b/cyber/ros_bridge/converter_base/converter_base.h
@@ -0,0 +1,77 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#ifndef CYBER_APOLLO_ROS_BASE_H_
+#define CYBER_APOLLO_ROS_BASE_H_
+
+#include <memory>
+#include <string>
+#include <tuple>
+
+#include "cyber/ros_bridge/common/macros.h"
+
+#include "cyber/cyber.h"
+#include "cyber/ros_bridge/converter_base/message_converter.h"
+
+namespace apollo {
+namespace cyber {
+
+template <typename... Types>
+struct InputTypes {
+  std::tuple<Types...> values;
+  static constexpr size_t NInputs = sizeof...(Types);
+};
+
+template <typename... Types>
+struct OutputTypes {
+  std::tuple<Types...> values;
+  static constexpr size_t NOutputs = sizeof...(Types);
+};
+
+template <typename InputTypes, typename OutputTypes>
+class ApolloRosMessageConverter : public MessageConverter {
+ public:
+  ApolloRosMessageConverter() {}
+  ~ApolloRosMessageConverter() override {}
+
+  bool Init() override {
+    AERROR << "input output not support";
+    return false;
+  };
+
+ protected:
+  virtual bool ConvertMsg(InputTypes& input, OutputTypes& output) = 0;
+};
+
+template <typename InputTypes, typename OutputTypes>
+class RosApolloMessageConverter : public MessageConverter {
+ public:
+  RosApolloMessageConverter() {}
+  ~RosApolloMessageConverter() override {}
+
+  bool Init() override {
+    AERROR << "input output not support";
+    return false;
+  };
+
+ protected:
+  virtual bool ConvertMsg(InputTypes& input, OutputTypes& output) = 0;
+};
+
+}  // namespace cyber
+}  // namespace apollo
+
+#endif  // CYBER_APOLLO_ROS_MESSAGE_CONVERTER_H_
diff --git a/cyber/ros_bridge/converter_base/converter_interface.h b/cyber/ros_bridge/converter_base/converter_interface.h
new file mode 100644
index 0000000..6667d19
--- /dev/null
+++ b/cyber/ros_bridge/converter_base/converter_interface.h
@@ -0,0 +1,29 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#ifndef CYBER_CONVERTER_INTERFACE_H_
+#define CYBER_CONVERTER_INTERFACE_H_
+
+#include "cyber/ros_bridge/converter_base/convert_apollo_double.h"
+#include "cyber/ros_bridge/converter_base/convert_apollo_quadruple.h"
+#include "cyber/ros_bridge/converter_base/convert_apollo_single.h"
+#include "cyber/ros_bridge/converter_base/convert_apollo_triple.h"
+#include "cyber/ros_bridge/converter_base/convert_ros_double.h"
+#include "cyber/ros_bridge/converter_base/convert_ros_quadruple.h"
+#include "cyber/ros_bridge/converter_base/convert_ros_single.h"
+#include "cyber/ros_bridge/converter_base/convert_ros_triple.h"
+
+#endif
diff --git a/cyber/ros_bridge/converter_base/message_converter.h b/cyber/ros_bridge/converter_base/message_converter.h
new file mode 100644
index 0000000..c6a2b05
--- /dev/null
+++ b/cyber/ros_bridge/converter_base/message_converter.h
@@ -0,0 +1,149 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#ifndef CYBER_MESSAGE_CONVERTER_H_
+#define CYBER_MESSAGE_CONVERTER_H_
+
+#include <atomic>   // NOLINT
+#include <memory>   // NOLINT
+#include <string>   // NOLINT
+#include <thread>   // NOLINT
+#include <utility>  // NOLINT
+#include <vector>   // NOLINT
+
+#include <cxxabi.h>  // NOLINT
+
+#include "cyber/ros_bridge/proto/converter_conf.pb.h"
+
+#include "cyber/cyber.h"
+#include "cyber/node/reader_base.h"
+#include "cyber/node/writer_base.h"
+#include "cyber/plugin_manager/plugin_manager.h"
+#include "cyber/ros_bridge/common/macros.h"
+
+#if __has_include("rclcpp/rclcpp.hpp")
+#include "message_filters/subscriber.h"
+#include "message_filters/sync_policies/approximate_time.h"
+#include "message_filters/synchronizer.h"
+#include "rclcpp/rclcpp.hpp"
+#include "ros_adapter/ros_distro.h"
+#endif
+
+namespace apollo {
+namespace cyber {
+
+class MessageConverter {
+ public:
+  MessageConverter() : init_(false) {}
+
+  virtual ~MessageConverter() {}
+
+  virtual bool Init() {
+    if (init_.exchange(true)) {
+      return true;
+    }
+    LoadConfig(&converter_conf_);
+    cyber_node_ = std::move(
+        CreateNode(node_name_ + "_" + converter_conf_.name() + "_apollo"));
+#ifdef RCLCPP__RCLCPP_HPP_
+    ros_node_ = std::make_shared<::rclcpp::Node>(
+        node_name_ + "_" + converter_conf_.name() + "_ros");
+    ros_node_exec_ =
+        std::make_shared<::rclcpp::executors::SingleThreadedExecutor>();
+#endif
+    return true;
+  }
+
+#ifdef RCLCPP__RCLCPP_HPP_
+  void NodeSpin() {
+    ros_node_exec_->add_node(std::shared_ptr<rclcpp::Node>(ros_node_));
+    ros_node_exec_->spin();
+  }
+#endif
+
+  bool IsInit() const { return init_.load(); }
+
+ protected:
+  bool LoadConfig(ConverterConf* config) {
+    int status;
+    std::string class_name =
+        abi::__cxa_demangle(typeid(*this).name(), 0, 0, &status);
+    std::string delimiter = "::";
+    std::string sub_class_name;
+    std::string conf_file_prefix;
+
+    auto pos = class_name.rfind(delimiter);
+    if (pos == std::string::npos) {
+      sub_class_name = class_name;
+    } else {
+      sub_class_name = class_name.substr(pos + delimiter.length());
+    }
+
+    for (int i = 0; i < sub_class_name.length(); i++) {
+      if (std::isupper(sub_class_name[i]) && i > 0) {
+        conf_file_prefix.push_back('_');
+      }
+      conf_file_prefix.push_back(std::tolower(sub_class_name[i]));
+    }
+
+    std::string config_path =
+        apollo::cyber::plugin_manager::PluginManager::Instance()
+            ->GetPluginConfPath<MessageConverter>(
+                class_name, "conf/" + conf_file_prefix + ".pb.txt");
+    if (!apollo::cyber::common::PathExists(config_path)) {
+      config_path = apollo::cyber::plugin_manager::PluginManager::Instance()
+                        ->GetPluginConfPath<MessageConverter>(
+                            class_name, std::string("conf/default.pb.txt"));
+    }
+
+    if (!apollo::cyber::common::GetProtoFromFile(config_path, config)) {
+      AERROR << "Load config of " << class_name << " failed!";
+      return false;
+    }
+    AINFO << "Load the [" << class_name
+          << "] config file successfully, file path: " << config_path;
+    return true;
+  }
+
+ protected:
+  std::atomic<bool> init_;
+  std::unique_ptr<apollo::cyber::Node> cyber_node_;
+  std::vector<std::shared_ptr<apollo::cyber::proto::RoleAttributes>>
+      apollo_attrs_;
+  std::vector<std::shared_ptr<apollo::cyber::ReaderBase>> apollo_readers_;
+  std::vector<std::shared_ptr<apollo::cyber::WriterBase>> apollo_writers_;
+#ifdef RCLCPP__RCLCPP_HPP_
+  std::vector<std::shared_ptr<::rclcpp::PublisherBase>> ros_publishers_;
+  std::vector<std::shared_ptr<::rclcpp::SubscriptionBase>> ros_subscriptions_;
+#if defined(ROS_DISTRO_FOXY) || defined(ROS_DISTRO_GALACTIC)
+  std::vector<std::shared_ptr<::message_filters::SubscriberBase>>
+#else
+  std::vector<std::shared_ptr<::message_filters::SubscriberBase<rclcpp::Node>>>
+#endif
+      ros_msg_subs_;
+  std::shared_ptr<::rclcpp::Node> ros_node_ = nullptr;
+  std::shared_ptr<::rclcpp::executors::SingleThreadedExecutor> ros_node_exec_ =
+      nullptr;
+  std::shared_ptr<std::thread> ros_spin_thread_;
+#endif
+  const std::string node_name_ = "converter_base";
+  ConverterConf converter_conf_;
+};
+
+}  // namespace cyber
+}  // namespace apollo
+
+#endif  // CYBER_MESSAGE_CONVERTER_H_
diff --git a/cyber/ros_bridge/converters/BUILD b/cyber/ros_bridge/converters/BUILD
new file mode 100644
index 0000000..3cac8b1
--- /dev/null
+++ b/cyber/ros_bridge/converters/BUILD
@@ -0,0 +1,3 @@
+load("//tools:apollo_package.bzl", "apollo_package")
+
+apollo_package()
\ No newline at end of file
diff --git a/cyber/ros_bridge/converters/common_plugins/BUILD b/cyber/ros_bridge/converters/common_plugins/BUILD
new file mode 100644
index 0000000..3cac8b1
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/BUILD
@@ -0,0 +1,3 @@
+load("//tools:apollo_package.bzl", "apollo_package")
+
+apollo_package()
\ No newline at end of file
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/BUILD b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/BUILD
new file mode 100755
index 0000000..609edeb
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/BUILD
@@ -0,0 +1,104 @@
+load("//tools:cpplint.bzl", "cpplint")
+load("//tools:apollo_package.bzl", "apollo_package", "apollo_plugin")
+load("//tools/platform:build_defs.bzl", "if_aarch64", "if_gpu")
+
+package(default_visibility = ["//visibility:public"])
+
+filegroup(
+    name = "runtime_files",
+    srcs = glob([
+        "conf/**",
+        "data/**",
+    ]),
+)
+
+apollo_plugin(
+    name = "libheading_msg_fusion.so",
+    srcs = ["heading_msg_fusion.cc"],
+    hdrs = [
+        "heading_msg_fusion.h",
+        "quaternion_math.h",
+    ],
+    description = ":heading_msg_plugins.xml",
+    deps = [
+        "//cyber",
+        "//cyber/ros_bridge:converter_base",
+        "//cyber/proto:simple_proto",
+        "//cyber/ros_bridge/proto:converter_conf_proto",
+        "//modules/common_msgs/sensor_msgs:heading_proto",
+        "@ros"
+    ],
+)
+
+apollo_plugin(
+    name = "libimu_msg_converter.so",
+    srcs = ["imu_msg_converter.cc"],
+    hdrs = [
+        "imu_msg_converter.h",
+        "quaternion_math.h",
+    ],
+    description = ":imu_plugins.xml",
+    deps = [
+        "//cyber",
+        "//cyber/ros_bridge:converter_base",
+        "//cyber/proto:simple_proto",
+        "//cyber/ros_bridge/proto:converter_conf_proto",
+        "//modules/common_msgs/localization_msgs:imu_proto",
+        "//modules/common_msgs/sensor_msgs:imu_proto",
+        "@ros"
+    ],
+)
+
+apollo_plugin(
+    name = "libnav_msg_converter.so",
+    srcs = ["nav_msg_converter.cc"],
+    hdrs = ["nav_msg_converter.h"],
+    description = ":nav_plugins.xml",
+    deps = [
+        "//cyber",
+        "//cyber/ros_bridge:converter_base",
+        "//cyber/proto:simple_proto",
+        "//cyber/ros_bridge/proto:converter_conf_proto",
+        "//modules/common_msgs/sensor_msgs:gnss_best_pose_proto",
+        "//modules/common_msgs/sensor_msgs:ins_proto",
+        "@ros"
+    ],
+)
+
+apollo_plugin(
+    name = "libodometry_msg_converter.so",
+    srcs = ["odometry_msg_converter.cc"],
+    hdrs = ["odometry_msg_converter.h"],
+    description = ":odometry_msg_plugins.xml",
+    deps = [
+        "//cyber",
+        "//cyber/ros_bridge:converter_base",
+        "//cyber/proto:simple_proto",
+        "//cyber/ros_bridge/proto:converter_conf_proto",
+        "//modules/common_msgs/localization_msgs:gps_proto",
+        "@ros"
+    ],
+)
+
+apollo_plugin(
+    name = "libodometry_parser.so",
+    srcs = ["odometry_parser.cc"],
+    hdrs = [
+        "odometry_parser.h",
+        "quaternion_math.h",
+    ],
+    description = ":odometry_plugins.xml",
+    deps = [
+        "//cyber",
+        "//cyber/ros_bridge:converter_base",
+        "//cyber/proto:simple_proto",
+        "//cyber/ros_bridge/proto:converter_conf_proto",
+        "@ros",
+        "@proj",
+        "@eigen"
+    ],
+)
+
+apollo_package()
+
+cpplint()
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/heading_msg_fusion.pb.txt b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/heading_msg_fusion.pb.txt
new file mode 100755
index 0000000..bb25a96
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/heading_msg_fusion.pb.txt
@@ -0,0 +1,4 @@
+name: "heading"
+apollo_channel_name_0: "/apollo/sensor/gnss/heading"
+ros_topic_name_0: "/gps/fix"
+ros_topic_name_1: "/odometry"
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/imu_msg_converter.pb.txt b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/imu_msg_converter.pb.txt
new file mode 100755
index 0000000..7b2f35f
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/imu_msg_converter.pb.txt
@@ -0,0 +1,4 @@
+name: "imu"
+apollo_channel_name_0: "/apollo/sensor/gnss/imu"
+apollo_channel_name_1: "/apollo/sensor/gnss/corrected_imu"
+ros_topic_name_0: "/imu/data"
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/nav_msg_converter.pb.txt b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/nav_msg_converter.pb.txt
new file mode 100755
index 0000000..318dd5f
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/nav_msg_converter.pb.txt
@@ -0,0 +1,5 @@
+name: "nav"
+apollo_channel_name_0: "/apollo/sensor/gnss/best_pose"
+apollo_channel_name_1: "/apollo/sensor/gnss/ins_stat"
+ros_topic_name_0: "/gps/fix"
+
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/odometry_msg_converter.pb.txt b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/odometry_msg_converter.pb.txt
new file mode 100755
index 0000000..ac2e6ab
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/odometry_msg_converter.pb.txt
@@ -0,0 +1,3 @@
+name: "odometry"
+apollo_channel_name_0: "/apollo/sensor/gnss/odometry"
+ros_topic_name_0: "/odometry"
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/odometry_parser.pb.txt b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/odometry_parser.pb.txt
new file mode 100755
index 0000000..162142d
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/odometry_parser.pb.txt
@@ -0,0 +1,5 @@
+name: "odometry_parser"
+apollo_channel_name_0: "/apollo/sensor/gnss/odometry"
+ros_topic_name_0: "/imu"
+ros_topic_name_1: "/gps"
+ros_topic_name_2: "/odom"
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_fusion.cc b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_fusion.cc
new file mode 100755
index 0000000..3c30af9
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_fusion.cc
@@ -0,0 +1,97 @@
+/******************************************************************************
+ * Copyright 2023 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_fusion.h"  // NOLINT
+#include "cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/quaternion_math.h"
+
+namespace apollo {
+namespace cyber {
+
+bool HeadingMsgFusion::ConvertMsg(
+    InputTypes<RosNavMsgPtr, RosOdometryMsgPtr>& in,
+    OutputTypes<OutputMsgPtr>& out) {
+#ifdef ENABLE_ROS_MSG
+  auto ros_nav_ptr = std::get<0>(in.values);
+  auto ros_odometry_ptr = std::get<1>(in.values);
+  auto& ros_nav = (*ros_nav_ptr);
+  auto& ros_odometry = (*ros_odometry_ptr);
+
+  auto heading_msg = std::get<0>(out.values);
+
+  auto unix_msg_time =
+      ros_nav.header.stamp.sec + ros_nav.header.stamp.nanosec / 1e9;
+
+  double quaternion[4];
+  double euler_angles[3];
+
+  quaternion[0] = ros_odometry.pose.pose.orientation.x;
+  quaternion[1] = ros_odometry.pose.pose.orientation.y;
+  quaternion[2] = ros_odometry.pose.pose.orientation.z;
+  quaternion[3] = ros_odometry.pose.pose.orientation.w;
+
+  QuaternionToEuler(quaternion, euler_angles);
+  auto pitch = euler_angles[1];
+  auto heading = QuaternionToHeading(euler_angles[2]);
+
+  heading_msg->mutable_header()->set_timestamp_sec(unix_msg_time);
+  heading_msg->mutable_header()->set_module_name("gnss");
+  heading_msg->set_measurement_time(unix_msg_time);
+
+  if (ros_nav.status.status == -1) {
+    heading_msg->set_solution_status(19);
+    heading_msg->set_position_type(0);
+  } else if (ros_nav.status.status == 0) {
+    heading_msg->set_solution_status(0);
+    heading_msg->set_position_type(16);
+  } else if (ros_nav.status.status == 1) {
+    heading_msg->set_solution_status(0);
+    heading_msg->set_position_type(18);
+  } else if (ros_nav.status.status == 2) {
+    heading_msg->set_solution_status(0);
+    heading_msg->set_position_type(50);
+  }
+  heading_msg->set_heading(heading);
+  heading_msg->set_pitch(pitch);
+
+  /*
+    pose covariance:
+    [
+      xx,     xy,     xz,     xroll,      xpitch,     xyaw,
+      yx,     yy,     yz,     yroll,      ypitch,     yyaw,
+      zx,     zy,     zz,     zroll,      zpitch,     zzaw,
+      rollx,  rolly,  rollz,  rollroll,   rollpitch,  rollyaw,
+      pitchx, pitchy, pitchz, pitchroll,  pitchpitch, pitchyaw,
+      yawx,   yawy,   yawz,   yawroll,    yawpitch,   yawyaw
+    ]
+    thus pitch_stddev = sqrt(covariance[28]), yaw_stddev = sqrt(covariance[35])
+  */
+
+  auto covariance = ros_odometry.pose.covariance;
+  auto pitch_variance = covariance[28];
+  auto yaw_variance = covariance[35];
+
+  double pitch_stddev = sqrt(pitch_variance);
+  double yaw_stddev = sqrt(yaw_variance);
+
+  heading_msg->set_heading_std_dev(yaw_stddev);
+  heading_msg->set_pitch_std_dev(pitch_stddev);
+
+#endif
+  return true;
+}
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_fusion.h b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_fusion.h
new file mode 100755
index 0000000..ccdc408
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_fusion.h
@@ -0,0 +1,86 @@
+/******************************************************************************
+ * Copyright 2023 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#pragma once
+
+#include <algorithm>
+#include <cstring>
+#include <memory>
+#include <string>
+
+#include "cyber/ros_bridge/converter_base/converter_interface.h"
+
+#include "cyber/proto/simple.pb.h"
+#include "modules/common_msgs/sensor_msgs/heading.pb.h"
+#include "cyber/cyber.h"
+#include "cyber/plugin_manager/plugin_manager.h"
+
+#if __has_include("sensor_msgs/msg/nav_sat_fix.hpp")
+#include "sensor_msgs/msg/nav_sat_fix.hpp"
+#define ROS_NAVFOUND_FOUND
+#endif
+
+#if __has_include("nav_msgs/msg/odometry.hpp")
+#include "nav_msgs/msg/odometry.hpp"
+#define ROS_ODOMETRY_FOUND
+#endif
+
+#if defined(ROS_NAVFOUND_FOUND) && defined(ROS_ODOMETRY_FOUND)
+#define ENABLE_ROS_MSG
+#endif
+
+#ifdef ENABLE_ROS_MSG
+using RosNavMsg = sensor_msgs::msg::NavSatFix;
+using RosOdometryMsg = nav_msgs::msg::Odometry;
+#else
+// fake wrap
+using RosNavMsg = apollo::cyber::proto::SimpleMessage;
+using RosOdometryMsg = apollo::cyber::proto::SimpleMessage;
+#endif
+
+using OutputMsg = apollo::drivers::gnss::Heading;
+
+using RosNavMsgPtr = std::shared_ptr<RosNavMsg>;
+using RosOdometryMsgPtr = std::shared_ptr<RosOdometryMsg>;
+
+using OutputMsgPtr = std::shared_ptr<OutputMsg>;
+
+namespace apollo {
+namespace cyber {
+
+class HeadingMsgFusion : public apollo::cyber::RosApolloMessageConverter<
+                             InputTypes<RosNavMsgPtr, RosOdometryMsgPtr>,
+                             OutputTypes<OutputMsgPtr>> {
+ public:
+  HeadingMsgFusion() {}
+  ~HeadingMsgFusion() {}
+
+  /**
+   * @brief convert the message between ros and apollo
+   *
+   * @param InputTypes input message container
+   * @param OutputTypes output message container
+   * @return result, true for success
+   */
+  virtual bool ConvertMsg(InputTypes<RosNavMsgPtr, RosOdometryMsgPtr>&,
+                          OutputTypes<OutputMsgPtr>&);
+};
+
+CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::cyber::HeadingMsgFusion,
+                                     apollo::cyber::MessageConverter)
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_plugins.xml b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_plugins.xml
new file mode 100755
index 0000000..c92615c
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_plugins.xml
@@ -0,0 +1,3 @@
+<library path="cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/libheading_msg_fusion.so">
+    <class type="apollo::cyber::HeadingMsgFusion" base_class="apollo::cyber::MessageConverter"></class>
+</library>
\ No newline at end of file
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_msg_converter.cc b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_msg_converter.cc
new file mode 100755
index 0000000..449afa3
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_msg_converter.cc
@@ -0,0 +1,85 @@
+/******************************************************************************
+ * Copyright 2023 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_msg_converter.h"  // NOLINT
+#include "cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/quaternion_math.h"
+
+namespace apollo {
+namespace cyber {
+
+bool ImuMsgConverter::ConvertMsg(
+    InputTypes<RosImuMsgPtr>& in,
+    OutputTypes<ImuMsgPtr, CorrectedImuMsgPtr>& out) {
+#ifdef ENABLE_ROS_MSG
+  auto ros_imu_ptr = std::get<0>(in.values);
+  auto& ros_imu = (*ros_imu_ptr);
+
+  auto imu_msg = std::get<0>(out.values);
+  auto corrected_imu_msg = std::get<1>(out.values);
+
+  // ros header time is unix time,
+  // while measurement_time of apollo imu is gps time
+  double unix_msg_time =
+      ros_imu.header.stamp.sec + ros_imu.header.stamp.nanosec / 1e9;
+  imu_msg->mutable_header()->set_timestamp_sec(unix_msg_time);
+  imu_msg->mutable_header()->set_module_name("gnss");
+
+  imu_msg->set_measurement_time(unix_msg_time);
+  imu_msg->set_measurement_span(0.0);
+  imu_msg->mutable_linear_acceleration()->set_x(ros_imu.linear_acceleration.x);
+  imu_msg->mutable_linear_acceleration()->set_y(ros_imu.linear_acceleration.y);
+  imu_msg->mutable_linear_acceleration()->set_z(ros_imu.linear_acceleration.z);
+  imu_msg->mutable_angular_velocity()->set_x(ros_imu.angular_velocity.x);
+  imu_msg->mutable_angular_velocity()->set_y(ros_imu.angular_velocity.y);
+  imu_msg->mutable_angular_velocity()->set_z(ros_imu.angular_velocity.z);
+
+  corrected_imu_msg->mutable_header()->set_timestamp_sec(unix_msg_time);
+  corrected_imu_msg->mutable_header()->set_module_name("gnss");
+  corrected_imu_msg->mutable_imu()->mutable_linear_acceleration()->set_x(
+      ros_imu.linear_acceleration.x);
+  corrected_imu_msg->mutable_imu()->mutable_linear_acceleration()->set_y(
+      ros_imu.linear_acceleration.y);
+  corrected_imu_msg->mutable_imu()->mutable_linear_acceleration()->set_z(
+      ros_imu.linear_acceleration.z);
+  corrected_imu_msg->mutable_imu()->mutable_angular_velocity()->set_x(
+      ros_imu.angular_velocity.x);
+  corrected_imu_msg->mutable_imu()->mutable_angular_velocity()->set_y(
+      ros_imu.angular_velocity.y);
+  corrected_imu_msg->mutable_imu()->mutable_angular_velocity()->set_z(
+      ros_imu.angular_velocity.z);
+  double quaternion[4];
+  double euler_angles[3];
+
+  quaternion[0] = ros_imu.orientation.x;
+  quaternion[1] = ros_imu.orientation.y;
+  quaternion[2] = ros_imu.orientation.z;
+  quaternion[3] = ros_imu.orientation.w;
+
+  QuaternionToEuler(quaternion, euler_angles);
+  auto heading = QuaternionToHeading(euler_angles[2]);
+  corrected_imu_msg->mutable_imu()->mutable_euler_angles()->set_x(
+      euler_angles[0]);
+  corrected_imu_msg->mutable_imu()->mutable_euler_angles()->set_y(
+      euler_angles[1]);
+  corrected_imu_msg->mutable_imu()->mutable_euler_angles()->set_z(
+      euler_angles[2]);
+
+#endif
+  return true;
+}
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_msg_converter.h b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_msg_converter.h
new file mode 100755
index 0000000..64f7a00
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_msg_converter.h
@@ -0,0 +1,77 @@
+/******************************************************************************
+ * Copyright 2023 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#pragma once
+
+#include <algorithm>
+#include <cstring>
+#include <memory>
+#include <string>
+
+#include "cyber/ros_bridge/converter_base/converter_interface.h"
+
+#include "cyber/proto/simple.pb.h"
+#include "modules/common_msgs/localization_msgs/imu.pb.h"
+#include "modules/common_msgs/sensor_msgs/imu.pb.h"
+#include "cyber/cyber.h"
+#include "cyber/plugin_manager/plugin_manager.h"
+
+#if __has_include("sensor_msgs/msg/imu.hpp")
+#include "sensor_msgs/msg/imu.hpp"
+#define ENABLE_ROS_MSG
+#endif
+
+#ifdef ENABLE_ROS_MSG
+using RosImuMsg = sensor_msgs::msg::Imu;
+#else
+// fake wrap
+using RosImuMsg = apollo::cyber::proto::SimpleMessage;
+#endif
+
+using ImuMsg = apollo::drivers::gnss::Imu;
+using CorrectedImuMsg = apollo::localization::CorrectedImu;
+
+using RosImuMsgPtr = std::shared_ptr<RosImuMsg>;
+
+using ImuMsgPtr = std::shared_ptr<apollo::drivers::gnss::Imu>;
+using CorrectedImuMsgPtr = std::shared_ptr<apollo::localization::CorrectedImu>;
+
+namespace apollo {
+namespace cyber {
+
+class ImuMsgConverter : public apollo::cyber::RosApolloMessageConverter<
+                            InputTypes<RosImuMsgPtr>,
+                            OutputTypes<ImuMsgPtr, CorrectedImuMsgPtr>> {
+ public:
+  ImuMsgConverter() {}
+  ~ImuMsgConverter() {}
+
+  /**
+   * @brief convert the message between ros and apollo
+   *
+   * @param InputTypes input message container
+   * @param OutputTypes output message container
+   * @return result, true for success
+   */
+  virtual bool ConvertMsg(InputTypes<RosImuMsgPtr>&,
+                          OutputTypes<ImuMsgPtr, CorrectedImuMsgPtr>&);
+};
+
+CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::cyber::ImuMsgConverter,
+                                     apollo::cyber::MessageConverter)
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_plugins.xml b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_plugins.xml
new file mode 100755
index 0000000..1d36b10
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_plugins.xml
@@ -0,0 +1,3 @@
+<library path="cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/libimu_msg_converter.so">
+    <class type="apollo::cyber::ImuMsgConverter" base_class="apollo::cyber::MessageConverter"></class>
+</library>
\ No newline at end of file
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_msg_converter.cc b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_msg_converter.cc
new file mode 100755
index 0000000..4dcabf7
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_msg_converter.cc
@@ -0,0 +1,78 @@
+/******************************************************************************
+ * Copyright 2023 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_msg_converter.h"  // NOLINT
+#include <cmath>
+
+namespace apollo {
+namespace cyber {
+
+bool NavMsgConverter::ConvertMsg(
+    InputTypes<RosNavMsgPtr>& in,
+    OutputTypes<BestPoseMsgPtr, InsStatMsgPtr>& out) {
+#ifdef ENABLE_ROS_MSG
+  auto ros_nav_ptr = std::get<0>(in.values);
+  auto& ros_nav = (*ros_nav_ptr);
+
+  auto best_pose_msg = std::get<0>(out.values);
+  auto ins_stat_msg = std::get<1>(out.values);
+
+  auto unix_msg_time =
+      ros_nav.header.stamp.sec + ros_nav.header.stamp.nanosec / 1e9;
+  best_pose_msg->mutable_header()->set_timestamp_sec(unix_msg_time);
+  best_pose_msg->mutable_header()->set_module_name("gnss");
+
+  ins_stat_msg->mutable_header()->set_timestamp_sec(unix_msg_time);
+  ins_stat_msg->mutable_header()->set_module_name("gnss");
+
+  best_pose_msg->set_measurement_time(unix_msg_time);
+  best_pose_msg->set_latitude(ros_nav.latitude);
+  best_pose_msg->set_longitude(ros_nav.longitude);
+  best_pose_msg->set_height_msl(ros_nav.altitude);
+  best_pose_msg->set_undulation(0);
+  best_pose_msg->set_datum_id(apollo::drivers::gnss::DatumId::WGS84);
+  best_pose_msg->set_latitude_std_dev(sqrt(ros_nav.position_covariance[4]));
+  best_pose_msg->set_longitude_std_dev(sqrt(ros_nav.position_covariance[0]));
+  best_pose_msg->set_height_std_dev(sqrt(ros_nav.position_covariance[8]));
+  if (ros_nav.status.status == -1) {
+    best_pose_msg->set_sol_status(
+        apollo::drivers::gnss::SolutionStatus::INVALID_FIX);
+    best_pose_msg->set_sol_type(apollo::drivers::gnss::SolutionType::NONE);
+    ins_stat_msg->set_pos_type(0);
+  } else if (ros_nav.status.status == 0) {
+    best_pose_msg->set_sol_status(
+        apollo::drivers::gnss::SolutionStatus::SOL_COMPUTED);
+    best_pose_msg->set_sol_type(apollo::drivers::gnss::SolutionType::SINGLE);
+    ins_stat_msg->set_pos_type(1);
+  } else if (ros_nav.status.status == 1) {
+    best_pose_msg->set_sol_status(
+        apollo::drivers::gnss::SolutionStatus::SOL_COMPUTED);
+    best_pose_msg->set_sol_type(apollo::drivers::gnss::SolutionType::WAAS);
+    ins_stat_msg->set_pos_type(2);
+  } else if (ros_nav.status.status == 2) {
+    best_pose_msg->set_sol_status(
+        apollo::drivers::gnss::SolutionStatus::SOL_COMPUTED);
+    best_pose_msg->set_sol_type(
+        apollo::drivers::gnss::SolutionType::NARROW_INT);
+    ins_stat_msg->set_pos_type(2);
+  }
+
+#endif
+  return true;
+}
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_msg_converter.h b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_msg_converter.h
new file mode 100755
index 0000000..1fa83ab
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_msg_converter.h
@@ -0,0 +1,77 @@
+/******************************************************************************
+ * Copyright 2023 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#pragma once
+
+#include <algorithm>
+#include <cstring>
+#include <memory>
+#include <string>
+
+#include "cyber/ros_bridge/converter_base/converter_interface.h"
+
+#include "cyber/proto/simple.pb.h"
+#include "modules/common_msgs/sensor_msgs/gnss_best_pose.pb.h"
+#include "modules/common_msgs/sensor_msgs/ins.pb.h"
+#include "cyber/cyber.h"
+#include "cyber/plugin_manager/plugin_manager.h"
+
+#if __has_include("sensor_msgs/msg/nav_sat_fix.hpp")
+#include "sensor_msgs/msg/nav_sat_fix.hpp"
+#define ENABLE_ROS_MSG
+#endif
+
+#ifdef ENABLE_ROS_MSG
+using RosNavMsg = sensor_msgs::msg::NavSatFix;
+#else
+// fake wrap
+using RosNavMsg = apollo::cyber::proto::SimpleMessage;
+#endif
+
+using BestPoseMsg = apollo::drivers::gnss::GnssBestPose;
+using InsStatMsg = apollo::drivers::gnss::InsStat;
+
+using RosNavMsgPtr = std::shared_ptr<RosNavMsg>;
+
+using BestPoseMsgPtr = std::shared_ptr<BestPoseMsg>;
+using InsStatMsgPtr = std::shared_ptr<InsStatMsg>;
+
+namespace apollo {
+namespace cyber {
+
+class NavMsgConverter : public apollo::cyber::RosApolloMessageConverter<
+                            InputTypes<RosNavMsgPtr>,
+                            OutputTypes<BestPoseMsgPtr, InsStatMsgPtr>> {
+ public:
+  NavMsgConverter() {}
+  ~NavMsgConverter() {}
+
+  /**
+   * @brief convert the message between ros and apollo
+   *
+   * @param InputTypes input message container
+   * @param OutputTypes output message container
+   * @return result, true for success
+   */
+  virtual bool ConvertMsg(InputTypes<RosNavMsgPtr>&,
+                          OutputTypes<BestPoseMsgPtr, InsStatMsgPtr>&);
+};
+
+CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::cyber::NavMsgConverter,
+                                     apollo::cyber::MessageConverter)
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_plugins.xml b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_plugins.xml
new file mode 100755
index 0000000..95e7c02
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_plugins.xml
@@ -0,0 +1,3 @@
+<library path="cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/libnav_msg_converter.so">
+    <class type="apollo::cyber::NavMsgConverter" base_class="apollo::cyber::MessageConverter"></class>
+</library>
\ No newline at end of file
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_converter.cc b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_converter.cc
new file mode 100755
index 0000000..4bbd809
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_converter.cc
@@ -0,0 +1,66 @@
+/******************************************************************************
+ * Copyright 2023 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_converter.h"  // NOLINT
+
+namespace apollo {
+namespace cyber {
+
+bool OdometryMsgConverter::ConvertMsg(InputTypes<RosOdometryMsgPtr>& in,
+                                      OutputTypes<OdometryOutputMsgPtr>& out) {
+#ifdef ENABLE_ROS_MSG
+  auto ros_odometry_ptr = std::get<0>(in.values);
+  auto& ros_odometry = (*ros_odometry_ptr);
+
+  auto odometry_msg = std::get<0>(out.values);
+
+  auto unix_msg_time =
+      ros_odometry.header.stamp.sec + ros_odometry.header.stamp.nanosec / 1e9;
+  odometry_msg->mutable_header()->set_timestamp_sec(unix_msg_time);
+  odometry_msg->mutable_header()->set_module_name("gnss");
+  odometry_msg->mutable_localization()->mutable_position()->set_x(
+      ros_odometry.pose.pose.position.x);
+  odometry_msg->mutable_localization()->mutable_position()->set_y(
+      ros_odometry.pose.pose.position.y);
+  odometry_msg->mutable_localization()->mutable_position()->set_z(
+      ros_odometry.pose.pose.position.z);
+  odometry_msg->mutable_localization()->mutable_linear_velocity()->set_x(
+      ros_odometry.twist.twist.linear.x);
+  odometry_msg->mutable_localization()->mutable_linear_velocity()->set_y(
+      ros_odometry.twist.twist.linear.y);
+  odometry_msg->mutable_localization()->mutable_linear_velocity()->set_z(
+      ros_odometry.twist.twist.linear.z);
+  odometry_msg->mutable_localization()->mutable_angular_velocity()->set_x(
+      ros_odometry.twist.twist.angular.x);
+  odometry_msg->mutable_localization()->mutable_angular_velocity()->set_y(
+      ros_odometry.twist.twist.angular.y);
+  odometry_msg->mutable_localization()->mutable_angular_velocity()->set_z(
+      ros_odometry.twist.twist.angular.z);
+  odometry_msg->mutable_localization()->mutable_orientation()->set_qx(
+      ros_odometry.pose.pose.orientation.x);
+  odometry_msg->mutable_localization()->mutable_orientation()->set_qy(
+      ros_odometry.pose.pose.orientation.y);
+  odometry_msg->mutable_localization()->mutable_orientation()->set_qz(
+      ros_odometry.pose.pose.orientation.z);
+  odometry_msg->mutable_localization()->mutable_orientation()->set_qw(
+      ros_odometry.pose.pose.orientation.w);
+
+#endif
+  return true;
+}
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_converter.h b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_converter.h
new file mode 100755
index 0000000..29ae889
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_converter.h
@@ -0,0 +1,74 @@
+/******************************************************************************
+ * Copyright 2023 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#pragma once
+
+#include <algorithm>
+#include <cstring>
+#include <memory>
+#include <string>
+
+#include "cyber/ros_bridge/converter_base/converter_interface.h"
+
+#include "cyber/proto/simple.pb.h"
+#include "modules/common_msgs/localization_msgs/gps.pb.h"
+#include "cyber/cyber.h"
+#include "cyber/plugin_manager/plugin_manager.h"
+
+#if __has_include("nav_msgs/msg/odometry.hpp")
+#include "nav_msgs/msg/odometry.hpp"
+#define ENABLE_ROS_MSG
+#endif
+
+#ifdef ENABLE_ROS_MSG
+using RosOdometryMsg = nav_msgs::msg::Odometry;
+#else
+// fake wrap
+using RosOdometryMsg = apollo::cyber::proto::SimpleMessage;
+#endif
+
+using OdometryOutputMsg = apollo::localization::Gps;
+
+using RosOdometryMsgPtr = std::shared_ptr<RosOdometryMsg>;
+
+using OdometryOutputMsgPtr = std::shared_ptr<OdometryOutputMsg>;
+
+namespace apollo {
+namespace cyber {
+
+class OdometryMsgConverter
+    : public apollo::cyber::RosApolloMessageConverter<
+          InputTypes<RosOdometryMsgPtr>, OutputTypes<OdometryOutputMsgPtr>> {
+ public:
+  OdometryMsgConverter() {}
+  ~OdometryMsgConverter() {}
+
+  /**
+   * @brief convert the message between ros and apollo
+   *
+   * @param InputTypes input message container
+   * @param OutputTypes output message container
+   * @return result, true for success
+   */
+  virtual bool ConvertMsg(InputTypes<RosOdometryMsgPtr>&,
+                          OutputTypes<OdometryOutputMsgPtr>&);
+};
+
+CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::cyber::OdometryMsgConverter,
+                                     apollo::cyber::MessageConverter)
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_plugins.xml b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_plugins.xml
new file mode 100755
index 0000000..f7456c8
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_plugins.xml
@@ -0,0 +1,3 @@
+<library path="cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/libodometry_msg_converter.so">
+    <class type="apollo::cyber::OdometryMsgConverter" base_class="apollo::cyber::MessageConverter"></class>
+</library>
\ No newline at end of file
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.cc b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.cc
new file mode 100755
index 0000000..8d03ee8
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.cc
@@ -0,0 +1,140 @@
+/******************************************************************************
+ * Copyright 2023 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.h"  // NOLINT
+#include "cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/quaternion_math.h"
+
+namespace apollo {
+namespace cyber {
+
+void OdometryParser::imuCallback(std::shared_ptr<RosImuMsg> msg) {
+#ifdef ENABLE_ROS_MSG
+  imu_received_.store(true);
+  auto current_time = msg->header.stamp.sec + msg->header.stamp.nanosec / 1e9;
+  double dt = current_time - last_time_;
+  last_time_ = current_time;
+
+  F_(0, 3) = dt;
+  F_(1, 4) = dt;
+  F_(2, 5) = dt;
+
+  X_ = F_ * X_;
+  P_ = F_ * P_ * F_.transpose() + Q_;
+
+  X_(3) += msg->linear_acceleration.x * dt;
+  X_(4) += msg->linear_acceleration.y * dt;
+  X_(5) += msg->linear_acceleration.z * dt;
+
+  double euler_angles[3];
+
+  quaternion_[0] = msg->orientation.x;
+  quaternion_[1] = msg->orientation.y;
+  quaternion_[2] = msg->orientation.z;
+  quaternion_[3] = msg->orientation.w;
+
+  QuaternionToEuler(quaternion_, euler_angles);
+  auto roll = euler_angles[0];
+  auto pitch = euler_angles[1];
+  auto yaw = euler_angles[2];
+
+  X_(6) = roll;
+  X_(7) = pitch;
+  X_(8) = yaw;
+#endif
+}
+
+void OdometryParser::gpsCallback(std::shared_ptr<RosNavMsg> msg) {
+#ifdef ENABLE_ROS_MSG
+  gps_received_.store(true);
+  constexpr double DEG_TO_RAD_LOCAL = M_PI / 180.0;
+  Eigen::VectorXd Z(9);
+
+  double lon = msg->longitude;
+  double lat = msg->latitude;
+  double px = lon * DEG_TO_RAD_LOCAL;
+  double py = lat * DEG_TO_RAD_LOCAL;
+
+  if (utm_target_ == NULL) {
+    std::string proj4_text;
+    int zone = static_cast<int>(std::ceil((lon + 180.0) / 6.0));
+    proj4_text = "+proj=utm +zone=" + std::to_string(zone) +
+                 " +ellps=WGS84 +towgs84=0,0,0,0,0,0,0 +units=m +no_defs";
+    utm_target_ = pj_init_plus(proj4_text.c_str());
+  }
+  pj_transform(wgs84pj_source_, utm_target_, 1, 1, &px, &py, NULL);
+
+  Z << px, py, msg->altitude, 0, 0, 0, 0, 0, 0;
+
+  Eigen::MatrixXd y = Z - H_ * X_;
+  Eigen::MatrixXd S = H_ * P_ * H_.transpose() + R_;
+  Eigen::MatrixXd K = P_ * H_.transpose() * S.inverse();
+  X_ = X_ + K * y;
+  P_ = (Eigen::MatrixXd::Identity(9, 9) - K * H_) * P_;
+#endif
+}
+
+void OdometryParser::publishOdometry() {
+#ifdef ENABLE_ROS_MSG
+  if (!gps_received_.load() || !imu_received_.load()) {
+    return;
+  }
+  RosOdomMsg odom_msg;
+  odom_msg.header.stamp = ros_node_->get_clock()->now();
+
+  odom_msg.pose.pose.position.x = X_(0);
+  odom_msg.pose.pose.position.y = X_(1);
+  odom_msg.pose.pose.position.z = X_(2);
+
+  odom_msg.pose.pose.orientation.x = quaternion_[0];
+  odom_msg.pose.pose.orientation.y = quaternion_[1];
+  odom_msg.pose.pose.orientation.z = quaternion_[2];
+  odom_msg.pose.pose.orientation.w = quaternion_[3];
+
+  odom_msg.twist.twist.linear.x = X_(3);
+  odom_msg.twist.twist.linear.y = X_(4);
+  odom_msg.twist.twist.linear.z = X_(5);
+
+  for (int i = 0; i < 6; ++i) {
+    for (int j = 0; j < 6; ++j) {
+      if (i < 3 && j < 3) {
+        odom_msg.pose.covariance[i * 6 + j] = P_(i, j);
+      } else if (i >= 3 && j >= 3) {
+        odom_msg.pose.covariance[i * 6 + j] = P_(i + 3, j + 3);
+      }
+    }
+  }
+
+  for (int i = 0; i < 3; ++i) {
+    for (int j = 0; j < 3; ++j) {
+      odom_msg.twist.covariance[i * 6 + j] = P_(i + 3, j + 3);
+    }
+  }
+
+  odom_pub_->publish(odom_msg);
+  imu_received_.store(false);
+  imu_received_.store(false);
+#endif
+}
+
+bool OdometryParser::ConvertMsg(InputTypes<RosWrapMsgPtr>& in,
+                                OutputTypes<OutputWrapMsgPtr>& out) {
+  // do nothing
+  return true;
+}
+
+}  // namespace cyber
+}  // namespace apollo
+
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.h b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.h
new file mode 100755
index 0000000..da94679
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.h
@@ -0,0 +1,152 @@
+/******************************************************************************
+ * Copyright 2023 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#pragma once
+
+#include <algorithm>
+#include <atomic>
+#include <cstring>
+#include <memory>
+#include <string>
+
+#include "cyber/ros_bridge/converter_base/converter_interface.h"
+
+#include "cyber/proto/simple.pb.h"
+#include "cyber/cyber.h"
+#include "cyber/plugin_manager/plugin_manager.h"
+
+#define ACCEPT_USE_OF_DEPRECATED_PROJ_API_H
+#include <proj_api.h>  // NOLINT
+
+#include <Eigen/Dense>  // NOLINT
+
+#if __has_include("sensor_msgs/msg/nav_sat_fix.hpp")
+#include "sensor_msgs/msg/nav_sat_fix.hpp"
+#define ROS_NAVFOUND_FOUND
+#endif
+
+#if __has_include("sensor_msgs/msg/imu.hpp")
+#include "sensor_msgs/msg/imu.hpp"
+#define ROS_IMU_FOUND
+#endif
+
+#if __has_include("nav_msgs/msg/odometry.hpp")
+#include "nav_msgs/msg/odometry.hpp"
+#define ROS_ODOMETRY_FOUND
+#endif
+
+#if defined(ROS_NAVFOUND_FOUND) && defined(ROS_IMU_FOUND) && \
+    defined(ROS_ODOMETRY_FOUND)
+#define ENABLE_ROS_MSG
+#endif
+
+#ifdef ENABLE_ROS_MSG
+using RosNavMsg = sensor_msgs::msg::NavSatFix;
+using RosImuMsg = sensor_msgs::msg::Imu;
+using RosWrapMsg = std_msgs::msg::Header;
+using RosOdomMsg = nav_msgs::msg::Odometry;
+#else
+// fake wrap
+using RosNavMsg = apollo::cyber::proto::SimpleMessage;
+using RosImuMsg = apollo::cyber::proto::SimpleMessage;
+using RosWrapMsg = apollo::cyber::proto::SimpleMessage;
+#endif
+
+using OutputWrapMsg = apollo::cyber::proto::SimpleMessage;
+
+using RosWrapMsgPtr = std::shared_ptr<RosWrapMsg>;
+using OutputWrapMsgPtr = std::shared_ptr<OutputWrapMsg>;
+
+namespace apollo {
+namespace cyber {
+
+class OdometryParser
+    : public apollo::cyber::RosApolloMessageConverter<
+          InputTypes<RosWrapMsgPtr>, OutputTypes<OutputWrapMsgPtr>> {
+ public:
+  OdometryParser() {
+#ifdef ENABLE_ROS_MSG
+    imu_sub_ = ros_node_->create_subscription<RosImuMsg>(
+        converter_conf_.ros_topic_name_0(), 10,
+        std::bind(&OdometryParser::imuCallback, this, std::placeholders::_1));
+    gps_sub_ = ros_node_->create_subscription<RosNavMsg>(
+        converter_conf_.ros_topic_name_1(), 10,
+        std::bind(&OdometryParser::gpsCallback, this, std::placeholders::_1));
+    odom_pub_ = ros_node_->create_publisher<RosOdomMsg>(
+        converter_conf_.ros_topic_name_2(), 10);
+    timer_ = ros_node_->create_wall_timer(
+        std::chrono::milliseconds(100),
+        std::bind(&OdometryParser::publishOdometry, this));
+#endif
+
+    wgs84pj_source_ = pj_init_plus("+proj=latlong +ellps=WGS84");
+    X_ = Eigen::VectorXd::Zero(9);
+    P_ = Eigen::MatrixXd::Identity(9, 9);
+    F_ = Eigen::MatrixXd::Identity(9, 9);
+    H_ = Eigen::MatrixXd::Identity(9, 9);
+    R_ = Eigen::MatrixXd::Identity(9, 9) * 0.1;
+    Q_ = Eigen::MatrixXd::Identity(9, 9) * 0.01;
+    last_time_ = apollo::cyber::Time::Now().ToSecond();
+  }
+  ~OdometryParser() {}
+
+  void imuCallback(std::shared_ptr<RosImuMsg> msg);
+
+  void gpsCallback(std::shared_ptr<RosNavMsg> msg);
+
+  void publishOdometry();
+
+  /**
+   * @brief convert the message between ros and apollo
+   *
+   * @param InputTypes input message container
+   * @param OutputTypes output message container
+   * @return result, true for success
+   */
+  virtual bool ConvertMsg(InputTypes<RosWrapMsgPtr>&,
+                          OutputTypes<OutputWrapMsgPtr>&);
+
+ private:
+  projPJ wgs84pj_source_ = NULL;
+  projPJ utm_target_ = NULL;
+#ifdef ENABLE_ROS_MSG
+  ::rclcpp::SubscriptionBase::SharedPtr imu_sub_;
+  ::rclcpp::SubscriptionBase::SharedPtr gps_sub_;
+  ::rclcpp::Publisher<RosOdomMsg>::SharedPtr odom_pub_;
+  ::rclcpp::TimerBase::SharedPtr timer_;
+#endif
+
+  std::atomic<bool> imu_received_ = false;
+  std::atomic<bool> gps_received_ = false;
+
+  double last_time_;
+
+  double quaternion_[4];
+
+  // Kalman filter
+  Eigen::VectorXd X_;  // State vector: [x, y, z, vx, vy, vz, roll, pitch, yaw]
+  Eigen::MatrixXd P_;  // Covariance matrix
+  Eigen::MatrixXd F_;  // State transition matrix
+  Eigen::MatrixXd H_;  // Measurement matrix
+  Eigen::MatrixXd R_;  // Measurement noise covariance matrix
+  Eigen::MatrixXd Q_;  // Process noise covariance matrix
+};
+
+CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::cyber::OdometryParser,
+                                     apollo::cyber::MessageConverter)
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_plugins.xml b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_plugins.xml
new file mode 100755
index 0000000..449c0d8
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_plugins.xml
@@ -0,0 +1,3 @@
+<library path="cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/libodometry_parser.so">
+    <class type="apollo::cyber::OdometryParser" base_class="apollo::cyber::MessageConverter"></class>
+</library>
\ No newline at end of file
diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/quaternion_math.h b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/quaternion_math.h
new file mode 100644
index 0000000..8af76f3
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/quaternion_math.h
@@ -0,0 +1,50 @@
+/******************************************************************************
+ * Copyright 2023 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include <cmath>
+
+namespace apollo {
+namespace cyber {
+
+inline void QuaternionToEuler(const double quaternion[4], double att[3]) {
+  double dcm21 =
+      2 * (quaternion[2] * quaternion[3] + quaternion[0] * quaternion[1]);
+  double dcm20 =
+      2 * (quaternion[1] * quaternion[3] - quaternion[0] * quaternion[2]);
+  double dcm22 = quaternion[0] * quaternion[0] - quaternion[1] * quaternion[1] -
+                 quaternion[2] * quaternion[2] + quaternion[3] * quaternion[3];
+  double dcm01 =
+      2 * (quaternion[1] * quaternion[2] - quaternion[0] * quaternion[3]);
+  double dcm11 = quaternion[0] * quaternion[0] - quaternion[1] * quaternion[1] +
+                 quaternion[2] * quaternion[2] - quaternion[3] * quaternion[3];
+
+  att[0] = std::asin(dcm21);           // the angle rotate respect to X
+  att[1] = std::atan2(-dcm20, dcm22);  // the angle rotate respect to Y
+  att[2] = std::atan2(dcm01, dcm11);   // the angle rotate respect to Z
+
+  return;
+}
+
+inline double QuaternionToHeading(double yaw) {
+  double a = std::fmod(yaw + M_PI_2 + M_PI, 2.0 * M_PI);
+  if (a < 0.0) {
+    a += (2.0 * M_PI);
+  }
+  return a - M_PI;
+}
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/BUILD b/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/BUILD
new file mode 100755
index 0000000..73c9547
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/BUILD
@@ -0,0 +1,33 @@
+load("//tools:cpplint.bzl", "cpplint")
+load("//tools:apollo_package.bzl", "apollo_package", "apollo_plugin")
+load("//tools/platform:build_defs.bzl", "if_aarch64", "if_gpu")
+
+package(default_visibility = ["//visibility:public"])
+
+filegroup(
+    name = "runtime_files",
+    srcs = glob([
+        "conf/**",
+        "data/**",
+    ]),
+)
+
+apollo_plugin(
+    name = "liblocalization_estimate.so",
+    srcs = ["localization_estimate.cc"],
+    hdrs = ["localization_estimate.h"],
+    description = ":localization_estimate.xml",
+    deps = [
+        "//cyber",
+        "//cyber/ros_bridge:converter_base",
+        "//cyber/proto:simple_proto",
+        "//modules/common_msgs/localization_msgs:localization_proto",
+        "//modules/common_msgs/transform_msgs:transform_proto",
+        "//cyber/ros_bridge/proto:converter_conf_proto",
+        "@ros"
+    ],
+)
+
+apollo_package()
+
+cpplint()
diff --git a/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/conf/localization_estimate.pb.txt b/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/conf/localization_estimate.pb.txt
new file mode 100755
index 0000000..4fb4ca5
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/conf/localization_estimate.pb.txt
@@ -0,0 +1,4 @@
+name: "lidar"
+apollo_channel_name_0: "/apollo/vanjee/pointcloud2"
+apollo_channel_name_1: "/apollo/localization/pose"
+ros_topic_name_0: "/pose"
diff --git a/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.cc b/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.cc
new file mode 100755
index 0000000..7bc83e5
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.cc
@@ -0,0 +1,86 @@
+/******************************************************************************
+ * Copyright 2023 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.h"  // NOLINT
+
+namespace apollo {
+namespace cyber {
+
+bool LocalizationEstimate::ConvertMsg(
+    InputTypes<InputMsgPtr>& in,
+    OutputTypes<LocalizationMsgPtr, TransformMsgPtr>& out) {
+#ifdef ENABLE_ROS_MSG
+  auto ros_odometry_ptr = std::get<0>(in.values);
+  auto& ros_odometry = (*ros_odometry_ptr);
+  auto localization_estimate = std::get<0>(out.values);
+  auto tf = std::get<1>(out.values);
+
+  auto unix_msg_time =
+      ros_odometry.header.stamp.sec + ros_odometry.header.stamp.nanosec / 1e9;
+  localization_estimate->mutable_header()->set_timestamp_sec(unix_msg_time);
+  localization_estimate->mutable_header()->set_module_name("localization");
+  localization_estimate->set_measurement_time(unix_msg_time);
+  localization_estimate->mutable_pose()->mutable_position()->set_x(
+      ros_odometry.pose.pose.position.x);
+  localization_estimate->mutable_pose()->mutable_position()->set_y(
+      ros_odometry.pose.pose.position.y);
+  localization_estimate->mutable_pose()->mutable_position()->set_z(
+      ros_odometry.pose.pose.position.z);
+  localization_estimate->mutable_pose()->mutable_linear_velocity()->set_x(
+      ros_odometry.twist.twist.linear.x);
+  localization_estimate->mutable_pose()->mutable_linear_velocity()->set_y(
+      ros_odometry.twist.twist.linear.y);
+  localization_estimate->mutable_pose()->mutable_linear_velocity()->set_z(
+      ros_odometry.twist.twist.linear.z);
+  localization_estimate->mutable_pose()->mutable_angular_velocity()->set_x(
+      ros_odometry.twist.twist.angular.x);
+  localization_estimate->mutable_pose()->mutable_angular_velocity()->set_y(
+      ros_odometry.twist.twist.angular.y);
+  localization_estimate->mutable_pose()->mutable_angular_velocity()->set_z(
+      ros_odometry.twist.twist.angular.z);
+  localization_estimate->mutable_pose()->mutable_orientation()->set_qx(
+      ros_odometry.pose.pose.orientation.x);
+  localization_estimate->mutable_pose()->mutable_orientation()->set_qy(
+      ros_odometry.pose.pose.orientation.y);
+  localization_estimate->mutable_pose()->mutable_orientation()->set_qz(
+      ros_odometry.pose.pose.orientation.z);
+  localization_estimate->mutable_pose()->mutable_orientation()->set_qw(
+      ros_odometry.pose.pose.orientation.w);
+
+  auto single_tf = tf->add_transforms();
+  single_tf->mutable_header()->set_timestamp_sec(unix_msg_time);
+  single_tf->mutable_header()->set_frame_id("world");
+  single_tf->set_child_frame_id("localization");
+  single_tf->mutable_transform()->mutable_translation()->set_x(
+      ros_odometry.pose.pose.position.x);
+  single_tf->mutable_transform()->mutable_translation()->set_y(
+      ros_odometry.pose.pose.position.y);
+  single_tf->mutable_transform()->mutable_translation()->set_z(
+      ros_odometry.pose.pose.position.z);
+  single_tf->mutable_transform()->mutable_rotation()->set_qx(
+      ros_odometry.pose.pose.orientation.x);
+  single_tf->mutable_transform()->mutable_rotation()->set_qy(
+      ros_odometry.pose.pose.orientation.y);
+  single_tf->mutable_transform()->mutable_rotation()->set_qz(
+      ros_odometry.pose.pose.orientation.z);
+  single_tf->mutable_transform()->mutable_rotation()->set_qw(
+      ros_odometry.pose.pose.orientation.w);
+#endif
+  return true;
+}
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.h b/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.h
new file mode 100755
index 0000000..da13923
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.h
@@ -0,0 +1,76 @@
+/******************************************************************************
+ * Copyright 2023 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#pragma once
+
+#include <algorithm>
+#include <cstring>
+#include <memory>
+#include <string>
+
+#include "cyber/ros_bridge/converter_base/converter_interface.h"
+
+#include "cyber/proto/simple.pb.h"
+#include "modules/common_msgs/localization_msgs/localization.pb.h"
+#include "modules/common_msgs/transform_msgs/transform.pb.h"
+#include "cyber/cyber.h"
+#include "cyber/plugin_manager/plugin_manager.h"
+
+#if __has_include("nav_msgs/msg/odometry.hpp")
+#include "nav_msgs/msg/odometry.hpp"
+#define ENABLE_ROS_MSG
+#endif
+
+#ifdef ENABLE_ROS_MSG
+using InputMsg = nav_msgs::msg::Odometry;
+#else
+using InputMsg = apollo::cyber::proto::SimpleMessage;
+#endif
+
+using LocalizationMsg = apollo::localization::LocalizationEstimate;
+using TransformMsg = apollo::transform::TransformStampeds;
+
+using LocalizationMsgPtr = std::shared_ptr<LocalizationMsg>;
+using TransformMsgPtr = std::shared_ptr<TransformMsg>;
+using InputMsgPtr = std::shared_ptr<InputMsg>;
+
+namespace apollo {
+namespace cyber {
+
+class LocalizationEstimate
+    : public apollo::cyber::RosApolloMessageConverter<
+          InputTypes<InputMsgPtr>,
+          OutputTypes<LocalizationMsgPtr, TransformMsgPtr>> {
+ public:
+  LocalizationEstimate() {}
+  ~LocalizationEstimate() {}
+
+  /**
+   * @brief convert the message between ros and apollo
+   *
+   * @param InputMsgPtr shared pointer of input message
+   * @param OutputMsgPtr shared pointer of output message
+   * @return result, true for success
+   */
+  virtual bool ConvertMsg(InputTypes<InputMsgPtr>&,
+                          OutputTypes<LocalizationMsgPtr, TransformMsgPtr>&);
+};
+
+CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::cyber::LocalizationEstimate,
+                                     apollo::cyber::MessageConverter)
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.xml b/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.xml
new file mode 100755
index 0000000..61a1569
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.xml
@@ -0,0 +1,3 @@
+<library path="cyber/ros_bridge/converters/common_plugins/localization_msg_converter/liblocalization_estimate.so">
+    <class type="apollo::cyber::LocalizationEstimate" base_class="apollo::cyber::MessageConverter"></class>
+</library>
\ No newline at end of file
diff --git a/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/BUILD b/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/BUILD
new file mode 100755
index 0000000..eb2e8b6
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/BUILD
@@ -0,0 +1,32 @@
+load("//tools:cpplint.bzl", "cpplint")
+load("//tools:apollo_package.bzl", "apollo_package", "apollo_plugin")
+load("//tools/platform:build_defs.bzl", "if_aarch64", "if_gpu")
+
+package(default_visibility = ["//visibility:public"])
+
+filegroup(
+    name = "runtime_files",
+    srcs = glob([
+        "conf/**",
+        "data/**",
+    ]),
+)
+
+apollo_plugin(
+    name = "liblidar_pointcloud_plugin.so",
+    srcs = ["lidar_pointcloud.cc"],
+    hdrs = ["lidar_pointcloud.h"],
+    description = ":plugins.xml",
+    deps = [
+        "//cyber",
+        "//modules/common_msgs/sensor_msgs:pointcloud_proto",
+        "//cyber/ros_bridge:converter_base",
+        "//cyber/proto:simple_proto",
+        "//cyber/ros_bridge/proto:converter_conf_proto",
+        "@ros"
+    ],
+)
+
+apollo_package()
+
+cpplint()
diff --git a/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/conf/default.pb.txt b/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/conf/default.pb.txt
new file mode 100755
index 0000000..4245cd3
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/conf/default.pb.txt
@@ -0,0 +1,3 @@
+name: "lidar"
+apollo_channel_name_0: "/apollo/sample/pointcloud2"
+ros_topic_name_0: "/sample_pointcloud2"
diff --git a/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/lidar_pointcloud.cc b/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/lidar_pointcloud.cc
new file mode 100755
index 0000000..616d8ff
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/lidar_pointcloud.cc
@@ -0,0 +1,230 @@
+/******************************************************************************
+ * Copyright 2023 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/lidar_pointcloud.h"  // NOLINT
+
+namespace apollo {
+namespace cyber {
+
+#ifdef ENABLE_ROS_MSG
+void ParseField(sensor_msgs::msg::PointField field,
+                std::shared_ptr<apollo::drivers::PointCloud> point_clouds,
+                std::string field_name,
+                sensor_msgs::msg::PointCloud2& raw_message) {
+  switch (field.datatype) {
+    case sensor_msgs::msg::PointField::INT8: {
+      sensor_msgs::PointCloud2ConstIterator<int8_t> iter(raw_message,
+                                                         field_name);
+      int index = 0;
+      for (; iter != iter.end(); ++iter) {
+        if (field_name == "intensity") {
+          point_clouds->mutable_point(index)->set_intensity(
+              static_cast<uint32_t>(*iter));
+        } else {
+          point_clouds->mutable_point(index)->set_timestamp(
+              static_cast<uint64_t>(*iter));
+          AERROR << *iter;
+        }
+        index++;
+      }
+      break;
+    }
+    case sensor_msgs::msg::PointField::UINT8: {
+      sensor_msgs::PointCloud2ConstIterator<int8_t> iter(raw_message,
+                                                         field_name);
+      int index = 0;
+      for (; iter != iter.end(); ++iter) {
+        if (field_name == "intensity") {
+          point_clouds->mutable_point(index)->set_intensity(
+              static_cast<uint32_t>(*iter));
+        } else {
+          point_clouds->mutable_point(index)->set_timestamp(
+              static_cast<uint64_t>(*iter));
+          AERROR << *iter;
+        }
+        index++;
+      }
+      break;
+    }
+    case sensor_msgs::msg::PointField::INT16: {
+      sensor_msgs::PointCloud2ConstIterator<int16_t> iter(raw_message,
+                                                          field_name);
+      int index = 0;
+      for (; iter != iter.end(); ++iter) {
+        if (field_name == "intensity") {
+          point_clouds->mutable_point(index)->set_intensity(
+              static_cast<uint32_t>(*iter));
+        } else {
+          point_clouds->mutable_point(index)->set_timestamp(
+              static_cast<uint64_t>(*iter));
+          AERROR << *iter;
+        }
+        index++;
+      }
+      break;
+    }
+    case sensor_msgs::msg::PointField::UINT16: {
+      sensor_msgs::PointCloud2ConstIterator<int16_t> iter(raw_message,
+                                                          field_name);
+      int index = 0;
+      for (; iter != iter.end(); ++iter) {
+        if (field_name == "intensity") {
+          point_clouds->mutable_point(index)->set_intensity(
+              static_cast<uint32_t>(*iter));
+        } else {
+          point_clouds->mutable_point(index)->set_timestamp(
+              static_cast<uint64_t>(*iter));
+          AERROR << *iter;
+        }
+        index++;
+      }
+      break;
+    }
+    case sensor_msgs::msg::PointField::INT32: {
+      sensor_msgs::PointCloud2ConstIterator<int32_t> iter(raw_message,
+                                                          field_name);
+      int index = 0;
+      for (; iter != iter.end(); ++iter) {
+        if (field_name == "intensity") {
+          point_clouds->mutable_point(index)->set_intensity(
+              static_cast<uint32_t>(*iter));
+        } else {
+          point_clouds->mutable_point(index)->set_timestamp(
+              static_cast<uint64_t>(*iter));
+          AERROR << *iter;
+        }
+        index++;
+      }
+      break;
+    }
+    case sensor_msgs::msg::PointField::UINT32: {
+      sensor_msgs::PointCloud2ConstIterator<uint32_t> iter(raw_message,
+                                                           field_name);
+      int index = 0;
+      for (; iter != iter.end(); ++iter) {
+        if (field_name == "intensity") {
+          point_clouds->mutable_point(index)->set_intensity(
+              static_cast<uint32_t>(*iter));
+        } else {
+          point_clouds->mutable_point(index)->set_timestamp(
+              static_cast<uint64_t>(*iter));
+          AERROR << *iter;
+        }
+        index++;
+      }
+      break;
+    }
+    case sensor_msgs::msg::PointField::FLOAT32: {
+      sensor_msgs::PointCloud2ConstIterator<float> iter(raw_message,
+                                                        field_name);
+      int index = 0;
+      for (; iter != iter.end(); ++iter) {
+        if (field_name == "intensity") {
+          point_clouds->mutable_point(index)->set_intensity(
+              static_cast<uint32_t>(*iter));
+        } else {
+          point_clouds->mutable_point(index)->set_timestamp(
+              static_cast<uint64_t>(*iter));
+          AERROR << *iter;
+        }
+        index++;
+      }
+      break;
+    }
+    case sensor_msgs::msg::PointField::FLOAT64: {
+      sensor_msgs::PointCloud2ConstIterator<double> iter(raw_message,
+                                                         field_name);
+      int index = 0;
+      for (; iter != iter.end(); ++iter) {
+        if (field_name == "intensity") {
+          point_clouds->mutable_point(index)->set_intensity(
+              static_cast<uint32_t>(*iter));
+        } else {
+          point_clouds->mutable_point(index)->set_timestamp(
+              static_cast<uint64_t>(*iter));
+          AERROR << *iter;
+        }
+        index++;
+      }
+      break;
+    }
+    default:
+      throw std::runtime_error("Unsupported PointField datatype");
+  }
+}
+#endif
+
+bool LidarPointcloud::ConvertMsg(InputTypes<InputMsgPtr>& in,
+                                 OutputTypes<OutputMsgPtr>& out) {
+#ifdef ENABLE_ROS_MSG
+  auto in_msg = std::get<0>(in.values);
+  auto out_msg = std::get<0>(out.values);
+  float x, y, z;
+  float intensity = -1.0;
+  double timestamp = 0.0;
+  auto& cloud_msg = (*in_msg);
+
+  bool has_x = false, has_y = false, has_z = false, has_intensity = false,
+       has_time = false;
+  std::string time_field_name;
+  sensor_msgs::msg::PointField time_field_type;
+  sensor_msgs::msg::PointField intensity_field_type;
+  for (const auto& field : cloud_msg.fields) {
+    if (field.name == "x") has_x = true;
+    if (field.name == "y") has_y = true;
+    if (field.name == "z") has_z = true;
+    if (field.name == "intensity") {
+      has_intensity = true;
+      intensity_field_type = field;
+    }
+    if (field.name == "t" || field.name == "time" ||
+        field.name == "timestamp") {
+      has_time = true;
+      time_field_type = field;
+      time_field_name = field.name;
+    }
+  }
+  if (!(has_x && has_y && has_z)) {
+    AERROR << "PointCloud2 does not contain x, y, z fields.";
+    return false;
+  }
+
+  sensor_msgs::PointCloud2ConstIterator<float> iter_x(cloud_msg, "x");
+  sensor_msgs::PointCloud2ConstIterator<float> iter_y(cloud_msg, "y");
+  sensor_msgs::PointCloud2ConstIterator<float> iter_z(cloud_msg, "z");
+
+  for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) {
+    x = *iter_x;
+    y = *iter_y;
+    z = *iter_z;
+
+    auto pointcloud = out_msg->add_point();
+    pointcloud->set_x(x);
+    pointcloud->set_y(y);
+    pointcloud->set_z(z);
+  }
+  if (has_time) {
+    ParseField(time_field_type, out_msg, time_field_name, cloud_msg);
+  }
+  if (has_intensity) {
+    ParseField(intensity_field_type, out_msg, "intensity", cloud_msg);
+  }
+#endif
+  return true;
+}
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/lidar_pointcloud.h b/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/lidar_pointcloud.h
new file mode 100755
index 0000000..11a628c
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/lidar_pointcloud.h
@@ -0,0 +1,83 @@
+/******************************************************************************
+ * Copyright 2023 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#pragma once
+
+#include <algorithm>
+#include <cstring>
+#include <memory>
+#include <string>
+
+#include "cyber/ros_bridge/converter_base/converter_interface.h"
+
+#include "cyber/proto/simple.pb.h"
+#include "modules/common_msgs/sensor_msgs/pointcloud.pb.h"
+#include "cyber/cyber.h"
+#include "cyber/plugin_manager/plugin_manager.h"
+
+#if __has_include("sensor_msgs/point_cloud2_iterator.hpp")
+#include "sensor_msgs/point_cloud2_iterator.hpp"
+#define ENABLE_ROS_MSG
+#endif
+
+#ifdef ENABLE_ROS_MSG
+using InputMsg = sensor_msgs::msg::PointCloud2;
+#else
+using InputMsg = apollo::cyber::proto::SimpleMessage;
+#endif
+
+using OutputMsg = apollo::drivers::PointCloud;
+
+using InputMsgPtr = std::shared_ptr<InputMsg>;
+using OutputMsgPtr = std::shared_ptr<OutputMsg>;
+
+namespace apollo {
+namespace cyber {
+
+class LidarPointcloud
+    : public apollo::cyber::RosApolloMessageConverter<
+          InputTypes<InputMsgPtr>, OutputTypes<OutputMsgPtr>> {
+ public:
+  LidarPointcloud() {}
+  ~LidarPointcloud() {}
+
+  /**
+   * @brief convert the message between ros and apollo
+   *
+   * @param InputMsgPtr shared pointer of input message
+   * @param OutputMsgPtr shared pointer of output message
+   * @return result, true for success
+   */
+  virtual bool ConvertMsg(InputTypes<InputMsgPtr>&, OutputTypes<OutputMsgPtr>&);
+
+#ifdef ENABLE_ROS_MSG
+  inline int FindFieldIndex(
+      std::string name, sensor_msgs::msg::PointCloud2& cloud_msg) {  // NOLINT
+    for (int i = 0; i < cloud_msg.fields.size(); i++) {
+      if (cloud_msg.fields[i].name == name) {
+        return i;
+      }
+    }
+    return -1;
+  }
+#endif
+};
+
+CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::cyber::LidarPointcloud,
+                                     apollo::cyber::MessageConverter)
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/plugins.xml b/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/plugins.xml
new file mode 100755
index 0000000..612c10f
--- /dev/null
+++ b/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/plugins.xml
@@ -0,0 +1,3 @@
+<library path="cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/liblidar_pointcloud_plugin.so">
+    <class type="apollo::cyber::LidarPointcloud" base_class="apollo::cyber::MessageConverter"></class>
+</library>
\ No newline at end of file
diff --git a/cyber/ros_bridge/converters/examples/apollo_ros_converter/BUILD b/cyber/ros_bridge/converters/examples/apollo_ros_converter/BUILD
new file mode 100644
index 0000000..108b103
--- /dev/null
+++ b/cyber/ros_bridge/converters/examples/apollo_ros_converter/BUILD
@@ -0,0 +1,34 @@
+load("//tools:cpplint.bzl", "cpplint")
+load("//tools:apollo_package.bzl", "apollo_package", "apollo_plugin")
+load("//tools/platform:build_defs.bzl", "if_aarch64", "if_gpu")
+
+package(default_visibility = ["//visibility:public"])
+
+filegroup(
+    name = "runtime_files",
+    srcs = glob([
+        "conf/**",
+        "data/**",
+    ]),
+)
+
+# import ros repository is new feature of cyber 2.0
+# depend on the env configuration provided by the apollo tool
+# currently under development
+apollo_plugin(
+    name = "libapollo_ros_converter_plugin.so",
+    srcs = ["apollo_ros_converter.cc"],
+    hdrs = ["apollo_ros_converter.h"],
+    description = ":plugins.xml",
+    deps = [
+        "//cyber",
+        "//cyber/proto:simple_proto",
+        "//cyber/ros_bridge:converter_base",
+        "//cyber/ros_bridge/proto:converter_conf_proto",
+        # "@ros"
+    ],
+)
+
+apollo_package()
+
+cpplint()
diff --git a/cyber/ros_bridge/converters/examples/apollo_ros_converter/apollo_ros_converter.cc b/cyber/ros_bridge/converters/examples/apollo_ros_converter/apollo_ros_converter.cc
new file mode 100644
index 0000000..6b29474
--- /dev/null
+++ b/cyber/ros_bridge/converters/examples/apollo_ros_converter/apollo_ros_converter.cc
@@ -0,0 +1,34 @@
+/******************************************************************************
+ * Copyright 2023 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "cyber/ros_bridge/converters/examples/apollo_ros_converter/apollo_ros_converter.h"
+
+namespace apollo {
+namespace cyber {
+
+bool ApolloRosConverter::ConvertMsg(InputTypes<InputMsg0Ptr>& in,
+                                    OutputTypes<OutputMsg0Ptr>& out) {
+#ifdef ENABLE_ROS_MSG
+  auto in_msg = std::get<0>(in.values);
+  auto out_msg = std::get<0>(out.values);
+  out_msg->data = in_msg->text();
+  // out->data = in->text();
+#endif
+  return true;
+}
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/converters/examples/apollo_ros_converter/apollo_ros_converter.h b/cyber/ros_bridge/converters/examples/apollo_ros_converter/apollo_ros_converter.h
new file mode 100644
index 0000000..757ead1
--- /dev/null
+++ b/cyber/ros_bridge/converters/examples/apollo_ros_converter/apollo_ros_converter.h
@@ -0,0 +1,69 @@
+/******************************************************************************
+ * Copyright 2023 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#pragma once
+
+#include <memory>
+
+#include "cyber/ros_bridge/converter_base/converter_interface.h"
+
+#include "cyber/proto/simple.pb.h"
+#include "cyber/cyber.h"
+#include "cyber/plugin_manager/plugin_manager.h"
+
+#if __has_include("std_msgs/msg/string.hpp")
+#include "std_msgs/msg/int32.hpp"
+#include "std_msgs/msg/int64.hpp"
+#include "std_msgs/msg/int8.hpp"
+#include "std_msgs/msg/string.hpp"
+#define ENABLE_ROS_MSG
+#endif
+
+using InputMsg0 = apollo::cyber::proto::SimpleMessage;
+#ifdef ENABLE_ROS_MSG
+using OutputMsg0 = std_msgs::msg::String;
+#else
+using OutputMsg0 = apollo::cyber::proto::SimpleRepeatedMessage;
+#endif
+using OutputMsg0Ptr = std::shared_ptr<OutputMsg0>;
+using InputMsg0Ptr = std::shared_ptr<InputMsg0>;
+
+namespace apollo {
+namespace cyber {
+
+class ApolloRosConverter
+    : public apollo::cyber::ApolloRosMessageConverter<
+          InputTypes<InputMsg0Ptr>, OutputTypes<OutputMsg0Ptr>> {
+ public:
+  ApolloRosConverter() {}
+  ~ApolloRosConverter() {}
+
+  /**
+   * @brief convert the message between ros and apollo
+   *
+   * @param InputMsgPtr shared pointer of input message
+   * @param OutputMsgPtr shared pointer of output message
+   * @return result, true for success
+   */
+  virtual bool ConvertMsg(InputTypes<InputMsg0Ptr>&,
+                          OutputTypes<OutputMsg0Ptr>&);
+};
+
+CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::cyber::ApolloRosConverter,
+                                     apollo::cyber::MessageConverter)
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/converters/examples/apollo_ros_converter/conf/default.pb.txt b/cyber/ros_bridge/converters/examples/apollo_ros_converter/conf/default.pb.txt
new file mode 100644
index 0000000..455afec
--- /dev/null
+++ b/cyber/ros_bridge/converters/examples/apollo_ros_converter/conf/default.pb.txt
@@ -0,0 +1,2 @@
+apollo_channel_name: "/apollo/test1"
+ros_topic_name: "ros_test1"
diff --git a/cyber/ros_bridge/converters/examples/apollo_ros_converter/plugins.xml b/cyber/ros_bridge/converters/examples/apollo_ros_converter/plugins.xml
new file mode 100644
index 0000000..016eb7d
--- /dev/null
+++ b/cyber/ros_bridge/converters/examples/apollo_ros_converter/plugins.xml
@@ -0,0 +1,3 @@
+<library path="cyber/ros_bridge/converters/examples/apollo_ros_converter/libapollo_ros_converter_plugin.so">
+    <class type="apollo::cyber::ApolloRosConverter" base_class="apollo::cyber::MessageConverter"></class>
+</library>
\ No newline at end of file
diff --git a/cyber/ros_bridge/converters/examples/ros_apollo_converter/BUILD b/cyber/ros_bridge/converters/examples/ros_apollo_converter/BUILD
new file mode 100644
index 0000000..57f1c42
--- /dev/null
+++ b/cyber/ros_bridge/converters/examples/ros_apollo_converter/BUILD
@@ -0,0 +1,34 @@
+load("//tools:cpplint.bzl", "cpplint")
+load("//tools:apollo_package.bzl", "apollo_package", "apollo_plugin")
+load("//tools/platform:build_defs.bzl", "if_aarch64", "if_gpu")
+
+package(default_visibility = ["//visibility:public"])
+
+filegroup(
+    name = "runtime_files",
+    srcs = glob([
+        "conf/**",
+        "data/**",
+    ]),
+)
+
+# import ros repository is new feature of cyber 2.0
+# depend on the env configuration provided by the apollo tool
+# currently under development
+apollo_plugin(
+    name = "libros_apollo_converter_plugin.so",
+    srcs = ["ros_apollo_converter.cc"],
+    hdrs = ["ros_apollo_converter.h"],
+    description = ":plugins.xml",
+    deps = [
+        "//cyber",
+        "//cyber/proto:simple_proto",
+        "//cyber/ros_bridge:converter_base",
+        "//cyber/ros_bridge/proto:converter_conf_proto",
+        "@ros"
+    ],
+)
+
+apollo_package()
+
+cpplint()
diff --git a/cyber/ros_bridge/converters/examples/ros_apollo_converter/conf/default.pb.txt b/cyber/ros_bridge/converters/examples/ros_apollo_converter/conf/default.pb.txt
new file mode 100644
index 0000000..362809d
--- /dev/null
+++ b/cyber/ros_bridge/converters/examples/ros_apollo_converter/conf/default.pb.txt
@@ -0,0 +1,2 @@
+apollo_channel_name_0: "/apollo/test2"
+ros_topic_name_0: "/chatter"
diff --git a/cyber/ros_bridge/converters/examples/ros_apollo_converter/plugins.xml b/cyber/ros_bridge/converters/examples/ros_apollo_converter/plugins.xml
new file mode 100644
index 0000000..4ff4aef
--- /dev/null
+++ b/cyber/ros_bridge/converters/examples/ros_apollo_converter/plugins.xml
@@ -0,0 +1,3 @@
+<library path="cyber/ros_bridge/converters/examples/ros_apollo_converter/libros_apollo_converter_plugin.so">
+    <class type="apollo::cyber::RosApolloConverter" base_class="apollo::cyber::MessageConverter"></class>
+</library>
\ No newline at end of file
diff --git a/cyber/ros_bridge/converters/examples/ros_apollo_converter/ros_apollo_converter.cc b/cyber/ros_bridge/converters/examples/ros_apollo_converter/ros_apollo_converter.cc
new file mode 100644
index 0000000..89fbcb8
--- /dev/null
+++ b/cyber/ros_bridge/converters/examples/ros_apollo_converter/ros_apollo_converter.cc
@@ -0,0 +1,33 @@
+/******************************************************************************
+ * Copyright 2023 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "cyber/ros_bridge/converters/examples/ros_apollo_converter/ros_apollo_converter.h"
+
+namespace apollo {
+namespace cyber {
+
+bool RosApolloConverter::ConvertMsg(InputTypes<InputMsgPtr>& in,
+                                    OutputTypes<OutputMsgPtr>& out) {
+#ifdef ENABLE_ROS_MSG
+  auto in_msg = std::get<0>(in.values);
+  auto out_msg = std::get<0>(out.values);
+  out_msg->set_text(in_msg->data.c_str());
+#endif
+  return true;
+}
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/converters/examples/ros_apollo_converter/ros_apollo_converter.h b/cyber/ros_bridge/converters/examples/ros_apollo_converter/ros_apollo_converter.h
new file mode 100644
index 0000000..c7ed499
--- /dev/null
+++ b/cyber/ros_bridge/converters/examples/ros_apollo_converter/ros_apollo_converter.h
@@ -0,0 +1,66 @@
+/******************************************************************************
+ * Copyright 2023 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#pragma once
+
+#include <memory>
+
+#include "cyber/ros_bridge/converter_base/converter_interface.h"
+
+#include "cyber/proto/simple.pb.h"
+#include "cyber/cyber.h"
+#include "cyber/plugin_manager/plugin_manager.h"
+
+#if __has_include("std_msgs/msg/string.hpp")
+#include "std_msgs/msg/string.hpp"
+#define ENABLE_ROS_MSG
+#endif
+
+#ifdef ENABLE_ROS_MSG
+using InputMsg = std_msgs::msg::String;
+#else
+using InputMsg = apollo::cyber::proto::SimpleRepeatedMessage;
+#endif
+using OutputMsg = apollo::cyber::proto::SimpleMessage;
+using InputMsgPtr = std::shared_ptr<InputMsg>;
+using OutputMsgPtr = std::shared_ptr<OutputMsg>;
+
+namespace apollo {
+namespace cyber {
+
+class RosApolloConverter
+    : public apollo::cyber::RosApolloMessageConverter<
+          InputTypes<InputMsgPtr>, OutputTypes<OutputMsgPtr>> {
+ public:
+  RosApolloConverter() {}
+  ~RosApolloConverter() {}
+
+  /**
+   * @brief convert the message between ros and apollo
+   *
+   * @param InputMsgPtr shared pointer of input message
+   * @param OutputMsgPtr shared pointer of output message
+   * @return result, true for success
+   */
+  virtual bool ConvertMsg(InputTypes<InputMsgPtr>& in,
+                          OutputTypes<OutputMsgPtr>& out);  // NOLINT
+};
+
+CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::cyber::RosApolloConverter,
+                                     apollo::cyber::MessageConverter)
+
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/ros_bridge/proto/BUILD b/cyber/ros_bridge/proto/BUILD
new file mode 100644
index 0000000..5d8e890
--- /dev/null
+++ b/cyber/ros_bridge/proto/BUILD
@@ -0,0 +1,16 @@
+load("//tools/proto:proto.bzl", "proto_library")
+load("//tools:apollo_package.bzl", "apollo_package")
+
+package(default_visibility = ["//visibility:public"])
+
+proto_library(
+    name = "converter_conf_proto",
+    srcs = ["converter_conf.proto"],
+)
+
+proto_library(
+    name = "ros_bridge_conf_proto",
+    srcs = ["ros_bridge_conf.proto"],
+)
+
+apollo_package()
\ No newline at end of file
diff --git a/cyber/ros_bridge/proto/converter_conf.proto b/cyber/ros_bridge/proto/converter_conf.proto
new file mode 100644
index 0000000..91b4abe
--- /dev/null
+++ b/cyber/ros_bridge/proto/converter_conf.proto
@@ -0,0 +1,15 @@
+syntax = "proto2";
+
+package apollo.cyber;
+
+message ConverterConf {
+  optional string name = 1;
+  optional string apollo_channel_name_0 = 2;
+  optional string apollo_channel_name_1 = 3;
+  optional string apollo_channel_name_2 = 4;
+  optional string apollo_channel_name_3 = 5;
+  optional string ros_topic_name_0 = 6;
+  optional string ros_topic_name_1 = 7;
+  optional string ros_topic_name_2 = 8;
+  optional string ros_topic_name_3 = 9;
+}
\ No newline at end of file
diff --git a/cyber/ros_bridge/proto/ros_bridge_conf.proto b/cyber/ros_bridge/proto/ros_bridge_conf.proto
new file mode 100644
index 0000000..e4fe62f
--- /dev/null
+++ b/cyber/ros_bridge/proto/ros_bridge_conf.proto
@@ -0,0 +1,13 @@
+syntax = "proto2";
+
+package apollo.cyber;
+
+message BridgeConf {
+  // The contained converter list of the ros bridge pipeline.
+  repeated PluginDeclareInfo converter = 1;
+}
+
+message PluginDeclareInfo {
+  // classname of converter
+  optional string type = 1;
+}
diff --git a/cyber/ros_bridge/ros_bridge.cc b/cyber/ros_bridge/ros_bridge.cc
new file mode 100644
index 0000000..8b9f5d2
--- /dev/null
+++ b/cyber/ros_bridge/ros_bridge.cc
@@ -0,0 +1,99 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include <vector>
+
+#include "cyber/ros_bridge/common/macros.h"
+
+#include "cyber/ros_bridge/proto/ros_bridge_conf.pb.h"
+#include "cyber/cyber.h"
+#include "cyber/plugin_manager/plugin_manager.h"
+#include "cyber/ros_bridge/common/bridge_argument.h"
+#include "cyber/ros_bridge/common/ros_bridge_gflags.h"
+#include "cyber/ros_bridge/common/utils.h"
+#include "cyber/ros_bridge/converter_base/message_converter.h"
+
+#include "gperftools/heap-profiler.h"
+#include "gperftools/malloc_extension.h"
+#include "gperftools/profiler.h"
+
+#if __has_include("rclcpp/rclcpp.hpp")
+#include "rclcpp/rclcpp.hpp"
+#endif
+
+using apollo::cyber::BridgeArgument;
+using apollo::cyber::MessageConverter;
+using apollo::cyber::plugin_manager::PluginManager;
+using namespace apollo::cyber::common;  // NOLINT
+
+int main(int argc, char** argv) {
+  apollo::cyber::BridgeConf bridge_conf;
+  std::vector<std::shared_ptr<MessageConverter>> converter_list_;
+
+  BridgeArgument bridge_args;
+  bridge_args.ParseArgument(argc, argv);
+
+  apollo::cyber::Init(argv[0]);
+
+#ifdef RCLCPP__RCLCPP_HPP_
+  rclcpp::init(argc, argv);
+#endif
+
+  PluginManager::Instance()->LoadInstalledPlugins();
+
+  auto config_path =
+      GetAbsolutePath(WorkRoot(), apollo::cyber::FLAGS_bridge_conf_path);
+  if (!GetProtoFromFile(config_path, &bridge_conf)) {
+    AERROR << "parse ros bridge config failed!";
+    return 1;
+  }
+
+  for (int i = 0; i < bridge_conf.converter_size(); i++) {
+    auto converter =
+        PluginManager::Instance()->CreateInstance<MessageConverter>(
+            apollo::cyber::GetFullConverterClassName(
+                bridge_conf.converter(i).type()));
+    ACHECK(converter->Init())
+        << "Can not init converter " << bridge_conf.converter(i).type();
+    converter_list_.push_back(converter);
+  }
+
+  if (bridge_args.GetEnableCpuprofile()) {
+    auto profile_filename = bridge_args.GetProfileFilename();
+    ProfilerStart(profile_filename.c_str());
+  }
+
+  if (bridge_args.GetEnableHeapprofile()) {
+    auto profile_filename = bridge_args.GetHeapProfileFilename();
+    HeapProfilerStart(profile_filename.c_str());
+  }
+
+  apollo::cyber::WaitForShutdown();
+#ifdef RCLCPP__RCLCPP_HPP_
+  rclcpp::shutdown();
+#endif
+
+  if (bridge_args.GetEnableCpuprofile()) {
+    ProfilerStop();
+  }
+
+  if (bridge_args.GetEnableHeapprofile()) {
+    HeapProfilerDump("Befor shutdown");
+    HeapProfilerStop();
+  }
+
+  return 0;
+}
diff --git a/cyber/service_discovery/BUILD b/cyber/service_discovery/BUILD
index aa8ccb4..5b9de22 100644
--- a/cyber/service_discovery/BUILD
+++ b/cyber/service_discovery/BUILD
@@ -36,7 +36,6 @@ apollo_cc_library(
         "//cyber/common:cyber_common",
         "//cyber:cyber_binary",
         "//cyber/proto:role_attributes_cc_proto",
-        "@fastrtps",
         "//cyber:cyber_state",
         "//cyber/message:cyber_message",
         "//cyber/proto:proto_desc_cc_proto",
@@ -45,6 +44,11 @@ apollo_cc_library(
     ],
 )
 
+apollo_cc_library(
+    name = "subscriber_listener",
+    hdrs = ["communication/subscriber_listener.h"]
+)
+
 apollo_cc_library(
     name = "cyber_service_discovery_role",
     srcs = ["role/role.cc"],
diff --git a/cyber/service_discovery/communication/participant_listener.cc b/cyber/service_discovery/communication/participant_listener.cc
index ed5cc94..71d020d 100644
--- a/cyber/service_discovery/communication/participant_listener.cc
+++ b/cyber/service_discovery/communication/participant_listener.cc
@@ -30,9 +30,20 @@ ParticipantListener::~ParticipantListener() {
   callback_ = nullptr;
 }
 
-void ParticipantListener::onParticipantDiscovery(
-    eprosima::fastrtps::Participant* p,
-    eprosima::fastrtps::ParticipantDiscoveryInfo info) {
+/**
+ * @brief Event handler for participant discovery.
+ *
+ * This function is called when a new participant is discovered in the DDS domain.
+ *
+ * @param p Pointer to the DomainParticipant. This parameter is unused in this function.
+ *          DomainParticipant represents an entity that participates in a DDS domain,
+ *          allowing publishers and subscribers to communicate.
+ * @param info An rvalue reference to the ParticipantDiscoveryInfo, which contains
+ *          information about the discovered participant.
+ */
+void ParticipantListener::on_participant_discovery(
+    eprosima::fastdds::dds::DomainParticipant* p,
+    eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info) {
   RETURN_IF_NULL(callback_);
   (void)p;
   std::lock_guard<std::mutex> lock(mutex_);
diff --git a/cyber/service_discovery/communication/participant_listener.h b/cyber/service_discovery/communication/participant_listener.h
index 91cc20d..d80994b 100644
--- a/cyber/service_discovery/communication/participant_listener.h
+++ b/cyber/service_discovery/communication/participant_listener.h
@@ -20,25 +20,27 @@
 #include <functional>
 #include <mutex>
 
+#include "cyber/base/macros.h"
+
+#include "fastdds/dds/domain/DomainParticipantListener.hpp"
 #include "fastrtps/Domain.h"
-#include "fastrtps/participant/Participant.h"
-#include "fastrtps/participant/ParticipantListener.h"
 
 namespace apollo {
 namespace cyber {
 namespace service_discovery {
 
-class ParticipantListener : public eprosima::fastrtps::ParticipantListener {
+class ParticipantListener
+    : public eprosima::fastdds::dds::DomainParticipantListener {
  public:
   using ChangeFunc = std::function<void(
-      const eprosima::fastrtps::ParticipantDiscoveryInfo& info)>;
+      const eprosima::fastrtps::rtps::ParticipantDiscoveryInfo& info)>;
 
   explicit ParticipantListener(const ChangeFunc& callback);
   virtual ~ParticipantListener();
 
-  virtual void onParticipantDiscovery(
-      eprosima::fastrtps::Participant* p,
-      eprosima::fastrtps::ParticipantDiscoveryInfo info);
+  void on_participant_discovery(
+      eprosima::fastdds::dds::DomainParticipant* p,
+      eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info) override;
 
  private:
   ChangeFunc callback_;
diff --git a/cyber/service_discovery/communication/subscriber_listener.cc b/cyber/service_discovery/communication/subscriber_listener.cc
index 1501b5a..dcf9581 100644
--- a/cyber/service_discovery/communication/subscriber_listener.cc
+++ b/cyber/service_discovery/communication/subscriber_listener.cc
@@ -16,15 +16,23 @@
 
 #include "cyber/service_discovery/communication/subscriber_listener.h"
 
+#include <memory>
+
+#include "cyber/base/macros.h"
+
+#include "fastdds/dds/subscriber/InstanceState.hpp"
+
+#include "fastdds/dds/topic/TopicDescription.hpp"
+
 #include "cyber/common/log.h"
 #include "cyber/transport/rtps/underlay_message.h"
-#include "cyber/transport/rtps/underlay_message_type.h"
 
 namespace apollo {
 namespace cyber {
 namespace service_discovery {
 
-SubscriberListener::SubscriberListener(const NewMsgCallback& callback)
+SubscriberListener::SubscriberListener(
+    const transport::rtps::subsciber_callback& callback)
     : callback_(callback) {}
 
 SubscriberListener::~SubscriberListener() {
@@ -32,22 +40,28 @@ SubscriberListener::~SubscriberListener() {
   callback_ = nullptr;
 }
 
-void SubscriberListener::onNewDataMessage(eprosima::fastrtps::Subscriber* sub) {
+void SubscriberListener::on_data_available(
+    eprosima::fastdds::dds::DataReader* reader) {
   RETURN_IF_NULL(callback_);
 
-  std::lock_guard<std::mutex> lock(mutex_);
-  eprosima::fastrtps::SampleInfo_t m_info;
+  eprosima::fastdds::dds::SampleInfo m_info;
   cyber::transport::UnderlayMessage m;
-  RETURN_IF(!sub->takeNextData(reinterpret_cast<void*>(&m), &m_info));
-  RETURN_IF(m_info.sampleKind != eprosima::fastrtps::ALIVE);
-
-  callback_(m.data());
+  while (reader->take_next_sample(reinterpret_cast<void*>(&m), &m_info) ==
+         eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK) {
+    if (m_info.valid_data) {
+      // parameter 1 and 2 are not used
+      callback_(std::make_shared<std::string>(m.data()), 0, msg_info_);
+    } else {
+      AERROR << "Remote writer for topic "
+             << reader->get_topicdescription()->get_name() << " is dead";
+    }
+  }
 }
 
-void SubscriberListener::onSubscriptionMatched(
-    eprosima::fastrtps::Subscriber* sub,
-    eprosima::fastrtps::MatchingInfo& info) {
-  (void)sub;
+void SubscriberListener::on_subscription_matched(
+    eprosima::fastdds::dds::DataReader* reader,
+    const eprosima::fastdds::dds::SubscriptionMatchedStatus& info) {
+  (void)reader;
   (void)info;
 }
 
diff --git a/cyber/service_discovery/communication/subscriber_listener.h b/cyber/service_discovery/communication/subscriber_listener.h
index 1c63c1f..586ecb3 100644
--- a/cyber/service_discovery/communication/subscriber_listener.h
+++ b/cyber/service_discovery/communication/subscriber_listener.h
@@ -21,28 +21,33 @@
 #include <mutex>
 #include <string>
 
-#include "fastrtps/Domain.h"
-#include "fastrtps/subscriber/SampleInfo.h"
-#include "fastrtps/subscriber/Subscriber.h"
-#include "fastrtps/subscriber/SubscriberListener.h"
+#include "cyber/base/macros.h"
+
+#include "fastdds/dds/subscriber/DataReader.hpp"
+#include "fastdds/dds/subscriber/SampleInfo.hpp"
+#include "fastdds/dds/subscriber/SubscriberListener.hpp"
+
+#include "cyber/transport/common/common_type.h"
 
 namespace apollo {
 namespace cyber {
 namespace service_discovery {
 
-class SubscriberListener : public eprosima::fastrtps::SubscriberListener {
+class SubscriberListener : public eprosima::fastdds::dds::SubscriberListener {
  public:
-  using NewMsgCallback = std::function<void(const std::string&)>;
-
-  explicit SubscriberListener(const NewMsgCallback& callback);
+  explicit SubscriberListener(
+      const transport::rtps::subsciber_callback& callback);
   virtual ~SubscriberListener();
 
-  void onNewDataMessage(eprosima::fastrtps::Subscriber* sub);
-  void onSubscriptionMatched(eprosima::fastrtps::Subscriber* sub,
-                             eprosima::fastrtps::MatchingInfo& info);  // NOLINT
+  void on_data_available(eprosima::fastdds::dds::DataReader* reader) override;
+  void on_subscription_matched(
+      eprosima::fastdds::dds::DataReader* reader,
+      const eprosima::fastdds::dds::SubscriptionMatchedStatus& info)
+      override;  // NOLINT
 
  private:
-  NewMsgCallback callback_;
+  transport::rtps::subsciber_callback callback_;
+  transport::MessageInfo msg_info_;
   std::mutex mutex_;
 };
 
diff --git a/cyber/service_discovery/specific_manager/channel_manager.cc b/cyber/service_discovery/specific_manager/channel_manager.cc
index adc6c15..8a6c2cc 100644
--- a/cyber/service_discovery/specific_manager/channel_manager.cc
+++ b/cyber/service_discovery/specific_manager/channel_manager.cc
@@ -1,5 +1,5 @@
 /******************************************************************************
- * Copyright 2018 The Apollo Authors. All Rights Reserved.
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -17,7 +17,6 @@
 #include "cyber/service_discovery/specific_manager/channel_manager.h"
 
 #include <algorithm>
-#include <set>
 #include <utility>
 
 #include "cyber/common/global_data.h"
@@ -25,8 +24,6 @@
 #include "cyber/message/message_traits.h"
 #include "cyber/message/py_message.h"
 #include "cyber/message/raw_message.h"
-#include "cyber/state.h"
-#include "cyber/time/time.h"
 
 namespace apollo {
 namespace cyber {
diff --git a/cyber/service_discovery/specific_manager/channel_manager.h b/cyber/service_discovery/specific_manager/channel_manager.h
index 69aba27..46de5f3 100644
--- a/cyber/service_discovery/specific_manager/channel_manager.h
+++ b/cyber/service_discovery/specific_manager/channel_manager.h
@@ -23,6 +23,7 @@
 #include <unordered_set>
 #include <vector>
 
+#include "cyber/proto/role_attributes.pb.h"
 #include "cyber/service_discovery/container/graph.h"
 #include "cyber/service_discovery/container/multi_value_warehouse.h"
 #include "cyber/service_discovery/container/single_value_warehouse.h"
diff --git a/cyber/service_discovery/specific_manager/channel_manager_test.cc b/cyber/service_discovery/specific_manager/channel_manager_test.cc
index a83303c..c3f44c5 100644
--- a/cyber/service_discovery/specific_manager/channel_manager_test.cc
+++ b/cyber/service_discovery/specific_manager/channel_manager_test.cc
@@ -16,15 +16,13 @@
 
 #include "cyber/service_discovery/specific_manager/channel_manager.h"
 
-#include <memory>
 #include <string>
 #include <vector>
 #include "gtest/gtest.h"
 
+#include "cyber/proto/unit_test.pb.h"
 #include "cyber/common/global_data.h"
 #include "cyber/message/message_traits.h"
-#include "cyber/message/protobuf_factory.h"
-#include "cyber/proto/unit_test.pb.h"
 #include "cyber/transport/common/identity.h"
 
 namespace apollo {
diff --git a/cyber/service_discovery/specific_manager/manager.cc b/cyber/service_discovery/specific_manager/manager.cc
index 353ef73..e97e3aa 100644
--- a/cyber/service_discovery/specific_manager/manager.cc
+++ b/cyber/service_discovery/specific_manager/manager.cc
@@ -21,15 +21,12 @@
 #include "cyber/message/message_traits.h"
 #include "cyber/time/time.h"
 #include "cyber/transport/qos/qos_profile_conf.h"
-#include "cyber/transport/rtps/attributes_filler.h"
 #include "cyber/transport/rtps/underlay_message.h"
-#include "cyber/transport/rtps/underlay_message_type.h"
 
 namespace apollo {
 namespace cyber {
 namespace service_discovery {
 
-using transport::AttributesFiller;
 using transport::QosProfileConf;
 
 Manager::Manager()
@@ -39,15 +36,14 @@ Manager::Manager()
       change_type_(proto::ChangeType::CHANGE_PARTICIPANT),
       channel_name_(""),
       publisher_(nullptr),
-      subscriber_(nullptr),
-      listener_(nullptr) {
+      subscriber_(nullptr) {
   host_name_ = common::GlobalData::Instance()->HostName();
   process_id_ = common::GlobalData::Instance()->ProcessId();
 }
 
 Manager::~Manager() { Shutdown(); }
 
-bool Manager::StartDiscovery(RtpsParticipant* participant) {
+bool Manager::StartDiscovery(const ParticipantPtr& participant) {
   if (participant == nullptr) {
     return false;
   }
@@ -59,6 +55,7 @@ bool Manager::StartDiscovery(RtpsParticipant* participant) {
     StopDiscovery();
     return false;
   }
+  participant_ = participant;
   return true;
 }
 
@@ -66,24 +63,6 @@ void Manager::StopDiscovery() {
   if (!is_discovery_started_.exchange(false)) {
     return;
   }
-
-  {
-    std::lock_guard<std::mutex> lg(lock_);
-    if (publisher_ != nullptr) {
-      eprosima::fastrtps::Domain::removePublisher(publisher_);
-      publisher_ = nullptr;
-    }
-  }
-
-  if (subscriber_ != nullptr) {
-    eprosima::fastrtps::Domain::removeSubscriber(subscriber_);
-    subscriber_ = nullptr;
-  }
-
-  if (listener_ != nullptr) {
-    delete listener_;
-    listener_ = nullptr;
-  }
 }
 
 void Manager::Shutdown() {
@@ -137,28 +116,16 @@ void Manager::RemoveChangeListener(const ChangeConnection& conn) {
   local_conn.Disconnect();
 }
 
-bool Manager::CreatePublisher(RtpsParticipant* participant) {
-  RtpsPublisherAttr pub_attr;
-  RETURN_VAL_IF(
-      !AttributesFiller::FillInPubAttr(
-          channel_name_, QosProfileConf::QOS_PROFILE_TOPO_CHANGE, &pub_attr),
-      false);
-  publisher_ =
-      eprosima::fastrtps::Domain::createPublisher(participant, pub_attr);
+bool Manager::CreatePublisher(const ParticipantPtr& participant) {
+  publisher_ = participant->CreatePublisher(
+      this->channel_name_, QosProfileConf::QOS_PROFILE_TOPO_CHANGE);
   return publisher_ != nullptr;
 }
 
-bool Manager::CreateSubscriber(RtpsParticipant* participant) {
-  RtpsSubscriberAttr sub_attr;
-  RETURN_VAL_IF(
-      !AttributesFiller::FillInSubAttr(
-          channel_name_, QosProfileConf::QOS_PROFILE_TOPO_CHANGE, &sub_attr),
-      false);
-  listener_ = new SubscriberListener(
+bool Manager::CreateSubscriber(const ParticipantPtr& participant) {
+  subscriber_ = participant->CreateSubscriber(
+      this->channel_name_, QosProfileConf::QOS_PROFILE_TOPO_CHANGE,
       std::bind(&Manager::OnRemoteChange, this, std::placeholders::_1));
-
-  subscriber_ = eprosima::fastrtps::Domain::createSubscriber(
-      participant, sub_attr, listener_);
   return subscriber_ != nullptr;
 }
 
@@ -185,14 +152,14 @@ void Manager::Convert(const RoleAttributes& attr, RoleType role,
 
 void Manager::Notify(const ChangeMsg& msg) { signal_(msg); }
 
-void Manager::OnRemoteChange(const std::string& msg_str) {
+void Manager::OnRemoteChange(const std::shared_ptr<std::string>& msg_str) {
   if (is_shutdown_.load()) {
     ADEBUG << "the manager has been shut down.";
     return;
   }
 
   ChangeMsg msg;
-  RETURN_IF(!message::ParseFromString(msg_str, &msg));
+  RETURN_IF(!message::ParseFromString(*msg_str, &msg));
   if (IsFromSameProcess(msg)) {
     return;
   }
@@ -211,7 +178,7 @@ bool Manager::Publish(const ChangeMsg& msg) {
   {
     std::lock_guard<std::mutex> lg(lock_);
     if (publisher_ != nullptr) {
-      return publisher_->write(reinterpret_cast<void*>(&m));
+      return publisher_->Write(m);
     }
   }
   return true;
diff --git a/cyber/service_discovery/specific_manager/manager.h b/cyber/service_discovery/specific_manager/manager.h
index 22b8341..d2aebcb 100644
--- a/cyber/service_discovery/specific_manager/manager.h
+++ b/cyber/service_discovery/specific_manager/manager.h
@@ -19,19 +19,22 @@
 
 #include <atomic>
 #include <functional>
+#include <memory>
 #include <mutex>
 #include <string>
 
-#include "fastrtps/Domain.h"
-#include "fastrtps/attributes/PublisherAttributes.h"
-#include "fastrtps/attributes/SubscriberAttributes.h"
-#include "fastrtps/participant/Participant.h"
-#include "fastrtps/publisher/Publisher.h"
-#include "fastrtps/subscriber/Subscriber.h"
+#include "cyber/base/macros.h"
+
+#include "fastdds/dds/publisher/qos/PublisherQos.hpp"
+#include "fastdds/dds/subscriber/qos/SubscriberQos.hpp"
 
-#include "cyber/base/signal.h"
 #include "cyber/proto/topology_change.pb.h"
+
+#include "cyber/base/signal.h"
 #include "cyber/service_discovery/communication/subscriber_listener.h"
+#include "cyber/transport/rtps/participant.h"
+#include "cyber/transport/rtps/publisher.h"
+#include "cyber/transport/rtps/subscriber.h"
 
 namespace apollo {
 namespace cyber {
@@ -53,11 +56,9 @@ class Manager {
   using ChangeSignal = base::Signal<const ChangeMsg&>;
   using ChangeFunc = std::function<void(const ChangeMsg&)>;
   using ChangeConnection = base::Connection<const ChangeMsg&>;
-
-  using RtpsParticipant = eprosima::fastrtps::Participant;
-  using RtpsPublisherAttr = eprosima::fastrtps::PublisherAttributes;
-  using RtpsSubscriberAttr = eprosima::fastrtps::SubscriberAttributes;
-
+  using ParticipantPtr = std::shared_ptr<transport::Participant>;
+  using PublisherPtr = std::shared_ptr<transport::Publisher>;
+  using SubscriberPtr = std::shared_ptr<transport::Subscriber>;
   /**
    * @brief Construct a new Manager object
    */
@@ -75,7 +76,7 @@ class Manager {
    * @return true if start successfully
    * @return false if start fail
    */
-  bool StartDiscovery(RtpsParticipant* participant);
+  bool StartDiscovery(const ParticipantPtr& participant);
 
   /**
    * @brief Stop topology discovery
@@ -136,8 +137,8 @@ class Manager {
                                  int process_id) = 0;
 
  protected:
-  bool CreatePublisher(RtpsParticipant* participant);
-  bool CreateSubscriber(RtpsParticipant* participant);
+  bool CreatePublisher(const ParticipantPtr& participant);
+  bool CreateSubscriber(const ParticipantPtr& participant);
 
   virtual bool Check(const RoleAttributes& attr) = 0;
   virtual void Dispose(const ChangeMsg& msg) = 0;
@@ -148,7 +149,7 @@ class Manager {
 
   void Notify(const ChangeMsg& msg);
   bool Publish(const ChangeMsg& msg);
-  void OnRemoteChange(const std::string& msg_str);
+  void OnRemoteChange(const std::shared_ptr<std::string>& msg_str);
   bool IsFromSameProcess(const ChangeMsg& msg);
 
   std::atomic<bool> is_shutdown_;
@@ -158,10 +159,10 @@ class Manager {
   std::string host_name_;
   int process_id_;
   std::string channel_name_;
-  eprosima::fastrtps::Publisher* publisher_;
+  PublisherPtr publisher_;
+  SubscriberPtr subscriber_;
+  ParticipantPtr participant_;
   std::mutex lock_;
-  eprosima::fastrtps::Subscriber* subscriber_;
-  SubscriberListener* listener_;
 
   ChangeSignal signal_;
 };
diff --git a/cyber/service_discovery/specific_manager/node_manager.cc b/cyber/service_discovery/specific_manager/node_manager.cc
index 8fde169..a48559a 100644
--- a/cyber/service_discovery/specific_manager/node_manager.cc
+++ b/cyber/service_discovery/specific_manager/node_manager.cc
@@ -18,7 +18,6 @@
 #include "cyber/common/global_data.h"
 #include "cyber/common/log.h"
 #include "cyber/state.h"
-#include "cyber/time/time.h"
 
 namespace apollo {
 namespace cyber {
diff --git a/cyber/service_discovery/specific_manager/service_manager.cc b/cyber/service_discovery/specific_manager/service_manager.cc
index 273b87c..19e39be 100644
--- a/cyber/service_discovery/specific_manager/service_manager.cc
+++ b/cyber/service_discovery/specific_manager/service_manager.cc
@@ -15,10 +15,8 @@
  *****************************************************************************/
 
 #include "cyber/service_discovery/specific_manager/service_manager.h"
-#include "cyber/common/global_data.h"
 #include "cyber/common/log.h"
 #include "cyber/common/util.h"
-#include "cyber/time/time.h"
 
 namespace apollo {
 namespace cyber {
diff --git a/cyber/service_discovery/topology_manager.cc b/cyber/service_discovery/topology_manager.cc
index 419f9bd..a2fd97d 100644
--- a/cyber/service_discovery/topology_manager.cc
+++ b/cyber/service_discovery/topology_manager.cc
@@ -29,8 +29,7 @@ TopologyManager::TopologyManager()
       node_manager_(nullptr),
       channel_manager_(nullptr),
       service_manager_(nullptr),
-      participant_(nullptr),
-      participant_listener_(nullptr) {
+      participant_(nullptr) {
   Init();
 }
 
@@ -48,9 +47,6 @@ void TopologyManager::Shutdown() {
   service_manager_->Shutdown();
   participant_->Shutdown();
 
-  delete participant_listener_;
-  participant_listener_ = nullptr;
-
   change_signal_.DisconnectAllSlots();
 }
 
@@ -80,8 +76,6 @@ bool TopologyManager::Init() {
   if (!result) {
     AERROR << "init manager failed.";
     participant_ = nullptr;
-    delete participant_listener_;
-    participant_listener_ = nullptr;
     node_manager_ = nullptr;
     channel_manager_ = nullptr;
     service_manager_ = nullptr;
@@ -93,29 +87,34 @@ bool TopologyManager::Init() {
 }
 
 bool TopologyManager::InitNodeManager() {
-  return node_manager_->StartDiscovery(participant_->fastrtps_participant());
+  return node_manager_->StartDiscovery(participant_);
 }
 
 bool TopologyManager::InitChannelManager() {
-  return channel_manager_->StartDiscovery(participant_->fastrtps_participant());
+  return channel_manager_->StartDiscovery(participant_);
 }
 
 bool TopologyManager::InitServiceManager() {
-  return service_manager_->StartDiscovery(participant_->fastrtps_participant());
+  return service_manager_->StartDiscovery(participant_);
 }
 
 bool TopologyManager::CreateParticipant() {
   std::string participant_name =
       common::GlobalData::Instance()->HostName() + '+' +
       std::to_string(common::GlobalData::Instance()->ProcessId());
-  participant_listener_ = new ParticipantListener(std::bind(
-      &TopologyManager::OnParticipantChange, this, std::placeholders::_1));
   participant_ = std::make_shared<transport::Participant>(
-      participant_name, 11511, participant_listener_);
+      participant_name, 11511,
+      new ParticipantListener(std::bind(&TopologyManager::OnParticipantChange,
+                                        this, std::placeholders::_1)));
+  if (!participant_->Init()) {
+    AERROR << "init participant failed";
+    return false;
+  }
   return true;
 }
 
-void TopologyManager::OnParticipantChange(const PartInfo& info) {
+void TopologyManager::OnParticipantChange(
+    const eprosima::fastrtps::rtps::ParticipantDiscoveryInfo& info) {
   ChangeMsg msg;
   if (!Convert(info, &msg)) {
     return;
@@ -135,28 +134,39 @@ void TopologyManager::OnParticipantChange(const PartInfo& info) {
   change_signal_(msg);
 }
 
-bool TopologyManager::Convert(const PartInfo& info, ChangeMsg* msg) {
-  auto guid = info.rtps.m_guid;
-  auto status = info.rtps.m_status;
+bool TopologyManager::Convert(
+    const eprosima::fastrtps::rtps::ParticipantDiscoveryInfo& info,
+    ChangeMsg* msg) {
+  auto guid = info.info.m_guid;
   std::string participant_name("");
-  OperateType opt_type = OperateType::OPT_JOIN;
+  OperateType opt_type;
 
-  switch (status) {
-    case eprosima::fastrtps::rtps::DISCOVERY_STATUS::DISCOVERED_RTPSPARTICIPANT:
-      participant_name = info.rtps.m_RTPSParticipantName;
+  switch (info.status) {
+    case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::
+        DISCOVERED_PARTICIPANT:
+      participant_name = info.info.m_participantName;
+      AINFO << "discovery participant name:" << participant_name;
       participant_names_[guid] = participant_name;
       opt_type = OperateType::OPT_JOIN;
       break;
-
-    case eprosima::fastrtps::rtps::DISCOVERY_STATUS::REMOVED_RTPSPARTICIPANT:
-    case eprosima::fastrtps::rtps::DISCOVERY_STATUS::DROPPED_RTPSPARTICIPANT:
+    case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::
+        REMOVED_PARTICIPANT:
       if (participant_names_.find(guid) != participant_names_.end()) {
         participant_name = participant_names_[guid];
+        AINFO << "remove participant name:" << participant_name;
+        participant_names_.erase(guid);
+      }
+      opt_type = OperateType::OPT_LEAVE;
+      break;
+    case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::
+        DROPPED_PARTICIPANT:
+      if (participant_names_.find(guid) != participant_names_.end()) {
+        participant_name = participant_names_[guid];
+        AINFO << "dropped participant name:" << participant_name;
         participant_names_.erase(guid);
       }
       opt_type = OperateType::OPT_LEAVE;
       break;
-
     default:
       break;
   }
diff --git a/cyber/service_discovery/topology_manager.h b/cyber/service_discovery/topology_manager.h
index 44b47b5..dd5b23f 100644
--- a/cyber/service_discovery/topology_manager.h
+++ b/cyber/service_discovery/topology_manager.h
@@ -66,9 +66,9 @@ class TopologyManager {
   using ChangeSignal = base::Signal<const ChangeMsg&>;
   using ChangeFunc = std::function<void(const ChangeMsg&)>;
   using ChangeConnection = base::Connection<const ChangeMsg&>;
+  using ParticipantPtr = std::shared_ptr<transport::Participant>;
   using PartNameContainer =
       std::map<eprosima::fastrtps::rtps::GUID_t, std::string>;
-  using PartInfo = eprosima::fastrtps::ParticipantDiscoveryInfo;
 
   virtual ~TopologyManager();
 
@@ -114,8 +114,10 @@ class TopologyManager {
   bool InitServiceManager();
 
   bool CreateParticipant();
-  void OnParticipantChange(const PartInfo& info);
-  bool Convert(const PartInfo& info, ChangeMsg* change_msg);
+  void OnParticipantChange(
+      const eprosima::fastrtps::rtps::ParticipantDiscoveryInfo& info);
+  bool Convert(const eprosima::fastrtps::rtps::ParticipantDiscoveryInfo& info,
+               ChangeMsg* change_msg);
   bool ParseParticipantName(const std::string& participant_name,
                             std::string* host_name, int* process_id);
 
@@ -123,9 +125,7 @@ class TopologyManager {
   NodeManagerPtr node_manager_;        /// shared ptr of NodeManager
   ChannelManagerPtr channel_manager_;  /// shared ptr of ChannelManager
   ServiceManagerPtr service_manager_;  /// shared ptr of ServiceManager
-  /// rtps participant to publish and subscribe
-  transport::ParticipantPtr participant_;
-  ParticipantListener* participant_listener_;
+  ParticipantPtr participant_;
   ChangeSignal change_signal_;           /// topology changing signal,
                                          ///< connect to `ChangeFunc`s
   PartNameContainer participant_names_;  /// other participant in the topology
diff --git a/cyber/setup.bash b/cyber/setup.bash
index cdabc56..1d0d690 100755
--- a/cyber/setup.bash
+++ b/cyber/setup.bash
@@ -8,6 +8,7 @@ export CYBER_PATH="${APOLLO_ROOT_DIR}/cyber"
 bazel_bin_path="${APOLLO_ROOT_DIR}/bazel-bin"
 mainboard_path="${bazel_bin_path}/cyber/mainboard"
 cyber_tool_path="${bazel_bin_path}/cyber/tools"
+performance_path="${cyber_tool_path}/cyber_performance"
 recorder_path="${cyber_tool_path}/cyber_recorder"
 launch_path="${cyber_tool_path}/cyber_launch"
 channel_path="${cyber_tool_path}/cyber_channel"
@@ -20,7 +21,7 @@ visualizer_path="${bazel_bin_path}/modules/tools/visualizer"
 for entry in "${mainboard_path}" \
     "${recorder_path}" "${monitor_path}"  \
     "${channel_path}" "${node_path}" \
-    "${service_path}" \
+    "${service_path}" "${performance_path}" \
     "${launch_path}" \
     "${visualizer_path}" ; do
     pathprepend "${entry}"
@@ -38,9 +39,9 @@ export GLOG_alsologtostderr=0
 export GLOG_colorlogtostderr=1
 export GLOG_minloglevel=0
 
-export sysmo_start=0
-
 # for DEBUG log
 #export GLOG_v=4
 
-source ${CYBER_PATH}/tools/cyber_tools_auto_complete.bash
+[[ -e ${CYBER_PATH}/tools/cyber_tools_auto_complete.bash ]] && source ${CYBER_PATH}/tools/cyber_tools_auto_complete.bash
+
+export sysmo_start=0
\ No newline at end of file
diff --git a/cyber/statistics/BUILD b/cyber/statistics/BUILD
new file mode 100644
index 0000000..6593465
--- /dev/null
+++ b/cyber/statistics/BUILD
@@ -0,0 +1,19 @@
+load("//tools:cpplint.bzl", "cpplint")
+load("//tools:apollo_package.bzl", "apollo_cc_library", "apollo_package")
+
+apollo_cc_library(
+    name = "apollo_statistics",
+    srcs = ["statistics.cc"],
+    hdrs = ["statistics.h"],
+    linkopts = ["-lbvar"],
+    deps = [
+        "//cyber/common:cyber_common",
+        "//cyber/proto:role_attributes_cc_proto",
+        "//cyber/time:cyber_time",
+        "@com_github_gflags_gflags//:gflags",
+    ],
+)
+
+apollo_package()
+
+cpplint()
diff --git a/cyber/statistics/statistics.cc b/cyber/statistics/statistics.cc
new file mode 100644
index 0000000..f786473
--- /dev/null
+++ b/cyber/statistics/statistics.cc
@@ -0,0 +1,130 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "cyber/statistics/statistics.h"
+
+namespace apollo {
+namespace cyber {
+namespace statistics {
+
+Statistics::Statistics() {}
+
+bool Statistics::RegisterChanVar(const proto::RoleAttributes& role_attr) {
+  if (latency_map_.find(GetProcLatencyKey(role_attr)) != latency_map_.end()) {
+    AERROR << "Failed to create proc latency var: "
+             "reader with the same channel already exists.";
+    return false;
+  }
+
+  if (latency_map_.find(GetTranLatencyKey(role_attr)) != latency_map_.end()) {
+    AERROR << "Failed to create tran latency var: "
+             "reader with the same channel already exists.";
+    return false;
+  }
+
+  if (latency_map_.find(GetCyberLatencyKey(role_attr)) != latency_map_.end()) {
+    AERROR << "Failed to create cyber latency var: "
+             "reader with the same channel already exists.";
+    return false;
+  }
+
+  latency_map_[GetProcLatencyKey(role_attr)] =
+          std::make_shared<::bvar::LatencyRecorder>(
+                  role_attr.node_name() + "-"
+                  + role_attr.channel_name(), "proc");
+  if (role_attr.channel_name() != TIMER_COMPONENT_CHAN_NAME) {
+    latency_map_[GetTranLatencyKey(role_attr)] =
+          std::make_shared<::bvar::LatencyRecorder>(
+                  role_attr.node_name() + "-" +
+                  role_attr.channel_name(), "tran");
+    latency_map_[GetCyberLatencyKey(role_attr)] =
+          std::make_shared<::bvar::LatencyRecorder>(
+                  role_attr.node_name() + "-" +
+                  role_attr.channel_name(), "cyber");
+    status_map_[GetStartProcessStatusKey(role_attr)] =
+          std::make_shared<::bvar::Status<uint64_t>>(
+                  role_attr.node_name() + "-" +
+                  role_attr.channel_name() + "-process", 0);
+    status_map_[GetTotalMsgsStatusKey(role_attr)] =
+          std::make_shared<::bvar::Status<uint64_t>>(
+                  role_attr.node_name() + "-" +
+                  role_attr.channel_name() + "-total-msgs-nums", 0);
+    adder_map_[GetTotalRecvStatusKey(role_attr)] =
+          std::make_shared<::bvar::Adder<int32_t>>(
+                  role_attr.node_name() +
+                  "-" + role_attr.channel_name() + "-recv-msgs-nums");
+  }
+  return true;
+}
+
+StatusVarPtr Statistics::GetProcStatusVar(
+                          const proto::RoleAttributes& role_attr) {
+  auto v = status_map_.find(GetStartProcessStatusKey(role_attr));
+  if (v == status_map_.end()) {
+    return nullptr;
+  }
+  return v->second;
+}
+
+LatencyVarPtr Statistics::GetChanProcVar(
+                    const proto::RoleAttributes& role_attr) {
+  auto v = latency_map_.find(GetProcLatencyKey(role_attr));
+  if (v == latency_map_.end()) {
+    return nullptr;
+  }
+  return v->second;
+}
+
+LatencyVarPtr Statistics::GetChanTranVar(
+                    const proto::RoleAttributes& role_attr) {
+  auto v = latency_map_.find(GetTranLatencyKey(role_attr));
+  if (v == latency_map_.end()) {
+    return nullptr;
+  }
+  return v->second;
+}
+
+LatencyVarPtr Statistics::GetChanCyberVar(
+                    const proto::RoleAttributes& role_attr) {
+  auto v = latency_map_.find(GetCyberLatencyKey(role_attr));
+  if (v == latency_map_.end()) {
+    return nullptr;
+  }
+  return v->second;
+}
+
+StatusVarPtr Statistics::GetTotalMsgsStatusVar(
+                      const proto::RoleAttributes& role_attr) {
+  auto v = status_map_.find(GetTotalMsgsStatusKey(role_attr));
+  if (v == status_map_.end()) {
+    return nullptr;
+  }
+  return v->second;
+}
+
+AdderVarPtr Statistics::GetAdderVar(
+                      const proto::RoleAttributes& role_attr) {
+  auto v = adder_map_.find(GetTotalRecvStatusKey(role_attr));
+  if (v == adder_map_.end()) {
+    return nullptr;
+  }
+  return v->second;
+}
+
+
+}  // namespace statistics
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/statistics/statistics.h b/cyber/statistics/statistics.h
new file mode 100644
index 0000000..3d651da
--- /dev/null
+++ b/cyber/statistics/statistics.h
@@ -0,0 +1,314 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#pragma once
+
+#ifndef CYBER_STATISTICS_STATISTICS_H_
+#define CYBER_STATISTICS_STATISTICS_H_
+
+#include <limits.h>
+
+#include <memory>
+#include <mutex>
+#include <utility>
+#include <string>
+#include <unordered_map>
+
+#include "cyber/base/macros.h"
+#include "cyber/common/log.h"
+#include "cyber/proto/role_attributes.pb.h"
+#include "cyber/common/macros.h"
+#include "cyber/time/time.h"
+#include "third_party/var/bvar/bvar.h"
+
+namespace apollo {
+namespace cyber {
+namespace statistics {
+
+using LatencyVarPtr = std::shared_ptr<::bvar::LatencyRecorder>;
+using StatusVarPtr = std::shared_ptr<::bvar::Status<uint64_t>>;
+using AdderVarPtr = std::shared_ptr<::bvar::Adder<int32_t>>;
+
+struct SpanHandler {
+  std::string name;
+  uint64_t start_time;
+  uint64_t end_time;
+  std::shared_ptr<::bvar::LatencyRecorder> span_trace_node;
+  uint64_t min_ns = 0;
+};
+
+static const std::string TIMER_COMPONENT_CHAN_NAME = "_timer_component";    // NOLINT
+
+class Statistics {
+ public:
+  ~Statistics() {}
+  bool RegisterChanVar(const proto::RoleAttributes& role_attr);
+
+  inline bool CreateSpan(std::string name, uint64_t min_ns = 0);
+  inline bool StartSpan(std::string name);
+  inline bool EndSpan(std::string name);
+
+  inline void DisableChanVar() {
+    disable_chan_var_ = true;
+  }
+
+  template <typename SampleT>
+  std::shared_ptr<::bvar::Adder<SampleT>> CreateAdder(
+                        const proto::RoleAttributes& role_attr) {
+    std::string expose_name =
+      role_attr.node_name() + "-" + role_attr.channel_name();
+    return std::make_shared<::bvar::Adder<SampleT>>(expose_name);
+  }
+
+  template <typename SampleT>
+  bool SamplingProcLatency(
+        const proto::RoleAttributes& role_attr, SampleT sample) {
+    if (disable_chan_var_) {
+      return true;
+    }
+    auto var_ptr = GetChanProcVar(role_attr);
+    if (var_ptr != nullptr) {
+      (*var_ptr) << sample;
+    } else {
+      return false;
+    }
+    return true;
+  }
+
+  template <typename SampleT>
+  bool SamplingTranLatency(
+        const proto::RoleAttributes& role_attr, SampleT sample) {
+    if (disable_chan_var_) {
+      return true;
+    }
+    if (role_attr.channel_name() == TIMER_COMPONENT_CHAN_NAME) {
+      return true;
+    }
+    auto var_ptr = GetChanTranVar(role_attr);
+    if (var_ptr != nullptr) {
+      (*var_ptr) << sample;
+    } else {
+      return false;
+    }
+    return true;
+  }
+
+  template <typename SampleT>
+  bool SamplingCyberLatency(
+          const proto::RoleAttributes& role_attr, SampleT sample) {
+    if (disable_chan_var_) {
+      return true;
+    }
+    if (role_attr.channel_name() == TIMER_COMPONENT_CHAN_NAME) {
+      return true;
+    }
+    auto var_ptr = GetChanCyberVar(role_attr);
+    if (var_ptr != nullptr) {
+      (*var_ptr) << sample;
+    } else {
+      return false;
+    }
+    return true;
+  }
+
+  bool SetProcStatus(const proto::RoleAttributes& role_attr, uint64_t val) {
+    if (disable_chan_var_) {
+      return true;
+    }
+    if (role_attr.channel_name() == TIMER_COMPONENT_CHAN_NAME) {
+      return true;
+    }
+    auto var_ptr = GetProcStatusVar(role_attr);
+    if (var_ptr != nullptr) {
+      var_ptr->set_value(val);
+    } else {
+      return false;
+    }
+    return true;
+  }
+
+  bool GetProcStatus(const proto::RoleAttributes& role_attr, uint64_t* val) {
+    if (disable_chan_var_) {
+      *val = 0;
+      return true;
+    }
+    if (role_attr.channel_name() == TIMER_COMPONENT_CHAN_NAME) {
+      return false;
+    }
+    auto var_ptr = GetProcStatusVar(role_attr);
+    if (var_ptr != nullptr) {
+      *val = var_ptr->get_value();
+    } else {
+      return false;
+    }
+    return true;
+  }
+
+  bool SetTotalMsgsStatus(const proto::RoleAttributes& role_attr, int32_t val) {
+    if (disable_chan_var_) {
+      return true;
+    }
+    if (role_attr.channel_name() == TIMER_COMPONENT_CHAN_NAME) {
+      return true;
+    }
+    auto var_ptr = GetTotalMsgsStatusVar(role_attr);
+    if (var_ptr != nullptr) {
+      var_ptr->set_value(val);
+    } else {
+      return false;
+    }
+    return true;
+  }
+
+  bool AddRecvCount(const proto::RoleAttributes& role_attr, int total_msg_val) {
+    if (disable_chan_var_) {
+      return true;
+    }
+    if (role_attr.channel_name() == TIMER_COMPONENT_CHAN_NAME) {
+      return true;
+    }
+
+    auto var_ptr = GetAdderVar(role_attr);
+    if (var_ptr == nullptr) {
+      return true;
+    }
+
+    if cyber_unlikely(first_recv_) {
+      (*var_ptr) << total_msg_val;
+      first_recv_ = false;
+      return true;
+    }
+
+    (*var_ptr) << 1;
+
+    return true;
+  }
+
+ private:
+  LatencyVarPtr GetChanProcVar(const proto::RoleAttributes& role_attr);
+
+  LatencyVarPtr GetChanTranVar(const proto::RoleAttributes& role_attr);
+
+  LatencyVarPtr GetChanCyberVar(const proto::RoleAttributes& role_attr);
+
+  StatusVarPtr GetProcStatusVar(const proto::RoleAttributes& role_attr);
+
+  AdderVarPtr GetAdderVar(const proto::RoleAttributes& role_attr);
+
+  StatusVarPtr GetTotalMsgsStatusVar(const proto::RoleAttributes& role_attr);
+
+  inline uint64_t GetMicroTimeNow() const noexcept;
+
+  inline const std::string GetProcLatencyKey(
+                      const proto::RoleAttributes& role_attr) {
+    return role_attr.node_name() + "-" + role_attr.channel_name() + "proc";
+  }
+
+  inline const std::string GetTranLatencyKey(
+                      const proto::RoleAttributes& role_attr) {
+    return role_attr.node_name() + "-" + role_attr.channel_name() + "tran";
+  }
+
+  inline const std::string GetCyberLatencyKey(
+                      const proto::RoleAttributes& role_attr) {
+    return role_attr.node_name() + "-" + role_attr.channel_name() + "cyber";
+  }
+
+  inline const std::string GetStartProcessStatusKey(
+                      const proto::RoleAttributes& role_attr) {
+    return role_attr.node_name() + "-" + \
+            role_attr.channel_name() + "process-status";
+  }
+
+  inline const std::string GetTotalMsgsStatusKey(
+                      const proto::RoleAttributes& role_attr) {
+    return role_attr.node_name() + "-" + \
+          role_attr.channel_name() + "total-sended-msgs";
+  }
+
+  inline const std::string GetTotalRecvStatusKey(
+                      const proto::RoleAttributes& role_attr) {
+    return role_attr.node_name() + "-" + role_attr.channel_name() + "recv-msgs";
+  }
+
+  std::unordered_map<std::string, LatencyVarPtr> latency_map_;
+  std::unordered_map<std::string, StatusVarPtr> status_map_;
+  std::unordered_map<std::string, AdderVarPtr> adder_map_;
+
+  std::unordered_map<std::string, std::shared_ptr<SpanHandler>> span_handlers_;
+
+  bool first_recv_ = true;
+  bool disable_chan_var_ = false;
+
+  DECLARE_SINGLETON(Statistics)
+};
+
+inline uint64_t Statistics::GetMicroTimeNow() const noexcept {
+  return Time::Now().ToMicrosecond();
+}
+
+inline bool Statistics::CreateSpan(std::string name, uint64_t min_ns) {
+  if (cyber_unlikely(span_handlers_.find(name) != span_handlers_.end())) {
+    AERROR << "span handler " << name << "has been created!";
+    return false;
+  }
+  auto handler = std::make_shared<SpanHandler>();
+  handler->name = name;
+  handler->span_trace_node = std::move(
+          std::make_shared<::bvar::LatencyRecorder>(name, "user", 1200));
+  handler->min_ns = min_ns;
+
+  span_handlers_[name] = std::move(handler);
+  return true;
+}
+
+inline bool Statistics::StartSpan(std::string name) {
+  auto it = span_handlers_.find(name);
+  if (cyber_unlikely(it == span_handlers_.end())) {
+    AERROR << "span handler " << name << "not found!";
+    return false;
+  }
+  it->second->start_time = std::move(GetMicroTimeNow());
+  return true;
+}
+
+inline bool Statistics::EndSpan(std::string name) {
+  auto it = span_handlers_.find(name);
+  if (cyber_unlikely(it == span_handlers_.end())) {
+    AERROR << "span handler " << name << "not found!";
+    return false;
+  }
+  it->second->end_time = std::move(GetMicroTimeNow());
+  auto handler = it->second;
+  auto diff = handler->end_time - handler->start_time;
+  if (cyber_unlikely(diff < handler->min_ns)) {
+    AWARN << "Time span less than preset value: " \
+          << diff << " vs " << handler->min_ns;
+    return false;
+  }
+  if (cyber_unlikely(diff > INT32_MAX)) {
+    AWARN << "Time span is larger than INT32_MAX: " << diff << ", drop it...";
+    return false;
+  }
+  *(handler->span_trace_node) << diff;
+  return true;
+}
+
+}  // namespace statistics
+}  // namespace cyber
+}  // namespace apollo
+
+#endif  // CYBER_STATISTICS_STATISTICS_H_
diff --git a/cyber/tools/cyber_launch/cyber_launch.py b/cyber/tools/cyber_launch/cyber_launch.py
index 7b1df7d..c13d126 100755
--- a/cyber/tools/cyber_launch/cyber_launch.py
+++ b/cyber/tools/cyber_launch/cyber_launch.py
@@ -25,7 +25,7 @@
 import sys
 import time
 import threading
-import traceback
+from datetime import datetime
 
 import xml.etree.ElementTree as ET
 
@@ -48,13 +48,39 @@
 BOLD_SEQ = "\033[1m"
 
 COLORS = {
-    'INFO':     GREEN,
-    'WARNING':  YELLOW,
-    'DEBUG':    BLUE,
-    'ERROR':    RED,
+    'INFO': GREEN,
+    'WARNING': YELLOW,
+    'DEBUG': BLUE,
+    'ERROR': RED,
     'CRITICAL': YELLOW
 }
 
+logger = logging.Logger(__name__)
+
+# file logger
+workspace_path = os.getenv('APOLLO_ENV_WORKROOT') or '/apollo'
+log_dir_path = os.path.join(workspace_path, 'data/log')
+if not os.path.exists(log_dir_path):
+    os.makedirs(log_dir_path)
+log_name = 'cyber_launch.log.INFO.{}.{}'.format(
+    datetime.now().strftime("%Y%m%d-%H%M%S"), str(g_process_pid))
+log_file_path = os.path.join(log_dir_path, log_name)
+file_formater = logging.Formatter(
+    '%(levelname)s [%(asctime)s] %(lineno)s: %(message)s')
+file_hd = logging.FileHandler(filename=log_file_path)
+file_hd.setFormatter(file_formater)
+file_hd.setLevel(logging.INFO)
+logger.addHandler(file_hd)
+link_log_file = os.path.join(log_dir_path, 'cyber_launch.INFO')
+try:
+    if os.path.exists(link_log_file) or os.path.islink(link_log_file):
+        os.remove(link_log_file)
+    os.symlink(log_name, link_log_file)
+except Exception as e:
+    # Maybe mulitple process create link, ignore it
+    pass
+
+
 class ColoredFormatter(logging.Formatter):
 
     def __init__(self, msg):
@@ -79,7 +105,6 @@ def format(self, record):
 color_formatter = ColoredFormatter("[%(levelname)-18s] %(message)s")
 console = logging.StreamHandler()
 console.setFormatter(color_formatter)
-logger = logging.Logger(__name__)
 logger.addHandler(console)
 
 
@@ -105,17 +130,22 @@ def module_monitor(mod):
     while True:
         line = mod.popen.stdout.readline()
         if line:
-            logger.debug('%s# %s' % (mod.name, line.decode('utf8').strip('\n')))
+            logger.debug('%s# %s' %
+                         (mod.name, line.decode('utf8').strip('\n')))
             continue
         time.sleep(0.01)
 
 
 class ProcessWrapper(object):
 
-    def __init__(self, binary_path, dag_num, dag_list, plugin_list, process_name, process_type,
-                 sched_name, extra_args_list, exception_handler='', respawn_limit=g_default_respawn_limit):
+    def __init__(self, binary_path, dag_num, dag_list, plugin_list,
+                 process_name, process_type, sched_name, extra_args_list,
+                 exception_handler='', respawn_limit=g_default_respawn_limit,
+                 cpu_profile_file='', mem_profile_file='', nice=0):
         self.time_of_death = None
         self.started = False
+        self.cpu_profile = False
+        self.mem_profile = False
         self.binary_path = binary_path
         self.dag_num = dag_num
         self.dag_list = dag_list
@@ -131,6 +161,13 @@ def __init__(self, binary_path, dag_num, dag_list, plugin_list, process_name, pr
         self.exception_handler = exception_handler
         self.respawn_limit = respawn_limit
         self.respawn_cnt = 0
+        self.cpu_profile_file = cpu_profile_file
+        self.mem_profile_file = mem_profile_file
+        if self.cpu_profile_file != '':
+            self.cpu_profile = True
+        if self.mem_profile_file != '':
+            self.mem_profile = True
+        self.nice = nice
 
     def wait(self, timeout_secs=None):
         """
@@ -171,11 +208,19 @@ def start(self):
                 args_list.append(self.sched_name)
             if len(self.extra_args_list) != 0:
                 args_list.extend(self.extra_args_list)
+            if self.cpu_profile:
+                args_list.append('-c')
+                args_list.append('-o')
+                args_list.append(self.cpu_profile_file)
+            if self.mem_profile:
+                args_list.append('-H')
+                args_list.append('-O')
+                args_list.append(self.mem_profile_file)
 
         self.args = args_list
 
         try:
-            self.popen = subprocess.Popen(args_list, stdout=subprocess.PIPE,
+            self.popen = subprocess.Popen(args_list, stdout=None,
                                           stderr=subprocess.STDOUT)
         except Exception as err:
             logger.error('Subprocess Popen exception: ' + str(err))
@@ -185,12 +230,23 @@ def start(self):
                 logger.error('Start process [%s] failed.', self.name)
                 return 2
 
-        th = threading.Thread(target=module_monitor, args=(self, ))
-        th.setDaemon(True)
-        th.start()
+        # th = threading.Thread(target=module_monitor, args=(self, ))
+        # th.setDaemon(True)
+        # th.start()
         self.started = True
         self.pid = self.popen.pid
-        logger.info('Start process [%s] successfully. pid: %d', self.name, self.popen.pid)
+        if self.nice != 0:
+            sudo_check = subprocess.run(
+                ['sudo', '-n', 'true'], stdout=None, stderr=None)
+            if sudo_check.returncode == 0:
+                subprocess.run(
+                    ["sudo", "renice", "-n", str(self.nice), "-p", str(self.pid)],
+                    stdout=None, stderr=subprocess.STDOUT)
+            else:
+                logger.error(
+                    'Can not renice because users do not have sudo privileges')
+        logger.info(
+            'Start process [%s] successfully. pid: %d', self.name, self.popen.pid)
         logger.info('-' * 120)
         return 0
 
@@ -248,9 +304,11 @@ def register(self, p):
         @type  p: L{Process}
         """
         if self.has_process(p.name):
-            logger.error('Cannot add process due to duplicate name "%s".', p.name)
+            logger.error(
+                'Cannot add process due to duplicate name "%s".', p.name)
         elif self.is_shutdown:
-            logger.error('Cannot add process [%s] due to monitor has been stopped.', p.name)
+            logger.error(
+                'Cannot add process [%s] due to monitor has been stopped.', p.name)
         else:
             self.procs.append(p)
 
@@ -274,13 +332,15 @@ def check_cleanup(self):
                 continue
             if pw.exception_handler == "respawn":
                 if pw.respawn_cnt < pw.respawn_limit:
-                    logger.warning('child process [%s][%d] exit, respawn!', pw.name, pw.pid)
+                    logger.warning(
+                        'child process [%s][%d] exit, respawn!', pw.name, pw.pid)
                     pw.start()
                     pw.respawn_cnt += 1
                 else:
                     dead_cnt += 1
             elif pw.exception_handler == "exit":
-                logger.warning('child process [%s][%d] exit, stop all', pw.name, pw.pid)
+                logger.warning(
+                    'child process [%s][%d] exit, stop all', pw.name, pw.pid)
                 # stop and exit
                 stop()
             else:
@@ -318,10 +378,12 @@ def stop(self, signal):
                 try:
                     p.wait(force_stop_timeout_secs)
                 except subprocess.TimeoutExpired as e:
-                    logger.warning("Begin force kill process [%s][%s].", p.name, p.pid)
+                    logger.warning(
+                        "Begin force kill process [%s][%s].", p.name, p.pid)
                     p.kill()
                 p.wait()
-                logger.info('Process [%s] has been stopped. dag_file: %s', p.name, p.dag_list)
+                logger.info(
+                    'Process [%s] has been stopped. dag_file: %s', p.name, p.dag_list)
         # Reset members
         self.procs = []
         self.dead_cnt = 0
@@ -386,37 +448,45 @@ def start(launch_file=''):
     # start each process
     for module in root.findall('module'):
         module_name = get_param_value(module, 'name')
-        process_name = get_param_value(module, 'process_name', 'mainboard_default_' + str(os.getpid()))
+        process_name = get_param_value(
+            module, 'process_name', 'mainboard_default_' + str(os.getpid()))
         sched_name = get_param_value(module, 'sched_name', 'CYBER_DEFAULT')
         process_type = get_param_value(module, 'type', 'library')
+        cpu_profile_file = get_param_value(module, 'cpuprofile')
+        mem_profile_file = get_param_value(module, 'memprofile')
         exception_handler = get_param_value(module, 'exception_handler')
         respawn_limit_txt = get_param_value(module, 'respawn_limit')
         if respawn_limit_txt.isnumeric():
             respawn_limit = int(respawn_limit_txt)
         else:
             respawn_limit = g_default_respawn_limit
+        nice_val = get_param_value(module, 'nice', 0)
         logger.info('Load module [%s] %s: [%s] [%s] conf, exception_handler: [%s], respawn_limit: [%d]',
                     module_name, process_type, process_name, sched_name, exception_handler, respawn_limit)
 
         if process_type == 'binary':
             if len(process_name) == 0:
-                logger.error('Start binary failed. Binary process_name is null.')
+                logger.error(
+                    'Start binary failed. Binary process_name is null.')
                 continue
             pw = ProcessWrapper(process_name.split()[0], 0, [""], [], process_name, process_type,
-                                sched_name, [], exception_handler, respawn_limit)
+                                sched_name, [], exception_handler, respawn_limit, nice=nice_val)
         # Default is library
         else:
             dag_list = get_param_list(module, 'dag_conf')
             if not dag_list:
-                logger.error('module [%s] library dag conf is null.', module_name)
+                logger.error(
+                    'module [%s] library dag conf is null.', module_name)
                 continue
             plugin_list = get_param_list(module, 'plugin')
             extra_args_list = []
             extra_args = module.attrib.get('extra_args')
             if extra_args is not None:
                 extra_args_list = extra_args.split()
-            pw = ProcessWrapper(g_binary_name, 0, dag_list, plugin_list, process_name, process_type,
-                                sched_name, extra_args_list, exception_handler, respawn_limit)
+            pw = ProcessWrapper(g_binary_name, 0, dag_list, plugin_list,
+                                process_name, process_type, sched_name,
+                                extra_args_list, exception_handler, respawn_limit,
+                                 cpu_profile_file, mem_profile_file, nice_val)
         result = pw.start()
         if result != 0:
             logger.error('Start manager [%s] failed. Stop all!', process_name)
diff --git a/cyber/tools/cyber_monitor/general_channel_message.cc b/cyber/tools/cyber_monitor/general_channel_message.cc
index db43ed3..bb26ef8 100644
--- a/cyber/tools/cyber_monitor/general_channel_message.cc
+++ b/cyber/tools/cyber_monitor/general_channel_message.cc
@@ -21,6 +21,7 @@
 #include <string>
 #include <vector>
 
+#include "cyber/common/global_data.h"
 #include "cyber/record/record_message.h"
 #include "cyber/tools/cyber_monitor/general_message.h"
 #include "cyber/tools/cyber_monitor/screen.h"
@@ -121,9 +122,10 @@ GeneralChannelMessage* GeneralChannelMessage::OpenChannel(
   }
 
   auto callback =
-      [this](
+      [this, channel_name](
           const std::shared_ptr<apollo::cyber::message::RawMessage>& raw_msg) {
         UpdateRawMessage(raw_msg);
+        UpdateChannelName(channel_name);
       };
 
   channel_reader_ =
diff --git a/cyber/tools/cyber_monitor/general_channel_message.h b/cyber/tools/cyber_monitor/general_channel_message.h
index e56f2d4..f16aa85 100644
--- a/cyber/tools/cyber_monitor/general_channel_message.h
+++ b/cyber/tools/cyber_monitor/general_channel_message.h
@@ -151,6 +151,10 @@ class GeneralChannelMessage : public GeneralMessageBase {
     channel_message_.reset();
     channel_message_ = raw_msg;
   }
+  void UpdateChannelName(const std::string& channel_name) {
+    std::lock_guard<std::mutex> _g(inner_lock_);
+    channel_name_ = channel_name;
+  }
 
   std::shared_ptr<apollo::cyber::message::RawMessage> CopyMsgPtr(void) const {
     decltype(channel_message_) channel_msg;
@@ -185,6 +189,7 @@ class GeneralChannelMessage : public GeneralMessageBase {
   std::vector<std::string> writers_;
 
   std::shared_ptr<apollo::cyber::message::RawMessage> channel_message_;
+  std::string channel_name_;
   std::shared_ptr<apollo::cyber::Reader<apollo::cyber::message::RawMessage>>
       channel_reader_;
   mutable std::mutex inner_lock_;
diff --git a/cyber/tools/cyber_monitor/main.cc b/cyber/tools/cyber_monitor/main.cc
index f7777ea..79fb7db 100644
--- a/cyber/tools/cyber_monitor/main.cc
+++ b/cyber/tools/cyber_monitor/main.cc
@@ -19,6 +19,7 @@
 
 #include "cyber/init.h"
 #include "cyber/service_discovery/topology_manager.h"
+#include "cyber/task/task.h"
 #include "cyber/tools/cyber_monitor/cyber_topology_message.h"
 #include "cyber/tools/cyber_monitor/general_channel_message.h"
 #include "cyber/tools/cyber_monitor/screen.h"
@@ -82,8 +83,7 @@ int main(int argc, char *argv[]) {
     case HELP:
       printHelp(argv[0]);
       return 0;
-    default: {
-    }
+    default: {}
   }
 
   apollo::cyber::Init(argv[0]);
@@ -95,12 +95,18 @@ int main(int argc, char *argv[]) {
 
   auto topology_callback =
       [&topology_msg](const apollo::cyber::proto::ChangeMsg &change_msg) {
-        topology_msg.TopologyChanged(change_msg);
+        apollo::cyber::Async([&topology_msg, change_msg] {
+          topology_msg.TopologyChanged(change_msg);
+        });
       };
 
   auto channel_manager =
       apollo::cyber::service_discovery::TopologyManager::Instance()
           ->channel_manager();
+  if (channel_manager == nullptr) {
+    AERROR << "Cyber Service Discovery is not ready.";
+    return -1;
+  }
   channel_manager->AddChangeListener(topology_callback);
 
   std::vector<apollo::cyber::proto::RoleAttributes> role_vec;
diff --git a/cyber/tools/cyber_performance/BUILD b/cyber/tools/cyber_performance/BUILD
new file mode 100644
index 0000000..1e68ff3
--- /dev/null
+++ b/cyber/tools/cyber_performance/BUILD
@@ -0,0 +1,13 @@
+load("//tools/proto:proto.bzl", "apollo_py_binary")
+load("//tools:apollo_package.bzl", "apollo_package")
+
+package(
+    default_visibility = ["//visibility:public"],
+)
+
+apollo_py_binary(
+    name = "cyber_performance",
+    srcs = ["cyber_performance.py"],
+)
+
+apollo_package()
\ No newline at end of file
diff --git a/cyber/tools/cyber_performance/cyber_performance.launch b/cyber/tools/cyber_performance/cyber_performance.launch
new file mode 100755
index 0000000..2fe3b88
--- /dev/null
+++ b/cyber/tools/cyber_performance/cyber_performance.launch
@@ -0,0 +1,11 @@
+<cyber>
+    <module>
+        <name>cyber_performance</name>
+        <dag_conf></dag_conf>
+        <type>binary</type>
+        <process_name>
+            cyber_performance
+        </process_name>
+        <exception_handler>respawn</exception_handler>
+    </module>
+</cyber>
\ No newline at end of file
diff --git a/cyber/tools/cyber_performance/cyber_performance.py b/cyber/tools/cyber_performance/cyber_performance.py
new file mode 100644
index 0000000..d0f4a05
--- /dev/null
+++ b/cyber/tools/cyber_performance/cyber_performance.py
@@ -0,0 +1,789 @@
+#!/usr/bin/env python3
+# ****************************************************************************
+# Copyright 2024 The Apollo Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ****************************************************************************
+
+import time
+import json
+import os
+import re
+import threading
+import platform
+import subprocess
+from queue import Queue
+from datetime import datetime
+from flask import Flask, jsonify, render_template_string
+from watchdog.observers import Observer
+from watchdog.events import FileSystemEventHandler
+from cyber.python.cyber_py3 import cyber
+
+app = Flask(__name__)
+data_history = {
+    "time": Queue(maxsize = 20),
+    "data": {},
+}
+today = datetime.now()
+data_lock = threading.Lock()
+if 'APOLLO_ENV_WORKROOT' in os.environ:
+    DIRECTORY_TO_WATCH = os.path.join(os.environ['APOLLO_ENV_WORKROOT'], "dumps")
+    PERFORMANCE_TO_WRITE = os.path.join(os.environ['APOLLO_ENV_WORKROOT'], "data")
+else:
+    DIRECTORY_TO_WATCH = os.path.join("/apollo", "dumps")
+    PERFORMANCE_TO_WRITE = os.path.join("/apollo", "data")
+if not os.path.exists(DIRECTORY_TO_WATCH):
+    os.mkdir(DIRECTORY_TO_WATCH)
+if not os.path.exists(PERFORMANCE_TO_WRITE):
+    os.mkdir(PERFORMANCE_TO_WRITE)
+dumps_fio = open(
+  os.path.join(PERFORMANCE_TO_WRITE,
+    "performance_dumps.{}.json".format(today.strftime("%m-%d-%Y"))), "a+")
+sample_times = 0
+response = {}
+update_time = 5000
+chasis_channle = "/apollo/canbus/chassis"
+iface_path = "/sys/class/net"
+autodrive = False
+machine = platform.machine()
+nethogs_buf = ""
+process_network_io = {}
+network_data_lock = threading.Lock()
+
+sudo_prv = subprocess.run(
+    ['sudo', '-n', 'true'], stdout=None, stderr=None).returncode == 0
+
+remove_list = []
+for i in os.listdir(DIRECTORY_TO_WATCH):
+    if i.startswith("performance_dumps"):
+        date_str = i.split(".")[1]
+        try:
+            file_save_date = datetime.strptime(date_str, "%m-%d-%Y")
+        except:
+            remove_list.append(os.path.join(DIRECTORY_TO_WATCH, i))
+            continue 
+        if (today - file_save_date).days > 30:
+            remove_list.append(os.path.join(DIRECTORY_TO_WATCH, i))
+for i in remove_list:
+    os.remove(i)
+
+cyber_instance = None
+debounce_period = 1
+last_modified = {}
+
+class CyberChannelecho(object):
+
+    def __init__(self, channel_name):
+        cyber.init()
+        self.pattern = r"driving_mode:\s*(\w+)"
+        self.channel_name = channel_name
+        self.node = cyber.Node("listener_node_echo")
+        self.node.create_rawdata_reader(channel_name, self.callback)
+
+    def callback(self, raw_data):
+        global autodrive
+        msgtype = cyber.ChannelUtils.get_msgtype(self.channel_name, 0).decode('utf-8')
+        text = cyber.ChannelUtils.get_debugstring_rawmsgdata(msgtype, raw_data).decode('utf-8')
+        match = re.search(self.pattern, text)
+        if match:
+            ret = match.group(1)
+            if ret == "COMPLETE_AUTO_DRIVE":
+                autodrive = True
+            else:
+                autodrive = False 
+
+def cyber_task():
+    global cyber_instance
+    cyber_instance = CyberChannelecho(chasis_channle)
+
+def watcher_run():
+    global DIRECTORY_TO_WATCH
+    event_handler = Handler()
+    observer = Observer()
+    
+    observer.schedule(event_handler, DIRECTORY_TO_WATCH)
+    observer.start()
+    try:
+        while True:
+            time.sleep(5)
+    except KeyboardInterrupt:
+        observer.stop()
+    observer.join()
+
+def gpu_memory_usage(pid):
+    gpu_mem_kernel_file = "/sys/kernel/debug/nvmap/iovmm/maps"
+    gpu_mem = 0
+
+    if pid == -1:
+        return gpu_mem
+    if machine == "aarch64":
+        total, processes = read_process_table(gpu_mem_kernel_file)
+        if total is not None:
+            for p in processes:
+                if pid == int(p[0]):
+                    gpu_mem = int(p[3])
+                    break
+    else:
+        query_cmd = "nvidia-smi --query-compute-apps=pid,used_memory --format=csv,noheader,nounits"
+        p = subprocess.run(query_cmd, shell=True,
+                stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+        stdout = p.stdout.decode("utf-8").strip().splitlines()
+        for line in stdout:
+            eles = [i.strip() for i in line.split(",")]
+            if len(eles) < 2:
+                break
+            if int(eles[0]) == pid:
+                gpu_mem = int(eles[1])
+                break
+    return gpu_mem
+
+def read_process_table(path_table):
+    """
+    This method list all processes working with GPU
+
+    ========== ============ ======== =============
+    user       process      PID      size
+    ========== ============ ======== =============
+    user       name process number   dictionary
+    ========== ============ ======== =============
+
+    :return: list of all processes
+    :type spin: list
+    """
+    if not os.path.exists(path_table):
+        return None, None
+    if not os.access(path_table, os.R_OK):
+        return None, None
+    MEM_TABLE_REG = re.compile(r'^(?P<user>\w+)\s+(?P<process>[^ ]+)\s+(?P<PID>\d+)\s+(?P<size>\d+)(?P<unit>\w)\n')
+    TOT_TABLE_REG = re.compile(r'total\s+(?P<size>\d+)(?P<unit>\w)')
+
+    table = []
+    total = {}
+    with open(path_table, "r") as fp:
+        for line in fp:
+            # Search line
+            match = re.search(MEM_TABLE_REG, line)
+            if match:
+                parsed_line = match.groupdict()
+                data = [
+                    parsed_line['PID'],
+                    parsed_line['user'],
+                    parsed_line['process'],
+                    int(parsed_line['size']),
+                ]
+                table += [data]
+                continue
+            # Find total on table
+            match = re.search(TOT_TABLE_REG, line)
+            if match:
+                parsed_line = match.groupdict()
+                total = int(parsed_line['size'])
+                continue
+    # return total and table
+    return total, table
+
+class Handler(FileSystemEventHandler):
+    @staticmethod
+    def on_any_event(event):
+        global data_history 
+        global data_lock
+        global autodrive
+        global network_data_lock, process_network_io
+
+        if event.is_directory:
+            return None
+
+        elif event.event_type == 'created' or event.event_type == 'modified':
+            if not event.src_path.endswith(".system.data"):
+                return None
+
+            current_time = time.time()
+            last_mod_time = last_modified.get(event.src_path, 0)
+
+            if current_time - last_mod_time <= debounce_period:
+                return None
+            else:
+                last_modified[event.src_path] = current_time
+            
+            print(f'Event type: {event.event_type}  path : {event.src_path}')
+            file_name = event.src_path.replace(DIRECTORY_TO_WATCH + "/", "")
+            process_name = file_name.replace(".system.data", "")
+            pid_file_name = event.src_path.replace(".system.data", ".data")
+            latency_file_name = event.src_path.replace(".system.data", ".latency.data") 
+            while True:
+                with open(event.src_path, 'r') as f:
+                    current_data = {}
+                    current_data["autodrive"] = autodrive
+                    contents = f.read().split("\n")
+                    if len(contents) == 0:
+                        continue
+                    elif len(contents) == 1 and contents[0] == "":
+                        continue
+                    for line in contents:
+                        if line == "":
+                            continue
+                        instance = line.strip().split(" : ")
+                        if len(instance) == 1:
+                            continue
+                        
+                        if instance[0].endswith("cpu_usage"):
+                            current_data["BASIC - cpu_usage(%, single-core)"] = float(instance[1]) * 100
+                        elif instance[0].endswith("memory_resident"):
+                            current_data["BASIC - memory(MB)"] = int(instance[1]) / 1024 / 1024
+                        elif instance[0].endswith("disk_read_bytes_second"):
+                            current_data["BLOCK_DEVICE_IO - block_device_io_read(rkB/s)"] = int(instance[1]) / 1024
+                        elif instance[0].endswith("disk_write_bytes_second"):
+                            current_data["BLOCK_DEVICE_IO - block_device_io_write(wkB/s)"] = int(instance[1]) / 1024
+                        else:
+                            continue
+                    break
+            pid = -1
+
+            with open(pid_file_name, "r") as pf:
+                contents = pf.readlines()
+                for line in contents:
+                    if line == "":
+                        continue
+                    instance = line.strip().split(" : ")
+                    if len(instance) == 1:
+                        continue
+                    if instance[0].endswith("_pid"):
+                        pid = int(instance[1])
+                        break
+            gpu_mem = gpu_memory_usage(pid)
+
+            with open(latency_file_name, "r") as lf:
+                contents = lf.readlines()
+                has_proc_info = False
+                for line in contents:
+                    if "proc_latency :" in line:
+                        instance = line.split(" : ")
+                        latency_name = instance[0].replace("mainboard_", "")
+                        latency_val = float((instance[1].strip())) / 1000
+                    else:
+                        continue
+                    has_proc_info = True
+                    current_data[f"E2E_LATENCY - {latency_name}(ms)"] = latency_val
+            if not has_proc_info:
+                return 
+            with network_data_lock:
+                if pid in process_network_io:
+                    current_data["ETHERNET_DEVICE_IO - ethernet_device_io_write(wkB/s)"] = process_network_io[pid]["tx"]
+                    current_data["ETHERNET_DEVICE_IO - ethernet_device_io_read(rkB/s)"] = process_network_io[pid]["rx"] 
+                else:
+                    current_data["ETHERNET_DEVICE_IO - ethernet_device_io_write(wkB/s)"] = 0
+                    current_data["ETHERNET_DEVICE_IO - ethernet_device_io_read(rkB/s)"] = 0  
+            
+            current_data["BASIC - gpu_memory(MB)"] = gpu_mem / 1024
+                    
+            with data_lock:
+                if process_name not in data_history["data"]:  
+                    data_history["data"][process_name] = {}
+                    data_history["data"][process_name]["time"] = Queue(maxsize = 20)
+                
+                for key in current_data:
+                    if key not in data_history["data"][process_name]:
+                        data_history["data"][process_name][key] = Queue(maxsize = 20)
+
+                time_format = datetime.now().strftime("%m/%d/%Y, %H:%M:%S")
+                if data_history["data"][process_name]["time"].full():
+                    data_history["data"][process_name]["time"].get()
+                data_history["data"][process_name]["time"].put(time_format)
+
+                for key, value in current_data.items():
+                    if data_history["data"][process_name][key].full():
+                        data_history["data"][process_name][key].get()
+                    data_history["data"][process_name][key].put(value)
+
+
+def sample_task():
+  global data_history 
+  global sample_times
+  global dumps_fio
+  global response
+  global autodrive
+
+  p = subprocess.run(
+      "which tegrastats", shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+
+  tegrastats = None
+  if p.returncode == 0:
+      tegrastats = p.stdout.decode("utf-8").strip()
+
+  system_info = {
+    "system-cpu": Queue(maxsize = 20),
+    "system-memory": Queue(maxsize = 20),
+    "system-gpu": Queue(maxsize = 20),
+    "time": Queue(maxsize = 20),
+    "system-io-usage": Queue(maxsize = 20),
+    "autodrive": Queue(maxsize = 20),
+    "block-device-io" : {},
+    "ethernet-device-io": {}
+  }
+  
+  while True:
+      sample_times = sample_times + 1
+      system_cpu = None
+      system_memory = None
+      system_gpu = None
+      system_io_usage = None
+      if tegrastats is not None:
+          time_format = datetime.now().strftime("%m/%d/%Y, %H:%M:%S")
+          p = subprocess.run(
+              " ".join(["timeout", "2", tegrastats]), shell=True, 
+              stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+          stdout = p.stdout.decode("utf-8").strip()
+
+          cpu_usage_pattern = re.compile(r'\bCPU \[(.*?)\]')
+          match_result = cpu_usage_pattern.findall(stdout)
+          if len(match_result) > 0:
+              usages = re.findall(r'(\d+)%@', match_result[0])
+              system_cpu = 0
+              for usage in usages:
+                  system_cpu += float(usage)
+              system_cpu = system_cpu / len(usages)
+          
+          gpu_usage_pattern = re.compile(r'GR3D_FREQ (\d+)%')
+          match_result = gpu_usage_pattern.findall(stdout)
+          if len(match_result) > 0:
+              system_gpu = float(match_result[0])
+
+          p = subprocess.run(
+              "vmstat 1 2 | awk '{print $16}' | tail -n 1", shell=True, 
+              stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+          stdout = p.stdout.decode("utf-8").strip()
+          system_io_usage = float(stdout)
+      else:
+          p = subprocess.run(
+              "top -bn2 | grep Cpu | awk '{print $8}' | tail -n 1", shell=True, 
+              stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+          stdout = p.stdout.decode("utf-8").strip()
+          time_format = datetime.now().strftime("%m/%d/%Y, %H:%M:%S")
+          system_cpu = 100 - float(stdout) 
+
+          system_gpu = 0 
+
+          p = subprocess.run(
+              "vmstat | awk '{print $16}' | tail -n 1", shell=True, 
+              stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+          stdout = p.stdout.decode("utf-8").strip()
+          system_io_usage = float(stdout)
+      p = subprocess.run("cat /proc/meminfo",
+          shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+      stdout = p.stdout.decode("utf-8").strip().splitlines()
+      meminfo = {}
+      for i in stdout:
+          k, v = i.split(":")[0].strip().lower(), i.split(":")[1].strip()
+          value = round(int(v.strip().split(' ')[0]) / 1024, 2)
+          meminfo[k] = value
+      
+      total = meminfo["memtotal"]
+      buffers = meminfo["buffers"]
+      cached = meminfo["cached"]
+      sreclaimable = meminfo["sreclaimable"]
+      free = meminfo["memfree"]
+      shm = meminfo["shmem"]
+      if "memavailable" not in meminfo:
+          used_without_shm = total - buffers - cached - sreclaimable
+          used = used_without_shm + shm
+      else:
+          available = meminfo["memavailable"]
+          used = total - available
+      system_memory = used 
+          
+      if system_cpu is not None \
+            and system_gpu is not None \
+            and system_memory is not None \
+            and system_io_usage is not None:
+          if system_info["time"].full():
+              system_info["time"].get()
+          system_info["time"].put(time_format) 
+          if system_info["system-cpu"].full():
+              system_info["system-cpu"].get()
+          system_info["system-cpu"].put(system_cpu) 
+          if system_info["system-gpu"].full():
+              system_info["system-gpu"].get()
+          system_info["system-gpu"].put(system_gpu)
+          if system_info["system-memory"].full():
+              system_info["system-memory"].get()
+          system_info["system-memory"].put(system_memory)
+          if system_info["system-io-usage"].full():
+              system_info["system-io-usage"].get()
+          system_info["system-io-usage"].put(system_io_usage)
+          if system_info["autodrive"].full():
+              system_info["autodrive"].get()
+          system_info["autodrive"].put(autodrive) 
+      
+      p = subprocess.run(
+          "lsblk -o NAME,TYPE,SIZE,TRAN --json", shell=True, 
+          stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+      stdout = p.stdout.decode("utf-8").strip()
+      blk_devices = json.loads(stdout)
+      blk_monitor_devices = []
+      try:
+          for dev in blk_devices["blockdevices"]:
+              if dev["type"] != "disk":
+                  continue
+                
+              if dev["tran"] == "nvme" or dev["tran"] == "sata": 
+                  blk_monitor_devices.append(dev["name"])
+              elif dev["tran"] == "null" and "children" in dev:
+                  blk_monitor_devices.append(dev["name"])
+          blk_monitor_devices = list(filter(
+              lambda x: os.path.exists(f"/dev/{x}"), blk_monitor_devices))
+      except Exception as ex:
+          blk_monitor_devices = []
+
+      if len(blk_monitor_devices) > 0:
+          for dev in blk_monitor_devices:
+              if dev not in system_info["block-device-io"]:
+                  system_info["block-device-io"][dev] = {
+                      "rkB/s": Queue(maxsize = 20),
+                      "wkB/s": Queue(maxsize = 20),
+                      "r/s": Queue(maxsize = 20),
+                      "w/s": Queue(maxsize = 20),
+                      "r_await": Queue(maxsize = 20),
+                      "w_await": Queue(maxsize = 20),
+                      "aqu-sz": Queue(maxsize = 20)
+                  }
+
+          query_devices = " ".join(blk_monitor_devices)
+          stat_length = len(blk_monitor_devices) + 1
+          query_cmd = f"iostat -xk 1 2 {query_devices} | grep -v '^$' | tail -n {stat_length}"
+
+          p = subprocess.run(query_cmd, shell=True, 
+              stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+          stdout = p.stdout.decode("utf-8").strip().splitlines()
+          
+          monitor_items = list(filter(lambda x: x != "", stdout[0].split(" ")))
+          for i in range(1, len(stdout)):
+              dev_res = list(filter(lambda x: x != "", stdout[i].split(" ")))
+              dev_name = dev_res[0]
+              for j in range(1, len(monitor_items)):
+                  if monitor_items[j] not in system_info["block-device-io"][dev_name]:
+                      continue
+                  monitor_item = monitor_items[j]
+                  if system_info["block-device-io"][dev_name][monitor_item].full():
+                      system_info["block-device-io"][dev_name][monitor_item].get()
+                  system_info["block-device-io"][dev_name][monitor_item].put(dev_res[j])
+      
+      eth_devices = []
+      for i in os.listdir(iface_path):
+          if os.path.exists(os.path.join(iface_path, i, "device", "driver")):
+              eth_devices.append(i)
+      if len(eth_devices) > 0:
+          for dev in eth_devices:
+              if dev not in system_info["ethernet-device-io"]:
+                  system_info["ethernet-device-io"][dev] = {
+                      "rxkB/s": Queue(maxsize = 20),
+                      "txkB/s": Queue(maxsize = 20),
+                      "%ifutil": Queue(maxsize = 20)
+                  }
+          query_cmd = "sar -n DEV 1 1 | grep --color=never Average"
+          p = subprocess.run(query_cmd, shell=True, 
+              stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+          stdout = p.stdout.decode("utf-8").strip().splitlines()
+
+          monitor_items = list(filter(lambda x: x != "", stdout[0].split(" ")))
+          for i in range(1, len(stdout)):
+              dev_res = list(filter(lambda x: x != "", stdout[i].split(" ")))
+              dev_name = dev_res[1]
+              if dev_name not in system_info["ethernet-device-io"]:
+                  continue
+              for j in range(2, len(monitor_items)):
+                  if monitor_items[j] not in system_info["ethernet-device-io"][dev_name]:
+                      continue
+                  monitor_item = monitor_items[j]
+                  if system_info["ethernet-device-io"][dev_name][monitor_item].full():
+                      system_info["ethernet-device-io"][dev_name][monitor_item].get()
+                  system_info["ethernet-device-io"][dev_name][monitor_item].put(dev_res[j]) 
+
+      # system metrics
+      response = {
+          "data": {"system": {}}
+      }
+
+      # status
+      response["data"]["system"]["time"] = list(system_info["time"].queue)
+      response["data"]["system"]["autodrive"] = list(system_info["autodrive"].queue)
+      
+      # basic performance metrics
+      response["data"]["system"]["BASIC - system - cpu_usage(%, all-core)"] = list(system_info["system-cpu"].queue)
+      response["data"]["system"]["BASIC - system - gpu_usage(%)"] = list(system_info["system-gpu"].queue)
+      response["data"]["system"]["BASIC - system - memory(MB)"] = list(system_info["system-memory"].queue)
+
+      # io metrics
+      response["data"]["system"]["BLOCK_DEVICE_IO - system - io_wait_usage(%)"] = list(system_info["system-io-usage"].queue)
+      for dev in system_info["block-device-io"]:
+          for io_metric in system_info["block-device-io"][dev]:
+              response["data"]["system"][f"BLOCK_DEVICE_IO - {dev} - {io_metric}"] = \
+                  list(system_info["block-device-io"][dev][io_metric].queue)
+      for dev in system_info["ethernet-device-io"]:
+          for io_metric in system_info["ethernet-device-io"][dev]:
+              response["data"]["system"][f"ETHERNET_DEVICE_IO - {dev} - {io_metric}"] = \
+                  list(system_info["ethernet-device-io"][dev][io_metric].queue)
+    
+      # process metrics
+      for p in data_history["data"]:
+          response["data"][p] = {}
+          for monitor_instance in data_history["data"][p]:
+              response["data"][p][monitor_instance] = list(
+                  data_history["data"][p][monitor_instance].queue)
+
+      if sample_times >= 20:
+          dumps_fio.write(json.dumps(response))
+          dumps_fio.write('\n')
+          dumps_fio.flush()
+          sample_times = 0
+
+      time.sleep(update_time / 1000)
+@app.route('/get_data', methods=['GET'])  
+def get_data():  
+  global response 
+  
+  return jsonify(response)
+  
+@app.route('/')  
+def index():  
+    return render_template_string('''
+<!DOCTYPE html>
+<html lang="en">
+<head>
+  <meta charset="UTF-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  <title>cyber_performance</title>
+  <!-- Include Chart.js -->
+  <script src="https://apollo-system.cdn.bcebos.com/archive/9.0/chart.js"></script>
+  <style>
+    .chart-container {
+      display: flex;
+      flex-wrap: wrap;
+      justify-content: flex-start; /* Align charts to the start of the container */
+    }
+
+    .chart-item {
+      width: calc(33.33% - 20px); /* Adjusted to make each chart take up one-third of the container width with some spacing */
+      margin: 10px; /* Add margin for spacing between charts */
+      max-width: calc(33.33% - 20px); /* Set max-width to ensure charts don't exceed one-third of the container width */
+    }
+
+    canvas {
+      max-width: 100%;
+    }
+  </style>
+</head>
+<body>
+  <select id="processSelector">
+        <!-- dynamically added by JS code -->
+  </select>
+  <div class="chart-container" id="chartsContainer"></div>
+  
+
+  <script>
+    let selectedProcess = 'system';
+    let chartMap = {};
+
+    // Function to update the process selection dropdown
+    function updateProcessSelection(processNames) {
+      const processSelector = document.getElementById('processSelector');
+      processSelector.innerHTML = ''; // Should we clear current option?
+      processNames.forEach(processName => {
+        const option = document.createElement('option');
+        option.value = processName;
+        option.textContent = processName;
+        if (processName === selectedProcess) {
+          option.selected = true;
+        }
+        processSelector.appendChild(option);
+      });
+    }
+
+    // Function to handle process selection changes
+    function onProcessSelectionChange() {
+      const processSelector = document.getElementById('processSelector');
+      if (selectedProcess !== processSelector.value) {
+        selectedProcess = processSelector.value;
+        const chartsContainer = document.getElementById('chartsContainer');
+        chartsContainer.innerHTML = ''; // Remove all child elements (charts)
+        chartMap = {}; // Reset the chartMap since all charts are removed
+      }
+      updateCharts();
+    }
+
+    async function updateCharts() {
+      const data = await fetchData();
+      if (!data || !data.data) {
+        return;
+      }
+      const time = data.time;
+      const processData = data.data;
+
+      const processNames = Object.keys(processData);
+
+      const chartsContainer = document.getElementById('chartsContainer');
+
+      processNames.forEach(processName => {
+        const monitoringItems = Object.keys(processData[processName]);
+        if (processName === selectedProcess) { 
+          // Only proceed if process is selected
+          // Existing code to create/update charts
+          monitoringItems.filter(item => item !== 'time' && item !== 'autodrive').forEach(item => {
+            const chartId = processName + '-' + item + 'Chart';
+
+            if (chartMap[chartId]) {
+              // Update existing chart
+              const chart = chartMap[chartId];
+              chart.data.labels = processData[processName]['time'];
+              chart.data.datasets[0].data = processData[processName][item];
+              chart.update();
+            } else {
+              // Create new chart container and canvas
+              const chartItem = document.createElement('div');
+              chartItem.classList.add('chart-item');
+              chartsContainer.appendChild(chartItem);
+
+              const canvas = document.createElement('canvas');
+              canvas.id = chartId;
+              chartItem.appendChild(canvas);
+
+              // Initialize chart data object
+              const chartData = {
+                labels: processData[processName]['time'],
+                datasets: [{
+                  label: item,
+                  data: processData[processName][item],
+                  borderColor: getRandomColor(),
+                  backgroundColor: 'rgba(255, 255, 255, 0)', // Transparent background
+                  borderWidth: 1
+                }]
+              };
+
+              // Create new chart and save reference
+              const ctx = canvas.getContext('2d');
+              const newChart = new Chart(ctx, {
+                type: 'line',
+                data: chartData,
+                options: {
+                  scales: {
+                    xAxes: [{
+                      type: 'category', // Set type to 'category' for string labels
+                      position: 'bottom',
+                      ticks: {
+                        stepSize: 1,
+                        beginAtZero: true
+                      }
+                    }],
+                    yAxes: [{
+                      ticks: {
+                        beginAtZero: true
+                      }
+                    }]
+                  },
+                  plugins: [{
+                    afterDraw: function(chart) {
+                      const ctx = chart.ctx;
+                      ctx.save();
+                      ctx.textAlign = 'center';
+                      ctx.textBaseline = 'middle';
+                      ctx.fillStyle = 'rgba(0, 0, 0, 0.7)';
+                      ctx.font = '12px Arial';
+                      ctx.fillText('Memory (MB)', chart.chartArea.right + 20, chart.chartArea.top + (chart.chartArea.bottom - chart.chartArea.top) / 2);
+                      ctx.restore();
+                    }
+                  }]
+                }
+              });
+
+              chartMap[chartId] = newChart;
+            }
+          });
+        }
+
+      });
+    }
+
+    document.getElementById('processSelector').addEventListener('change', onProcessSelectionChange);
+
+    // Function to fetch data from backend API
+    async function fetchData() {
+      const response = await fetch('/get_data');
+      const data = await response.json();
+      if (data && data.data) {
+        const processNames = Object.keys(data.data);
+        updateProcessSelection(processNames);
+      }
+      return data;
+    }
+
+    // Function to generate random color
+    function getRandomColor() {
+      const letters = '0123456789ABCDEF';
+      let color = '#';
+      for (let i = 0; i < 6; i++) {
+        color += letters[Math.floor(Math.random() * 16)];
+      }
+      return color;
+    }
+
+    // Update charts every 5 seconds
+    setInterval(updateCharts, 5000);
+
+    // Initial call to update charts
+    updateCharts();
+  </script>
+</body>
+</html>
+    ''')  
+
+if __name__ == '__main__':
+    system_sample_thread = threading.Thread(target=sample_task)
+    system_sample_thread.daemon = True
+    system_sample_thread.start()
+    
+    watchdog_thread = threading.Thread(target=watcher_run)
+    watchdog_thread.daemon = True
+    watchdog_thread.start()
+
+    if sudo_prv:
+        nethogs_process = subprocess.Popen(
+            ['sudo', 'nethogs', '-t'], stdout=subprocess.PIPE,
+            stderr=subprocess.PIPE, bufsize=1, universal_newlines=True)
+
+        def parse_nethogs_output():
+            global nethogs_buf, process_network_io, network_data_lock
+            for line in iter(nethogs_process.stdout.readline, ''):
+                if line.startswith("Refreshing:"):
+                    with network_data_lock:
+                        process_network_io = {}
+                        nethogs_buf_list = list(filter(lambda x: x!= "", nethogs_buf.split("\n")))
+                        for i in nethogs_buf_list:
+                            raw_line = list(filter(lambda x: x != "", i.split(" ")))
+                            raw_process_info = raw_line[0].split("\t")
+                            process_info = raw_process_info[0].split("/")
+                            if len(process_info) < 3 or int(process_info[-2]) == 0:
+                                continue
+                            process_network_io[int(process_info[-2])] = {} 
+                            process_network_io[int(process_info[-2])]["rx"] = float(raw_process_info[2])
+                            process_network_io[int(process_info[-2])]["tx"] = float(raw_process_info[1])
+                    nethogs_buf = ""
+                else:
+                    nethogs_buf = nethogs_buf + line
+        
+        network_sample_thread = threading.Thread(target=parse_nethogs_output)
+        network_sample_thread.daemon = True
+        network_sample_thread.start()
+
+    cyber_task()
+    
+    app.run(host="0.0.0.0", threaded=True)
+
diff --git a/cyber/tools/cyber_recorder/BUILD b/cyber/tools/cyber_recorder/BUILD
index a53af19..14c1e0f 100644
--- a/cyber/tools/cyber_recorder/BUILD
+++ b/cyber/tools/cyber_recorder/BUILD
@@ -8,7 +8,11 @@ apollo_cc_binary(
     srcs = [
         "main.cc",
     ],
-    linkopts = ["-pthread"],
+    linkopts = [
+        "-pthread",
+        "-lprofiler",
+        "-ltcmalloc",
+    ],
     deps = [
         ":recorder",
         "//cyber",
@@ -34,7 +38,7 @@ apollo_cc_library(
         "//cyber",
         "//cyber/common:cyber_common",
         "//cyber/proto:record_cc_proto",
-        "@fastrtps",
+        "@fastdds",
     ],
 )
 
diff --git a/cyber/tools/cyber_recorder/main.cc b/cyber/tools/cyber_recorder/main.cc
index b43396b..1136b98 100644
--- a/cyber/tools/cyber_recorder/main.cc
+++ b/cyber/tools/cyber_recorder/main.cc
@@ -15,12 +15,15 @@
  *****************************************************************************/
 
 #include <getopt.h>
+#include <csignal>
 #include <cstddef>
+#include <filesystem>
 #include <memory>
 #include <stdexcept>
 #include <string>
 #include <vector>
 
+#include "cyber/common/environment.h"
 #include "cyber/common/file.h"
 #include "cyber/common/time_conversion.h"
 #include "cyber/init.h"
@@ -30,6 +33,11 @@
 #include "cyber/tools/cyber_recorder/recoverer.h"
 #include "cyber/tools/cyber_recorder/spliter.h"
 
+#include "gflags/gflags.h"
+#include "gperftools/heap-profiler.h"
+#include "gperftools/malloc_extension.h"
+#include "gperftools/profiler.h"
+
 using apollo::cyber::common::GetFileName;
 using apollo::cyber::common::StringToUnixSeconds;
 using apollo::cyber::common::UnixSecondsToString;
@@ -42,7 +50,7 @@ using apollo::cyber::record::Recoverer;
 using apollo::cyber::record::Spliter;
 
 const char INFO_OPTIONS[] = "h";
-const char RECORD_OPTIONS[] = "o:ac:k:i:m:h";
+const char RECORD_OPTIONS[] = "o:ac:k:i:m:hCH";
 const char PLAY_OPTIONS[] = "f:ac:k:lr:b:e:s:d:p:h";
 const char SPLIT_OPTIONS[] = "f:o:c:k:b:e:h";
 const char RECOVER_OPTIONS[] = "f:o:h";
@@ -148,6 +156,13 @@ void DisplayUsage(const std::string& binary, const std::string& command,
       case 'h':
         std::cout << "\t-h, --help\t\t\t\tshow help message" << std::endl;
         break;
+      case 'H':
+        std::cout << "\t-H, --heap-profule\t\t\t\tprofile heap info"
+                  << std::endl;
+        break;
+      case 'C':
+        std::cout << "\t-C, --cpu-profule\t\t\t\tprofile cpu info" << std::endl;
+        break;
       case ':':
         break;
       default:
@@ -170,7 +185,7 @@ int main(int argc, char** argv) {
   }
 
   int long_index = 0;
-  const std::string short_opts = "f:c:k:o:alr:b:e:s:d:p:i:m:h";
+  const std::string short_opts = "f:c:k:o:alr:b:e:s:d:p:i:m:hCH";
   static const struct option long_opts[] = {
       {"files", required_argument, nullptr, 'f'},
       {"white-channel", required_argument, nullptr, 'c'},
@@ -186,12 +201,16 @@ int main(int argc, char** argv) {
       {"preload", required_argument, nullptr, 'p'},
       {"segment-interval", required_argument, nullptr, 'i'},
       {"segment-size", required_argument, nullptr, 'm'},
-      {"help", no_argument, nullptr, 'h'}};
+      {"help", no_argument, nullptr, 'h'},
+      {"cpu-profile", no_argument, nullptr, 'C'},
+      {"heap-profule", no_argument, nullptr, 'H'}};
 
   std::vector<std::string> opt_file_vec;
   std::vector<std::string> opt_output_vec;
   std::vector<std::string> opt_white_channels;
   std::vector<std::string> opt_black_channels;
+  static bool enable_cpu_profile = false;
+  static bool enable_heap_profile = false;
   bool opt_all = false;
   bool opt_loop = false;
   float opt_rate = 1.0f;
@@ -209,11 +228,37 @@ int main(int argc, char** argv) {
       break;
     }
     switch (opt) {
+      case 'C':
+        enable_cpu_profile = true;
+        break;
+      case 'H':
+        enable_heap_profile = true;
+        break;
       case 'f':
-        opt_file_vec.emplace_back(std::string(optarg));
+        if (!apollo::cyber::common::PathIsAbsolute(std::string(optarg))) {
+          auto opt_file_abs_path =
+              apollo::cyber::common::GetEnv("PWD") + "/" + std::string(optarg);
+          if (apollo::cyber::common::PathExists(opt_file_abs_path)) {
+            opt_file_vec.emplace_back(opt_file_abs_path);
+          } else {
+            opt_file_vec.emplace_back(std::string(optarg));
+          }
+        } else {
+          opt_file_vec.emplace_back(std::string(optarg));
+        }
         for (int i = optind; i < argc; i++) {
           if (*argv[i] != '-') {
-            opt_file_vec.emplace_back(std::string(argv[i]));
+            if (!apollo::cyber::common::PathIsAbsolute(std::string(argv[i]))) {
+              auto opt_file_abs_path = apollo::cyber::common::GetEnv("PWD") +
+                                       "/" + std::string(argv[i]);
+              if (apollo::cyber::common::PathExists(opt_file_abs_path)) {
+                opt_file_vec.emplace_back(opt_file_abs_path);
+              } else {
+                opt_file_vec.emplace_back(std::string(argv[i]));
+              }
+            } else {
+              opt_file_vec.emplace_back(std::string(argv[i]));
+            }
           } else {
             break;
           }
@@ -240,7 +285,13 @@ int main(int argc, char** argv) {
         }
         break;
       case 'o':
-        opt_output_vec.push_back(std::string(optarg));
+        if (!apollo::cyber::common::PathIsAbsolute(std::string(optarg))) {
+          auto opt_output_file_abs_path =
+              apollo::cyber::common::GetEnv("PWD") + "/" + std::string(optarg);
+          opt_output_vec.push_back(opt_output_file_abs_path);
+        } else {
+          opt_output_vec.push_back(std::string(optarg));
+        }
         break;
       case 'a':
         opt_all = true;
@@ -360,6 +411,13 @@ int main(int argc, char** argv) {
       std::cout << "usage: cyber_recorder info file" << std::endl;
       return -1;
     }
+    if (!apollo::cyber::common::PathIsAbsolute(file_path)) {
+      auto file_path_abs =
+          apollo::cyber::common::GetEnv("PWD") + "/" + std::string(file_path);
+      if (std::filesystem::exists(file_path_abs)) {
+        file_path = file_path_abs;
+      }
+    }
     ::apollo::cyber::Init(argv[0]);
     Info info;
     bool info_result = info.Display(file_path);
@@ -388,7 +446,7 @@ int main(int argc, char** argv) {
       std::cout << "MUST specify file option (-f)." << std::endl;
       return -1;
     }
-    ::apollo::cyber::Init(argv[0]);
+    ::apollo::cyber::Init(argv[0], "cyber_recorder");
     PlayParam play_param;
     play_param.is_play_all_channels = opt_all || opt_white_channels.empty();
     play_param.is_loop_playback = opt_loop;
@@ -419,6 +477,7 @@ int main(int argc, char** argv) {
     }
     if (opt_output_vec.empty()) {
       std::string default_output_file =
+          apollo::cyber::common::GetEnv("PWD") + "/" +
           UnixSecondsToString(time(nullptr), "%Y%m%d%H%M%S") + ".record";
       opt_output_vec.push_back(default_output_file);
     }
@@ -426,6 +485,35 @@ int main(int argc, char** argv) {
     auto recorder = std::make_shared<Recorder>(opt_output_vec[0], opt_all,
                                                opt_white_channels,
                                                opt_black_channels, opt_header);
+    std::signal(SIGTERM, [](int sig) {
+      apollo::cyber::OnShutdown(sig);
+      if (enable_cpu_profile) {
+        ProfilerStop();
+      }
+      if (enable_heap_profile) {
+        HeapProfilerDump("Befor shutdown");
+        HeapProfilerStop();
+      }
+    });
+
+    std::signal(SIGINT, [](int sig) {
+      apollo::cyber::OnShutdown(sig);
+      if (enable_cpu_profile) {
+        ProfilerStop();
+      }
+      if (enable_heap_profile) {
+        HeapProfilerDump("Befor shutdown");
+        HeapProfilerStop();
+      }
+    });
+
+    auto base_name = std::string(argv[0]) + std::string(".prof");
+    if (enable_cpu_profile) {
+      ProfilerStart(base_name.c_str());
+    }
+    if (enable_heap_profile) {
+      HeapProfilerStart(base_name.c_str());
+    }
     bool record_result = recorder->Start();
     if (record_result) {
       while (!::apollo::cyber::IsShutdown()) {
diff --git a/cyber/transport/BUILD b/cyber/transport/BUILD
index eb81b20..1e920a0 100644
--- a/cyber/transport/BUILD
+++ b/cyber/transport/BUILD
@@ -1,53 +1,105 @@
 load("//tools:cpplint.bzl", "cpplint")
-load("//tools:apollo_package.bzl", "apollo_cc_library", "apollo_package", "apollo_cc_test")
+load("//tools:apollo_package.bzl", "apollo_cc_library", "apollo_cc_test", "apollo_package")
 
 package(default_visibility = ["//visibility:public"])
 
 apollo_cc_library(
     name = "cyber_transport",
     srcs = [
-        'transport.cc', 'shm/segment.cc', 'shm/condition_notifier.cc', 
-        'shm/segment_factory.cc', 'shm/posix_segment.cc', 'shm/state.cc', 
-        'shm/multicast_notifier.cc', 'shm/block.cc', 'shm/shm_conf.cc', 
-        'shm/xsi_segment.cc', 'shm/readable_info.cc', 'shm/notifier_factory.cc', 
-        'qos/qos_profile_conf.cc', 'common/identity.cc', 'common/endpoint.cc', 
-        'dispatcher/intra_dispatcher.cc', 'dispatcher/shm_dispatcher.cc', 
-        'dispatcher/rtps_dispatcher.cc', 'dispatcher/dispatcher.cc', 
-        'message/message_info.cc', 'rtps/participant.cc', 'rtps/attributes_filler.cc', 
-        'rtps/sub_listener.cc', 'rtps/underlay_message_type.cc', 
-        'rtps/underlay_message.cc'
+        "common/endpoint.cc",
+        "common/identity.cc",
+        "dispatcher/dispatcher.cc",
+        "dispatcher/intra_dispatcher.cc",
+        "dispatcher/rtps_dispatcher.cc",
+        "dispatcher/subscriber_listener.cc",
+        "dispatcher/shm_dispatcher.cc",
+        "message/message_info.cc",
+        "qos/qos_profile_conf.cc",
+        "qos/qos_filler.cc", 
+        "rtps/attributes_filler.cc",
+        "rtps/participant.cc",
+        "rtps/publisher.cc",
+        "rtps/subscriber.cc",
+        "rtps/underlay_message.cc",
+        "rtps/underlay_message_type.cc",
+        "shm/arena_address_allocator.cc",
+        "shm/block.cc",
+        "shm/condition_notifier.cc",
+        "shm/multicast_notifier.cc",
+        "shm/notifier_factory.cc",
+        "shm/posix_segment.cc",
+        "shm/protobuf_arena_manager.cc",
+        "shm/readable_info.cc",
+        "shm/segment.cc",
+        "shm/segment_factory.cc",
+        "shm/shm_conf.cc",
+        "shm/state.cc",
+        "shm/xsi_segment.cc",
+        "transport.cc",
     ],
     hdrs = [
-        'transport.h', 'shm/state.h', 'shm/xsi_segment.h', 
-        'shm/notifier_factory.h', 'shm/block.h', 'shm/shm_conf.h', 
-        'shm/readable_info.h', 'shm/posix_segment.h', 'shm/segment_factory.h', 
-        'shm/multicast_notifier.h', 'shm/segment.h', 'shm/notifier_base.h', 
-        'shm/condition_notifier.h', 'qos/qos_profile_conf.h', 'common/identity.h', 
-        'common/endpoint.h', 'receiver/hybrid_receiver.h', 'receiver/shm_receiver.h', 
-        'receiver/receiver.h', 'receiver/intra_receiver.h', 'receiver/rtps_receiver.h', 
-        'transmitter/rtps_transmitter.h', 'transmitter/transmitter.h', 
-        'transmitter/shm_transmitter.h', 'transmitter/hybrid_transmitter.h', 
-        'transmitter/intra_transmitter.h', 'dispatcher/dispatcher.h', 
-        'dispatcher/intra_dispatcher.h', 'dispatcher/rtps_dispatcher.h', 
-        'dispatcher/shm_dispatcher.h', 'message/history.h', 'message/listener_handler.h', 
-        'message/history_attributes.h', 'message/message_info.h', 
-        'rtps/attributes_filler.h', 'rtps/underlay_message.h', 'rtps/participant.h', 
-        'rtps/sub_listener.h', 'rtps/underlay_message_type.h'
+        "common/endpoint.h",
+        "common/identity.h",
+        "common/common_type.h",
+        "dispatcher/dispatcher.h",
+        "dispatcher/intra_dispatcher.h",
+        "dispatcher/rtps_dispatcher.h",
+        "dispatcher/shm_dispatcher.h",
+        "dispatcher/subscriber_listener.h",
+        "message/history.h",
+        "message/history_attributes.h",
+        "message/listener_handler.h",
+        "message/message_info.h",
+        "qos/qos_profile_conf.h",
+        "qos/qos_filler.h",
+        "receiver/hybrid_receiver.h",
+        "receiver/intra_receiver.h",
+        "receiver/receiver.h",
+        "receiver/rtps_receiver.h",
+        "receiver/shm_receiver.h",
+        "rtps/attributes_filler.h",
+        "rtps/participant.h",
+        "rtps/subscriber.h",
+        "rtps/publisher.h",
+        "rtps/underlay_message.h",
+        "rtps/underlay_message_type.h",
+        "shm/arena_address_allocator.h",
+        "shm/block.h",
+        "shm/condition_notifier.h",
+        "shm/multicast_notifier.h",
+        "shm/notifier_base.h",
+        "shm/notifier_factory.h",
+        "shm/posix_segment.h",
+        "shm/protobuf_arena_manager.h",
+        "shm/readable_info.h",
+        "shm/segment.h",
+        "shm/segment_factory.h",
+        "shm/shm_conf.h",
+        "shm/state.h",
+        "shm/xsi_segment.h",
+        "transmitter/hybrid_transmitter.h",
+        "transmitter/intra_transmitter.h",
+        "transmitter/rtps_transmitter.h",
+        "transmitter/shm_transmitter.h",
+        "transmitter/transmitter.h",
+        "transport.h",
     ],
     linkopts = ["-lrt"],
     deps = [
-        "@fastrtps",
-        "@uuid",
-        "//cyber/service_discovery:cyber_service_discovery_role",
-        "//cyber/task:cyber_task",
+        "//cyber/base:cyber_base",
         "//cyber/common:cyber_common",
-        "//cyber/proto:role_attributes_cc_proto",
+        "//cyber/event:cyber_event",
         "//cyber/message:cyber_message",
         "//cyber/proto:proto_desc_cc_proto",
-        "//cyber/scheduler:cyber_scheduler",
         "//cyber/proto:qos_profile_cc_proto",
-        "//cyber/base:cyber_base",
-        "//cyber/event:cyber_event",
+        "//cyber/proto:role_attributes_cc_proto",
+        "//cyber/scheduler:cyber_scheduler",
+        "//cyber/service_discovery:cyber_service_discovery_role",
+        "//cyber/service_discovery:subscriber_listener",
+        "//cyber/statistics:apollo_statistics",
+        "//cyber/task:cyber_task",
+        "@fastdds",
+        "@uuid",
     ],
 )
 
@@ -55,12 +107,12 @@ apollo_cc_test(
     name = "condition_notifier_test",
     size = "small",
     srcs = ["shm/condition_notifier_test.cc"],
+    linkstatic = True,
     tags = ["exclusive"],
     deps = [
         "//cyber",
         "@com_google_googletest//:gtest_main",
     ],
-    linkstatic = True,
 )
 
 apollo_cc_test(
@@ -70,7 +122,7 @@ apollo_cc_test(
     deps = [
         "//cyber",
         "@com_google_googletest//:gtest_main",
-        "@fastrtps",
+        "@fastdds",
     ],
 )
 
@@ -78,22 +130,22 @@ apollo_cc_test(
     name = "message_info_test",
     size = "small",
     srcs = ["message/message_info_test.cc"],
+    linkstatic = True,
     deps = [
         "//cyber",
         "@com_google_googletest//:gtest_main",
     ],
-    linkstatic = True,
 )
 
 apollo_cc_test(
     name = "message_test",
     size = "small",
     srcs = ["message/message_test.cc"],
+    linkstatic = True,
     deps = [
         "//cyber",
         "@com_google_googletest//:gtest_main",
     ],
-    linkstatic = True,
 )
 
 apollo_cc_test(
@@ -172,4 +224,5 @@ apollo_cc_test(
 )
 
 apollo_package()
+
 cpplint()
diff --git a/cyber/transport/common/common_type.h b/cyber/transport/common/common_type.h
new file mode 100644
index 0000000..b60365c
--- /dev/null
+++ b/cyber/transport/common/common_type.h
@@ -0,0 +1,36 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+#ifndef CYBER_TRANSPORT_RTPS_COMMON_TYPE_H
+#define CYBER_TRANSPORT_RTPS_COMMON_TYPE_H
+
+#include <functional>
+#include <memory>
+#include <string>
+
+#include "cyber/transport/message/message_info.h"
+namespace apollo {
+namespace cyber {
+namespace transport {
+namespace rtps {
+using subsciber_callback =
+    std::function<void(const std::shared_ptr<std::string>& msg_str,
+                       uint64_t channel_id, const MessageInfo& msg_info)>;
+}  // namespace rtps
+}  // namespace transport
+}  // namespace cyber
+}  // namespace apollo
+
+#endif  // CYBER_TRANSPORT_RTPS_COMMON_TYPE_H
diff --git a/cyber/transport/dispatcher/dispatcher.h b/cyber/transport/dispatcher/dispatcher.h
index e37c366..0ea54ef 100644
--- a/cyber/transport/dispatcher/dispatcher.h
+++ b/cyber/transport/dispatcher/dispatcher.h
@@ -25,11 +25,12 @@
 #include <string>
 #include <unordered_map>
 
+#include "cyber/proto/role_attributes.pb.h"
+
 #include "cyber/base/atomic_hash_map.h"
 #include "cyber/base/atomic_rw_lock.h"
 #include "cyber/common/global_data.h"
 #include "cyber/common/log.h"
-#include "cyber/proto/role_attributes.pb.h"
 #include "cyber/transport/message/listener_handler.h"
 #include "cyber/transport/message/message_info.h"
 
diff --git a/cyber/transport/dispatcher/intra_dispatcher.h b/cyber/transport/dispatcher/intra_dispatcher.h
index 37bc046..82a40b0 100644
--- a/cyber/transport/dispatcher/intra_dispatcher.h
+++ b/cyber/transport/dispatcher/intra_dispatcher.h
@@ -29,6 +29,8 @@
 #include "cyber/common/macros.h"
 #include "cyber/message/message_traits.h"
 #include "cyber/message/raw_message.h"
+#include "cyber/statistics/statistics.h"
+#include "cyber/time/time.h"
 #include "cyber/transport/dispatcher/dispatcher.h"
 
 namespace apollo {
@@ -357,9 +359,12 @@ void IntraDispatcher::AddListener(const RoleAttributes& self_attr,
 
   auto handler = GetHandler<MessageT>(self_attr.channel_id());
   if (handler && created) {
-    auto listener_wrapper = [this, self_id, channel_id, message_type](
+    auto listener_wrapper =
+                      [this, self_id, channel_id, message_type, self_attr](
                                 const std::shared_ptr<MessageT>& message,
                                 const MessageInfo& message_info) {
+      auto recv_time = Time::Now().ToMicrosecond();
+      statistics::Statistics::Instance()->SetProcStatus(self_attr, recv_time);
       this->chain_->Run<MessageT>(self_id, channel_id, message_type, message,
                                   message_info);
     };
@@ -385,9 +390,12 @@ void IntraDispatcher::AddListener(const RoleAttributes& self_attr,
 
   auto handler = GetHandler<MessageT>(self_attr.channel_id());
   if (handler && created) {
-    auto listener_wrapper = [this, self_id, oppo_id, channel_id, message_type](
+    auto listener_wrapper =
+              [this, self_id, oppo_id, channel_id, message_type, self_attr](
                                 const std::shared_ptr<MessageT>& message,
                                 const MessageInfo& message_info) {
+      auto recv_time = Time::Now().ToMicrosecond();
+      statistics::Statistics::Instance()->SetProcStatus(self_attr, recv_time);
       this->chain_->Run<MessageT>(self_id, oppo_id, channel_id, message_type,
                                   message, message_info);
     };
diff --git a/cyber/transport/dispatcher/rtps_dispatcher.cc b/cyber/transport/dispatcher/rtps_dispatcher.cc
index 7e7da27..f2f494e 100644
--- a/cyber/transport/dispatcher/rtps_dispatcher.cc
+++ b/cyber/transport/dispatcher/rtps_dispatcher.cc
@@ -16,6 +16,11 @@
 
 #include "cyber/transport/dispatcher/rtps_dispatcher.h"
 
+#include "cyber/common/log.h"
+#include "cyber/statistics/statistics.h"
+#include "cyber/transport/common/endpoint.h"
+#include "cyber/transport/dispatcher/dispatcher.h"
+
 namespace apollo {
 namespace cyber {
 namespace transport {
@@ -32,7 +37,7 @@ void RtpsDispatcher::Shutdown() {
   {
     std::lock_guard<std::mutex> lock(subs_mutex_);
     for (auto& item : subs_) {
-      item.second.sub = nullptr;
+      item.second = nullptr;
     }
   }
 
@@ -47,25 +52,27 @@ void RtpsDispatcher::AddSubscriber(const RoleAttributes& self_attr) {
 
   uint64_t channel_id = self_attr.channel_id();
   std::lock_guard<std::mutex> lock(subs_mutex_);
+  // subscriber exsit
   if (subs_.count(channel_id) > 0) {
     return;
   }
 
-  Subscriber new_sub;
-  eprosima::fastrtps::SubscriberAttributes sub_attr;
+  auto listener_adapter =
+      [this, self_attr](const std::shared_ptr<std::string>& msg_str,
+                        uint64_t channel_id, const MessageInfo& msg_info) {
+        statistics::Statistics::Instance()->AddRecvCount(self_attr,
+                                                         msg_info.seq_num());
+        statistics::Statistics::Instance()->SetTotalMsgsStatus(
+            self_attr, msg_info.seq_num());
+        this->OnMessage(channel_id, msg_str, msg_info);
+      };
+
   auto& qos = self_attr.qos_profile();
-  RETURN_IF(!AttributesFiller::FillInSubAttr(self_attr.channel_name(), qos,
-                                             &sub_attr));
-
-  new_sub.sub_listener = std::make_shared<SubListener>(
-      std::bind(&RtpsDispatcher::OnMessage, this, std::placeholders::_1,
-                std::placeholders::_2, std::placeholders::_3));
-
-  new_sub.sub = eprosima::fastrtps::Domain::createSubscriber(
-      participant_->fastrtps_participant(), sub_attr,
-      new_sub.sub_listener.get());
-  RETURN_IF_NULL(new_sub.sub);
-  subs_[channel_id] = new_sub;
+  auto subscriber_ptr = participant_->CreateSubscriber(self_attr.channel_name(),
+                                                       qos, listener_adapter);
+  RETURN_IF_NULL(subscriber_ptr);
+
+  subs_[channel_id] = subscriber_ptr;
 }
 
 void RtpsDispatcher::OnMessage(uint64_t channel_id,
diff --git a/cyber/transport/dispatcher/rtps_dispatcher.h b/cyber/transport/dispatcher/rtps_dispatcher.h
index 656fea2..e73d571 100644
--- a/cyber/transport/dispatcher/rtps_dispatcher.h
+++ b/cyber/transport/dispatcher/rtps_dispatcher.h
@@ -17,6 +17,7 @@
 #ifndef CYBER_TRANSPORT_DISPATCHER_RTPS_DISPATCHER_H_
 #define CYBER_TRANSPORT_DISPATCHER_RTPS_DISPATCHER_H_
 
+#include <cstdint>
 #include <iostream>
 #include <memory>
 #include <mutex>
@@ -26,25 +27,25 @@
 #include "cyber/common/log.h"
 #include "cyber/common/macros.h"
 #include "cyber/message/message_traits.h"
+#include "cyber/statistics/statistics.h"
+#include "cyber/time/time.h"
 #include "cyber/transport/dispatcher/dispatcher.h"
+#include "cyber/transport/dispatcher/subscriber_listener.h"
+#include "cyber/transport/qos/qos_filler.h"
 #include "cyber/transport/rtps/attributes_filler.h"
 #include "cyber/transport/rtps/participant.h"
-#include "cyber/transport/rtps/sub_listener.h"
+#include "cyber/transport/rtps/subscriber.h"
 
 namespace apollo {
 namespace cyber {
 namespace transport {
 
-struct Subscriber {
-  Subscriber() : sub(nullptr), sub_listener(nullptr) {}
-
-  eprosima::fastrtps::Subscriber* sub;
-  SubListenerPtr sub_listener;
-};
-
 class RtpsDispatcher;
 using RtpsDispatcherPtr = RtpsDispatcher*;
 
+using ParticipantPtr =
+    std::shared_ptr<Participant>;
+
 class RtpsDispatcher : public Dispatcher {
  public:
   virtual ~RtpsDispatcher();
@@ -60,7 +61,7 @@ class RtpsDispatcher : public Dispatcher {
                    const RoleAttributes& opposite_attr,
                    const MessageListener<MessageT>& listener);
 
-  void set_participant(const ParticipantPtr& participant) {
+  void SetParticipant(const ParticipantPtr& participant) {
     participant_ = participant;
   }
 
@@ -70,7 +71,9 @@ class RtpsDispatcher : public Dispatcher {
                  const MessageInfo& msg_info);
   void AddSubscriber(const RoleAttributes& self_attr);
   // key: channel_id
-  std::unordered_map<uint64_t, Subscriber> subs_;
+  std::unordered_map<uint64_t,
+                     std::shared_ptr<transport::Subscriber>>
+      subs_;
   std::mutex subs_mutex_;
 
   ParticipantPtr participant_;
@@ -81,11 +84,23 @@ class RtpsDispatcher : public Dispatcher {
 template <typename MessageT>
 void RtpsDispatcher::AddListener(const RoleAttributes& self_attr,
                                  const MessageListener<MessageT>& listener) {
-  auto listener_adapter = [listener](
+  auto listener_adapter = [listener, self_attr](
                               const std::shared_ptr<std::string>& msg_str,
                               const MessageInfo& msg_info) {
     auto msg = std::make_shared<MessageT>();
     RETURN_IF(!message::ParseFromString(*msg_str, msg.get()));
+    uint64_t recv_time = Time::Now().ToNanosecond();
+    uint64_t send_time = msg_info.send_time();
+    if (send_time > recv_time) {
+      AWARN << "The message is received (" << recv_time
+            << ") earlier than the message is sent (" << send_time << ")";
+    } else {
+      uint64_t diff = recv_time - send_time;
+      // sample transport latency in microsecond
+      statistics::Statistics::Instance()->SamplingTranLatency<uint64_t>(
+          self_attr, diff);
+    }
+    statistics::Statistics::Instance()->SetProcStatus(self_attr, recv_time);
     listener(msg, msg_info);
   };
 
@@ -97,11 +112,23 @@ template <typename MessageT>
 void RtpsDispatcher::AddListener(const RoleAttributes& self_attr,
                                  const RoleAttributes& opposite_attr,
                                  const MessageListener<MessageT>& listener) {
-  auto listener_adapter = [listener](
+  auto listener_adapter = [listener, self_attr](
                               const std::shared_ptr<std::string>& msg_str,
                               const MessageInfo& msg_info) {
     auto msg = std::make_shared<MessageT>();
     RETURN_IF(!message::ParseFromString(*msg_str, msg.get()));
+    uint64_t recv_time = Time::Now().ToNanosecond();
+    uint64_t send_time = msg_info.send_time();
+    if (send_time > recv_time) {
+      AWARN << "The message is received (" << recv_time
+            << ") earlier than the message is sent (" << send_time << ")";
+    } else {
+      uint64_t diff = recv_time - send_time;
+      // sample transport latency in microsecond
+      statistics::Statistics::Instance()->SamplingTranLatency<uint64_t>(
+          self_attr, diff);
+    }
+    statistics::Statistics::Instance()->SetProcStatus(self_attr, recv_time);
     listener(msg, msg_info);
   };
 
diff --git a/cyber/transport/dispatcher/shm_dispatcher.cc b/cyber/transport/dispatcher/shm_dispatcher.cc
index 9032870..383091f 100644
--- a/cyber/transport/dispatcher/shm_dispatcher.cc
+++ b/cyber/transport/dispatcher/shm_dispatcher.cc
@@ -15,6 +15,7 @@
  *****************************************************************************/
 
 #include "cyber/transport/dispatcher/shm_dispatcher.h"
+
 #include "cyber/common/global_data.h"
 #include "cyber/common/util.h"
 #include "cyber/scheduler/scheduler_factory.h"
@@ -54,6 +55,7 @@ void ShmDispatcher::AddSegment(const RoleAttributes& self_attr) {
   auto segment = SegmentFactory::CreateSegment(channel_id);
   segments_[channel_id] = segment;
   previous_indexes_[channel_id] = UINT32_MAX;
+  arena_previous_indexes_[channel_id] = UINT32_MAX;
 }
 
 void ShmDispatcher::ReadMessage(uint64_t channel_id, uint32_t block_index) {
@@ -82,6 +84,32 @@ void ShmDispatcher::ReadMessage(uint64_t channel_id, uint32_t block_index) {
   segments_[channel_id]->ReleaseReadBlock(*rb);
 }
 
+void ShmDispatcher::ReadArenaMessage(uint64_t channel_id,
+                                     uint32_t arena_block_index) {
+  ADEBUG << "Reading sharedmem arena message: "
+         << GlobalData::GetChannelById(channel_id)
+         << " from block: " << arena_block_index;
+  auto rb = std::make_shared<ReadableBlock>();
+  rb->index = arena_block_index;
+  if (!segments_[channel_id]->AcquireArenaBlockToRead(rb.get())) {
+    AWARN << "fail to acquire block, channel: "
+          << GlobalData::GetChannelById(channel_id)
+          << " index: " << arena_block_index;
+    return;
+  }
+
+  MessageInfo msg_info;
+  const char* msg_info_addr =
+      reinterpret_cast<char*>(rb->buf) + rb->block->msg_size();
+  if (msg_info.DeserializeFrom(msg_info_addr, rb->block->msg_info_size())) {
+    OnArenaMessage(channel_id, rb, msg_info);
+  } else {
+    AERROR << "error msg info of channel:"
+           << GlobalData::GetChannelById(channel_id);
+  }
+  segments_[channel_id]->ReleaseArenaReadBlock(*rb);
+}
+
 void ShmDispatcher::OnMessage(uint64_t channel_id,
                               const std::shared_ptr<ReadableBlock>& rb,
                               const MessageInfo& msg_info) {
@@ -94,8 +122,29 @@ void ShmDispatcher::OnMessage(uint64_t channel_id,
         *handler_base);
     handler->Run(rb, msg_info);
   } else {
-    AERROR << "Cannot find " << GlobalData::GetChannelById(channel_id)
-           << "'s handler.";
+    if (!arena_msg_listeners_.Get(channel_id, &handler_base)) {
+      AERROR << "Cannot find " << GlobalData::GetChannelById(channel_id)
+             << "'s handler.";
+    }
+  }
+}
+
+void ShmDispatcher::OnArenaMessage(uint64_t channel_id,
+                                   const std::shared_ptr<ReadableBlock>& rb,
+                                   const MessageInfo& msg_info) {
+  if (is_shutdown_.load()) {
+    return;
+  }
+  ListenerHandlerBasePtr* handler_base = nullptr;
+  if (arena_msg_listeners_.Get(channel_id, &handler_base)) {
+    auto handler = std::dynamic_pointer_cast<ListenerHandler<ReadableBlock>>(
+        *handler_base);
+    handler->Run(rb, msg_info);
+  } else {
+    if (!msg_listeners_.Get(channel_id, &handler_base)) {
+      AERROR << "Cannot find " << GlobalData::GetChannelById(channel_id)
+             << "'s handler.";
+    }
   }
 }
 
@@ -113,33 +162,57 @@ void ShmDispatcher::ThreadFunc() {
     }
 
     uint64_t channel_id = readable_info.channel_id();
-    uint32_t block_index = readable_info.block_index();
+    int32_t block_index = readable_info.block_index();
+    int32_t arena_block_index = readable_info.arena_block_index();
 
     {
       ReadLockGuard<AtomicRWLock> lock(segments_lock_);
       if (segments_.count(channel_id) == 0) {
         continue;
       }
-      // check block index
-      if (previous_indexes_.count(channel_id) == 0) {
-        previous_indexes_[channel_id] = UINT32_MAX;
-      }
-      uint32_t& previous_index = previous_indexes_[channel_id];
-      if (block_index != 0 && previous_index != UINT32_MAX) {
-        if (block_index == previous_index) {
-          ADEBUG << "Receive SAME index " << block_index << " of channel "
-                 << channel_id;
-        } else if (block_index < previous_index) {
-          ADEBUG << "Receive PREVIOUS message. last: " << previous_index
-                 << ", now: " << block_index;
-        } else if (block_index - previous_index > 1) {
-          ADEBUG << "Receive JUMP message. last: " << previous_index
-                 << ", now: " << block_index;
+
+      if (block_index != -1) {
+        // check block index
+        if (previous_indexes_.count(channel_id) == 0) {
+          previous_indexes_[channel_id] = UINT32_MAX;
         }
+        uint32_t& previous_index = previous_indexes_[channel_id];
+        if (block_index != 0 && previous_index != UINT32_MAX) {
+          if (block_index == previous_index) {
+            ADEBUG << "Receive SAME index " << block_index << " of channel "
+                   << channel_id;
+          } else if (block_index < previous_index) {
+            ADEBUG << "Receive PREVIOUS message. last: " << previous_index
+                   << ", now: " << block_index;
+          } else if (block_index - previous_index > 1) {
+            ADEBUG << "Receive JUMP message. last: " << previous_index
+                   << ", now: " << block_index;
+          }
+        }
+        previous_index = block_index;
+        ReadMessage(channel_id, block_index);
       }
-      previous_index = block_index;
 
-      ReadMessage(channel_id, block_index);
+      if (arena_block_index != -1) {
+        if (arena_previous_indexes_.count(channel_id) == 0) {
+          arena_previous_indexes_[channel_id] = UINT32_MAX;
+        }
+        uint32_t& arena_previous_index = arena_previous_indexes_[channel_id];
+        if (arena_block_index != 0 && arena_previous_index != UINT32_MAX) {
+          if (arena_block_index == arena_previous_index) {
+            ADEBUG << "Receive SAME index " << arena_block_index
+                   << " of channel " << channel_id;
+          } else if (arena_block_index < arena_previous_index) {
+            ADEBUG << "Receive PREVIOUS message. last: " << arena_previous_index
+                   << ", now: " << arena_block_index;
+          } else if (arena_block_index - arena_previous_index > 1) {
+            ADEBUG << "Receive JUMP message. last: " << arena_previous_index
+                   << ", now: " << arena_block_index;
+          }
+        }
+        arena_previous_index = arena_block_index;
+        ReadArenaMessage(channel_id, arena_block_index);
+      }
     }
   }
 }
@@ -149,6 +222,7 @@ bool ShmDispatcher::Init() {
   notifier_ = NotifierFactory::CreateNotifier();
   thread_ = std::thread(&ShmDispatcher::ThreadFunc, this);
   scheduler::Instance()->SetInnerThreadAttr("shm_disp", &thread_);
+  // statistics::Statistics::Instance()->CreateSpan("protobuf_parse_time");
   return true;
 }
 
diff --git a/cyber/transport/dispatcher/shm_dispatcher.h b/cyber/transport/dispatcher/shm_dispatcher.h
index 35d8f03..da29289 100644
--- a/cyber/transport/dispatcher/shm_dispatcher.h
+++ b/cyber/transport/dispatcher/shm_dispatcher.h
@@ -27,9 +27,14 @@
 #include "cyber/common/global_data.h"
 #include "cyber/common/log.h"
 #include "cyber/common/macros.h"
+#include "cyber/message/arena_message_wrapper.h"
 #include "cyber/message/message_traits.h"
+#include "cyber/message/raw_message.h"
+#include "cyber/statistics/statistics.h"
+#include "cyber/time/time.h"
 #include "cyber/transport/dispatcher/dispatcher.h"
 #include "cyber/transport/shm/notifier_factory.h"
+#include "cyber/transport/shm/protobuf_arena_manager.h"
 #include "cyber/transport/shm/segment_factory.h"
 
 namespace apollo {
@@ -60,17 +65,32 @@ class ShmDispatcher : public Dispatcher {
                    const RoleAttributes& opposite_attr,
                    const MessageListener<MessageT>& listener);
 
+  template <typename MessageT>
+  void AddArenaListener(const RoleAttributes& self_attr,
+                        const MessageListener<MessageT>& listener);
+
+  template <typename MessageT>
+  void AddArenaListener(const RoleAttributes& self_attr,
+                        const RoleAttributes& opposite_attr,
+                        const MessageListener<MessageT>& listener);
+
  private:
   void AddSegment(const RoleAttributes& self_attr);
   void ReadMessage(uint64_t channel_id, uint32_t block_index);
   void OnMessage(uint64_t channel_id, const std::shared_ptr<ReadableBlock>& rb,
                  const MessageInfo& msg_info);
+  void ReadArenaMessage(uint64_t channel_id, uint32_t arena_block_index);
+  void OnArenaMessage(uint64_t channel_id,
+                      const std::shared_ptr<ReadableBlock>& rb,
+                      const MessageInfo& msg_info);
   void ThreadFunc();
   bool Init();
 
   uint64_t host_id_;
   SegmentContainer segments_;
   std::unordered_map<uint64_t, uint32_t> previous_indexes_;
+  std::unordered_map<uint64_t, uint32_t> arena_previous_indexes_;
+  AtomicHashMap<uint64_t, ListenerHandlerBasePtr> arena_msg_listeners_;
   AtomicRWLock segments_lock_;
   std::thread thread_;
   NotifierPtr notifier_;
@@ -78,19 +98,174 @@ class ShmDispatcher : public Dispatcher {
   DECLARE_SINGLETON(ShmDispatcher)
 };
 
+template <typename MessageT>
+void ShmDispatcher::AddArenaListener(
+    const RoleAttributes& self_attr,
+    const MessageListener<MessageT>& listener) {
+  if (is_shutdown_.load()) {
+    return;
+  }
+  uint64_t channel_id = self_attr.channel_id();
+
+  std::shared_ptr<ListenerHandler<MessageT>> handler;
+  ListenerHandlerBasePtr* handler_base = nullptr;
+  if (arena_msg_listeners_.Get(channel_id, &handler_base)) {
+    handler =
+        std::dynamic_pointer_cast<ListenerHandler<MessageT>>(*handler_base);
+    if (handler == nullptr) {
+      AERROR << "please ensure that readers with the same channel["
+             << self_attr.channel_name()
+             << "] in the same process have the same message type";
+      return;
+    }
+  } else {
+    ADEBUG << "new reader for channel:"
+           << GlobalData::GetChannelById(channel_id);
+    handler.reset(new ListenerHandler<MessageT>());
+    arena_msg_listeners_.Set(channel_id, handler);
+  }
+  handler->Connect(self_attr.id(), listener);
+}
+
+template <typename MessageT>
+void ShmDispatcher::AddArenaListener(
+    const RoleAttributes& self_attr, const RoleAttributes& opposite_attr,
+    const MessageListener<MessageT>& listener) {
+  if (is_shutdown_.load()) {
+    return;
+  }
+  uint64_t channel_id = self_attr.channel_id();
+  std::shared_ptr<ListenerHandler<MessageT>> handler;
+  ListenerHandlerBasePtr* handler_base = nullptr;
+  if (arena_msg_listeners_.Get(channel_id, &handler_base)) {
+    handler =
+        std::dynamic_pointer_cast<ListenerHandler<MessageT>>(*handler_base);
+    if (handler == nullptr) {
+      AERROR << "please ensuore that readers with the same channel["
+             << self_attr.channel_name()
+             << "] in the same process have the same message type";
+      return;
+    }
+  } else {
+    ADEBUG << "new reader for channel:"
+           << GlobalData::GetChannelById(channel_id);
+    handler.reset(new ListenerHandler<MessageT>());
+    arena_msg_listeners_.Set(channel_id, handler);
+  }
+  handler->Connect(self_attr.id(), listener);
+}
+
 template <typename MessageT>
 void ShmDispatcher::AddListener(const RoleAttributes& self_attr,
                                 const MessageListener<MessageT>& listener) {
   // FIXME: make it more clean
-  auto listener_adapter = [listener](const std::shared_ptr<ReadableBlock>& rb,
-                                     const MessageInfo& msg_info) {
-    auto msg = std::make_shared<MessageT>();
-    RETURN_IF(!message::ParseFromArray(
-        rb->buf, static_cast<int>(rb->block->msg_size()), msg.get()));
-    listener(msg, msg_info);
-  };
-
-  Dispatcher::AddListener<ReadableBlock>(self_attr, listener_adapter);
+  if (cyber::common::GlobalData::Instance()->IsChannelEnableArenaShm(
+          self_attr.channel_id()) &&
+      self_attr.message_type() != message::MessageType<message::RawMessage>() &&
+      self_attr.message_type() !=
+          message::MessageType<message::PyMessageWrap>()) {
+    auto listener_adapter = [listener, self_attr](
+                                const std::shared_ptr<ReadableBlock>& rb,
+                                const MessageInfo& msg_info) {
+      auto msg = std::make_shared<MessageT>();
+      // TODO(ALL): read config from msg_info
+      auto arena_manager = ProtobufArenaManager::Instance();
+      auto msg_wrapper = arena_manager->CreateMessageWrapper();
+      memcpy(msg_wrapper->GetData(), rb->buf, 1024);
+      MessageT* msg_p;
+      if (!message::ParseFromArenaMessageWrapper(msg_wrapper.get(), msg.get(),
+                                                 &msg_p)) {
+        AERROR << "ParseFromArenaMessageWrapper failed";
+      }
+      // msg->CopyFrom(*msg_p);
+      // msg = arena_manager->LoadMessage<MessageT>(msg_wrapper.get())
+      auto segment = arena_manager->GetSegment(self_attr.channel_id());
+      auto msg_addr = reinterpret_cast<uint64_t>(msg_p);
+      msg.reset(reinterpret_cast<MessageT*>(msg_addr),
+                [arena_manager, segment, msg_wrapper](MessageT* p) {
+                  // fprintf(stderr, "msg deleter invoked\n");
+                  // auto related_blocks =
+                  //     arena_manager->GetMessageRelatedBlocks(msg_wrapper.get());
+                  // for (auto block_index : related_blocks) {
+                  //   // segment->ReleaseBlockForReadByIndex(block_index);
+                  //   segment->RemoveBlockReadLock(block_index);
+                  // }
+                });
+      auto related_blocks_for_lock =
+          arena_manager->GetMessageRelatedBlocks(msg_wrapper.get());
+      for (int i = 0; i < related_blocks_for_lock.size(); ++i) {
+        auto block_index = related_blocks_for_lock[i];
+        if (!segment->AddBlockReadLock(block_index)) {
+          AWARN << "failed to acquire block for read, channel: "
+                << self_attr.channel_id() << " index: " << block_index;
+          for (int j = 0; j < i; ++j) {
+            // restore the lock
+            segment->RemoveBlockReadLock(related_blocks_for_lock[j]);
+          }
+          return;
+        }
+      }
+
+      auto send_time = msg_info.send_time();
+
+      statistics::Statistics::Instance()->AddRecvCount(self_attr,
+                                                       msg_info.seq_num());
+      statistics::Statistics::Instance()->SetTotalMsgsStatus(
+          self_attr, msg_info.seq_num());
+
+      auto recv_time = Time::Now().ToNanosecond();
+
+      // sampling in microsecond
+      auto tran_diff = (recv_time - send_time) / 1000;
+      if (tran_diff > 0) {
+        // sample transport latency in microsecond
+        statistics::Statistics::Instance()->SamplingTranLatency<uint64_t>(
+            self_attr, tran_diff);
+      }
+      statistics::Statistics::Instance()->SetProcStatus(self_attr,
+                                                        recv_time / 1000);
+      listener(msg, msg_info);
+      auto related_blocks =
+          arena_manager->GetMessageRelatedBlocks(msg_wrapper.get());
+      for (auto block_index : related_blocks) {
+        // segment->ReleaseBlockForReadByIndex(block_index);
+        segment->RemoveBlockReadLock(block_index);
+      }
+    };
+
+    AddArenaListener<ReadableBlock>(self_attr, listener_adapter);
+  } else {
+    auto listener_adapter = [listener, self_attr](
+                                const std::shared_ptr<ReadableBlock>& rb,
+                                const MessageInfo& msg_info) {
+      auto msg = std::make_shared<MessageT>();
+      // TODO(ALL): read config from msg_info
+      RETURN_IF(!message::ParseFromArray(
+          rb->buf, static_cast<int>(rb->block->msg_size()), msg.get()));
+
+      auto send_time = msg_info.send_time();
+
+      statistics::Statistics::Instance()->AddRecvCount(self_attr,
+                                                       msg_info.seq_num());
+      statistics::Statistics::Instance()->SetTotalMsgsStatus(
+          self_attr, msg_info.seq_num());
+
+      auto recv_time = Time::Now().ToNanosecond();
+
+      // sampling in microsecond
+      auto tran_diff = (recv_time - send_time) / 1000;
+      if (tran_diff > 0) {
+        // sample transport latency in microsecond
+        statistics::Statistics::Instance()->SamplingTranLatency<uint64_t>(
+            self_attr, tran_diff);
+      }
+      statistics::Statistics::Instance()->SetProcStatus(self_attr,
+                                                        recv_time / 1000);
+      listener(msg, msg_info);
+    };
+
+    Dispatcher::AddListener<ReadableBlock>(self_attr, listener_adapter);
+  }
   AddSegment(self_attr);
 }
 
@@ -99,16 +274,112 @@ void ShmDispatcher::AddListener(const RoleAttributes& self_attr,
                                 const RoleAttributes& opposite_attr,
                                 const MessageListener<MessageT>& listener) {
   // FIXME: make it more clean
-  auto listener_adapter = [listener](const std::shared_ptr<ReadableBlock>& rb,
-                                     const MessageInfo& msg_info) {
-    auto msg = std::make_shared<MessageT>();
-    RETURN_IF(!message::ParseFromArray(
-        rb->buf, static_cast<int>(rb->block->msg_size()), msg.get()));
-    listener(msg, msg_info);
-  };
-
-  Dispatcher::AddListener<ReadableBlock>(self_attr, opposite_attr,
-                                         listener_adapter);
+  if (cyber::common::GlobalData::Instance()->IsChannelEnableArenaShm(
+          self_attr.channel_id()) &&
+      self_attr.message_type() != message::MessageType<message::RawMessage>() &&
+      self_attr.message_type() !=
+          message::MessageType<message::PyMessageWrap>()) {
+    auto listener_adapter = [listener, self_attr](
+                                const std::shared_ptr<ReadableBlock>& rb,
+                                const MessageInfo& msg_info) {
+      auto msg = std::make_shared<MessageT>();
+      auto arena_manager = ProtobufArenaManager::Instance();
+      auto msg_wrapper = arena_manager->CreateMessageWrapper();
+      memcpy(msg_wrapper->GetData(), rb->buf, 1024);
+      MessageT* msg_p;
+      if (!message::ParseFromArenaMessageWrapper(msg_wrapper.get(), msg.get(),
+                                                 &msg_p)) {
+        AERROR << "ParseFromArenaMessageWrapper failed";
+      }
+      // msg->CopyFrom(*msg_p);
+      // msg = arena_manager->LoadMessage<MessageT>(msg_wrapper.get())
+      auto segment = arena_manager->GetSegment(self_attr.channel_id());
+      auto msg_addr = reinterpret_cast<uint64_t>(msg_p);
+      msg.reset(reinterpret_cast<MessageT*>(msg_addr),
+                [arena_manager, segment, msg_wrapper](MessageT* p) {
+                  // fprintf(stderr, "msg deleter invoked\n");
+                  // auto related_blocks =
+                  //     arena_manager->GetMessageRelatedBlocks(msg_wrapper.get());
+                  // for (auto block_index : related_blocks) {
+                  //   // segment->ReleaseBlockForReadByIndex(block_index);
+                  //   segment->RemoveBlockReadLock(block_index);
+                  // }
+                });
+      auto related_blocks_for_lock =
+          arena_manager->GetMessageRelatedBlocks(msg_wrapper.get());
+      for (int i = 0; i < related_blocks_for_lock.size(); ++i) {
+        auto block_index = related_blocks_for_lock[i];
+        if (!segment->AddBlockReadLock(block_index)) {
+          AWARN << "failed to acquire block for read, channel: "
+                << self_attr.channel_id() << " index: " << block_index;
+          for (int j = 0; j < i; ++j) {
+            // restore the lock
+            segment->RemoveBlockReadLock(related_blocks_for_lock[j]);
+          }
+          return;
+        }
+      }
+
+      auto send_time = msg_info.send_time();
+
+      statistics::Statistics::Instance()->AddRecvCount(self_attr,
+                                                       msg_info.seq_num());
+      statistics::Statistics::Instance()->SetTotalMsgsStatus(
+          self_attr, msg_info.seq_num());
+
+      auto recv_time = Time::Now().ToNanosecond();
+
+      // sampling in microsecond
+      auto tran_diff = (recv_time - send_time) / 1000;
+      if (tran_diff > 0) {
+        statistics::Statistics::Instance()->SamplingTranLatency<uint64_t>(
+            self_attr, tran_diff);
+      }
+      statistics::Statistics::Instance()->SetProcStatus(self_attr,
+                                                        recv_time / 1000);
+
+      listener(msg, msg_info);
+      auto related_blocks =
+          arena_manager->GetMessageRelatedBlocks(msg_wrapper.get());
+      for (auto block_index : related_blocks) {
+        // segment->ReleaseBlockForReadByIndex(block_index);
+        segment->RemoveBlockReadLock(block_index);
+      }
+    };
+
+    AddArenaListener<ReadableBlock>(self_attr, opposite_attr, listener_adapter);
+  } else {
+    auto listener_adapter = [listener, self_attr](
+                                const std::shared_ptr<ReadableBlock>& rb,
+                                const MessageInfo& msg_info) {
+      auto msg = std::make_shared<MessageT>();
+      RETURN_IF(!message::ParseFromArray(
+          rb->buf, static_cast<int>(rb->block->msg_size()), msg.get()));
+
+      auto send_time = msg_info.send_time();
+      auto msg_seq_num = msg_info.seq_num();
+
+      statistics::Statistics::Instance()->AddRecvCount(self_attr, msg_seq_num);
+      statistics::Statistics::Instance()->SetTotalMsgsStatus(self_attr,
+                                                             msg_seq_num);
+
+      auto recv_time = Time::Now().ToNanosecond();
+
+      // sampling in microsecond
+      auto tran_diff = (recv_time - send_time) / 1000;
+      if (tran_diff > 0) {
+        statistics::Statistics::Instance()->SamplingTranLatency<uint64_t>(
+            self_attr, tran_diff);
+      }
+      statistics::Statistics::Instance()->SetProcStatus(self_attr,
+                                                        recv_time / 1000);
+
+      listener(msg, msg_info);
+    };
+
+    Dispatcher::AddListener<ReadableBlock>(self_attr, opposite_attr,
+                                           listener_adapter);
+  }
   AddSegment(self_attr);
 }
 
diff --git a/cyber/transport/dispatcher/shm_dispatcher_test.cc b/cyber/transport/dispatcher/shm_dispatcher_test.cc
index 2c7cee5..fa5f6e5 100644
--- a/cyber/transport/dispatcher/shm_dispatcher_test.cc
+++ b/cyber/transport/dispatcher/shm_dispatcher_test.cc
@@ -20,7 +20,6 @@
 #include "gtest/gtest.h"
 
 #include "cyber/common/global_data.h"
-#include "cyber/common/log.h"
 #include "cyber/common/util.h"
 #include "cyber/init.h"
 #include "cyber/message/raw_message.h"
diff --git a/cyber/transport/dispatcher/subscriber_listener.cc b/cyber/transport/dispatcher/subscriber_listener.cc
new file mode 100644
index 0000000..6254ed1
--- /dev/null
+++ b/cyber/transport/dispatcher/subscriber_listener.cc
@@ -0,0 +1,76 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "cyber/transport/dispatcher/subscriber_listener.h"
+
+#include "cyber/common/log.h"
+#include "cyber/transport/message/message_info.h"
+
+namespace apollo {
+namespace cyber {
+namespace transport {
+namespace dispatcher {
+
+SubscriberListener::SubscriberListener(const rtps::subsciber_callback& callback)
+    : callback_(callback) {}
+
+SubscriberListener::~SubscriberListener() {}
+
+void SubscriberListener::on_data_available(
+    eprosima::fastdds::dds::DataReader* reader) {
+  RETURN_IF_NULL(reader);
+  RETURN_IF_NULL(callback_);
+
+  // fetch channel name
+  auto channel_id = common::Hash(reader->get_topicdescription()->get_name());
+  eprosima::fastdds::dds::SampleInfo m_info;
+  UnderlayMessage m;
+
+  while (reader->take_next_sample(reinterpret_cast<void*>(&m), &m_info) ==
+         eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK) {
+    if (m_info.valid_data) {
+      char* ptr = reinterpret_cast<char*>(
+          &m_info.related_sample_identity.writer_guid());
+      Identity sender_id(false);
+      sender_id.set_data(ptr);
+      msg_info_.set_sender_id(sender_id);
+
+      Identity spare_id(false);
+      spare_id.set_data(ptr + ID_SIZE);
+      msg_info_.set_spare_id(spare_id);
+
+      msg_info_.set_seq_num(m.seq());
+      msg_info_.set_send_time(m.timestamp());
+      // callback
+      callback_(std::make_shared<std::string>(m.data()), channel_id, msg_info_);
+    } else {
+      AERROR << "Remote writer for topic "
+             << reader->get_topicdescription()->get_name() << " is dead";
+    }
+  }
+}
+
+void SubscriberListener::on_subscription_matched(
+    eprosima::fastdds::dds::DataReader* reader,
+    const eprosima::fastdds::dds::SubscriptionMatchedStatus& info) {
+  (void)reader;
+  (void)info;
+}
+
+}  // namespace dispatcher
+}  // namespace transport
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/transport/rtps/sub_listener.h b/cyber/transport/dispatcher/subscriber_listener.h
similarity index 54%
rename from cyber/transport/rtps/sub_listener.h
rename to cyber/transport/dispatcher/subscriber_listener.h
index fc16abf..f379fa9 100644
--- a/cyber/transport/rtps/sub_listener.h
+++ b/cyber/transport/dispatcher/subscriber_listener.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef CYBER_TRANSPORT_RTPS_SUB_LISTENER_H_
-#define CYBER_TRANSPORT_RTPS_SUB_LISTENER_H_
+#ifndef CYBER_TRANSPORT_DISPATCHER_SUBSCRIBER_LISTENER_H_
+#define CYBER_TRANSPORT_DISPATCHER_SUBSCRIBER_LISTENER_H_
 
 #include <functional>
 #include <iostream>
@@ -23,42 +23,43 @@
 #include <mutex>
 #include <string>
 
+#include "cyber/base/macros.h"
+
+#include "fastdds/dds/subscriber/DataReader.hpp"
+#include "fastdds/dds/subscriber/SampleInfo.hpp"
+#include "fastdds/dds/subscriber/SubscriberListener.hpp"
+#include "fastdds/dds/topic/TopicDescription.hpp"
+
+#include "cyber/common/util.h"
 #include "cyber/transport/message/message_info.h"
+#include "cyber/transport/common/common_type.h"
 #include "cyber/transport/rtps/underlay_message.h"
 #include "cyber/transport/rtps/underlay_message_type.h"
-#include "fastrtps/Domain.h"
-#include "fastrtps/subscriber/SampleInfo.h"
-#include "fastrtps/subscriber/Subscriber.h"
-#include "fastrtps/subscriber/SubscriberListener.h"
 
 namespace apollo {
 namespace cyber {
 namespace transport {
-
-class SubListener;
-using SubListenerPtr = std::shared_ptr<SubListener>;
-
-class SubListener : public eprosima::fastrtps::SubscriberListener {
+namespace dispatcher {
+class SubscriberListener : public eprosima::fastdds::dds::SubscriberListener {
  public:
-  using NewMsgCallback = std::function<void(
-      uint64_t channel_id, const std::shared_ptr<std::string>& msg_str,
-      const MessageInfo& msg_info)>;
-
-  explicit SubListener(const NewMsgCallback& callback);
-  virtual ~SubListener();
+  explicit SubscriberListener(const rtps::subsciber_callback& callback);
+  virtual ~SubscriberListener();
 
-  void onNewDataMessage(eprosima::fastrtps::Subscriber* sub);
-  void onSubscriptionMatched(eprosima::fastrtps::Subscriber* sub,
-                             eprosima::fastrtps::MatchingInfo& info);  // NOLINT
+  void on_data_available(eprosima::fastdds::dds::DataReader* reader) override;
+  void on_subscription_matched(
+      eprosima::fastdds::dds::DataReader* reader,
+      const eprosima::fastdds::dds::SubscriptionMatchedStatus& info)
+      override;  // NOLINT
 
  private:
-  NewMsgCallback callback_;
+  rtps::subsciber_callback callback_;
   MessageInfo msg_info_;
   std::mutex mutex_;
 };
 
+}  // namespace dispatcher
 }  // namespace transport
 }  // namespace cyber
 }  // namespace apollo
 
-#endif  // CYBER_TRANSPORT_RTPS_SUB_LISTENER_H_
+#endif  // CYBER_TRANSPORT_DISPATCHER_SUBSCRIBER_LISTENER_H_
diff --git a/cyber/transport/message/listener_handler.h b/cyber/transport/message/listener_handler.h
index b4b662a..a99051d 100644
--- a/cyber/transport/message/listener_handler.h
+++ b/cyber/transport/message/listener_handler.h
@@ -25,6 +25,7 @@
 #include "cyber/base/atomic_rw_lock.h"
 #include "cyber/base/signal.h"
 #include "cyber/common/log.h"
+#include "cyber/message/arena_message_wrapper.h"
 #include "cyber/message/message_traits.h"
 #include "cyber/message/raw_message.h"
 #include "cyber/transport/message/message_info.h"
diff --git a/cyber/transport/message/message_info.cc b/cyber/transport/message/message_info.cc
index 185375e..00fe0ae 100644
--- a/cyber/transport/message/message_info.cc
+++ b/cyber/transport/message/message_info.cc
@@ -24,7 +24,9 @@ namespace apollo {
 namespace cyber {
 namespace transport {
 
-const std::size_t MessageInfo::kSize = 2 * ID_SIZE + sizeof(uint64_t);
+const std::size_t MessageInfo::kSize = 2 * ID_SIZE + sizeof(uint64_t) + \
+                                        sizeof(uint64_t) + sizeof(int32_t) + \
+                                        sizeof(uint64_t);
 
 MessageInfo::MessageInfo() : sender_id_(false), spare_id_(false) {}
 
@@ -67,9 +69,13 @@ bool MessageInfo::SerializeTo(std::string* dst) const {
   RETURN_VAL_IF_NULL(dst, false);
 
   dst->assign(sender_id_.data(), ID_SIZE);
-  dst->append(reinterpret_cast<const char*>(&seq_num_), sizeof(seq_num_));
+  dst->append(
+    reinterpret_cast<const char*>(&channel_id_), sizeof(channel_id_));
+  dst->append(
+    reinterpret_cast<const char*>(&seq_num_), sizeof(seq_num_));
   dst->append(spare_id_.data(), ID_SIZE);
-
+  dst->append(reinterpret_cast<const char*>(
+    &send_time_), sizeof(send_time_));
   return true;
 }
 
@@ -81,10 +87,16 @@ bool MessageInfo::SerializeTo(char* dst, std::size_t len) const {
   char* ptr = dst;
   std::memcpy(ptr, sender_id_.data(), ID_SIZE);
   ptr += ID_SIZE;
-  std::memcpy(ptr, reinterpret_cast<const char*>(&seq_num_), sizeof(seq_num_));
+  std::memcpy(ptr,
+    reinterpret_cast<const char*>(&channel_id_), sizeof(channel_id_));
+  ptr += sizeof(channel_id_);
+  std::memcpy(ptr,
+    reinterpret_cast<const char*>(&seq_num_), sizeof(seq_num_));
   ptr += sizeof(seq_num_);
   std::memcpy(ptr, spare_id_.data(), ID_SIZE);
-
+  ptr += ID_SIZE;
+  std::memcpy(ptr,
+    reinterpret_cast<const char*>(&send_time_), sizeof(send_time_));
   return true;
 }
 
@@ -102,10 +114,16 @@ bool MessageInfo::DeserializeFrom(const char* src, std::size_t len) {
   char* ptr = const_cast<char*>(src);
   sender_id_.set_data(ptr);
   ptr += ID_SIZE;
-  std::memcpy(reinterpret_cast<char*>(&seq_num_), ptr, sizeof(seq_num_));
+  std::memcpy(
+    reinterpret_cast<char*>(&channel_id_), ptr, sizeof(channel_id_));
+  ptr += sizeof(channel_id_);
+  std::memcpy(
+    reinterpret_cast<char*>(&seq_num_), ptr, sizeof(seq_num_));
   ptr += sizeof(seq_num_);
   spare_id_.set_data(ptr);
-
+  ptr += ID_SIZE;
+  std::memcpy(
+    reinterpret_cast<char*>(&send_time_), ptr, sizeof(send_time_));
   return true;
 }
 
diff --git a/cyber/transport/message/message_info.h b/cyber/transport/message/message_info.h
index 3e869fb..0ef633c 100644
--- a/cyber/transport/message/message_info.h
+++ b/cyber/transport/message/message_info.h
@@ -60,11 +60,15 @@ class MessageInfo {
 
   static const std::size_t kSize;
 
+  uint64_t send_time() const { return send_time_; }
+  void set_send_time(uint64_t send_time) { send_time_ = send_time; }
+
  private:
   Identity sender_id_;
   uint64_t channel_id_ = 0;
   uint64_t seq_num_ = 0;
   Identity spare_id_;
+  uint64_t send_time_;
 };
 
 }  // namespace transport
diff --git a/cyber/transport/qos/qos_filler.cc b/cyber/transport/qos/qos_filler.cc
new file mode 100644
index 0000000..5a11d1b
--- /dev/null
+++ b/cyber/transport/qos/qos_filler.cc
@@ -0,0 +1,339 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "cyber/transport/qos/qos_filler.h"
+
+#include "cyber/common/log.h"
+#include "cyber/transport/qos/qos_profile_conf.h"
+
+#include "fastrtps/attributes/PublisherAttributes.h"
+#include "fastrtps/attributes/SubscriberAttributes.h"
+
+namespace apollo {
+namespace cyber {
+namespace transport {
+
+using proto::QosDurabilityPolicy;
+using proto::QosHistoryPolicy;
+using proto::QosProfile;
+using proto::QosReliabilityPolicy;
+using transport::QosProfileConf;
+
+bool GetDefaultPubAttributes(
+    const std::string& channel_name, const QosProfile& qos,
+    eprosima::fastrtps::PublisherAttributes* pub_attr) {
+  RETURN_VAL_IF_NULL2(pub_attr, false);
+  pub_attr->topic.topicName = channel_name;
+  pub_attr->topic.topicDataType = "UnderlayMessage";
+  pub_attr->topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
+  switch (qos.history()) {
+    case QosHistoryPolicy::HISTORY_KEEP_LAST:
+      pub_attr->topic.historyQos.kind =
+          eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS;
+      break;
+    case QosHistoryPolicy::HISTORY_KEEP_ALL:
+      pub_attr->topic.historyQos.kind =
+          eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS;
+      break;
+    default:
+      break;
+  }
+  switch (qos.durability()) {
+    case QosDurabilityPolicy::DURABILITY_TRANSIENT_LOCAL:
+      pub_attr->qos.m_durability.kind =
+          eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS;
+      break;
+    case QosDurabilityPolicy::DURABILITY_VOLATILE:
+      pub_attr->qos.m_durability.kind =
+          eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS;
+      break;
+    default:
+      break;
+  }
+
+  switch (qos.reliability()) {
+    case QosReliabilityPolicy::RELIABILITY_BEST_EFFORT:
+      pub_attr->qos.m_reliability.kind =
+          eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS;
+      break;
+    case QosReliabilityPolicy::RELIABILITY_RELIABLE:
+      pub_attr->qos.m_reliability.kind =
+          eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS;
+      break;
+    default:
+      break;
+  }
+  if (qos.depth() != QosProfileConf::QOS_HISTORY_DEPTH_SYSTEM_DEFAULT) {
+    pub_attr->topic.historyQos.depth = static_cast<int32_t>(qos.depth());
+  }
+
+  // ensure the history depth is at least the requested queue size
+  RETURN_VAL_IF2(pub_attr->topic.historyQos.depth < 0, false);
+
+  // tranform messages per second to rtps heartbeat
+  // set default heartbeat period
+  pub_attr->times.heartbeatPeriod.seconds = 0;
+  pub_attr->times.heartbeatPeriod.fraction(300 * 4294967);  // 300ms
+  if (qos.mps() != 0) {
+    uint64_t mps = qos.mps();
+
+    // adapt heartbeat period
+    if (mps > 1024) {
+      mps = 1024;
+    } else if (mps < 64) {
+      mps = 64;
+    }
+
+    uint64_t fractions = (256ull << 32) / mps;
+    uint32_t fraction = fractions & 0xffffffff;
+    int32_t seconds = static_cast<int32_t>(fractions >> 32);
+
+    pub_attr->times.heartbeatPeriod.seconds = seconds;
+    pub_attr->times.heartbeatPeriod.fraction(fraction);
+  }
+
+  pub_attr->qos.m_publishMode.kind =
+      eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
+  pub_attr->historyMemoryPolicy =
+      eprosima::fastrtps::rtps::DYNAMIC_RESERVE_MEMORY_MODE;
+  AINFO << channel_name << "qos: [history: " << pub_attr->topic.historyQos.kind
+        << "] [durability: " << pub_attr->qos.m_durability.kind
+        << "] [reliability: " << pub_attr->qos.m_reliability.kind
+        << "] [depth: " << pub_attr->topic.historyQos.depth
+        << "] [samples: " << pub_attr->topic.resourceLimitsQos.max_samples
+        << "]";
+
+  return true;
+}
+
+bool GetDefaultSubAttributes(
+    const std::string& channel_name, const QosProfile& qos,
+    eprosima::fastrtps::SubscriberAttributes* sub_attr) {
+  RETURN_VAL_IF_NULL2(sub_attr, false);
+  sub_attr->topic.topicName = channel_name;
+  sub_attr->topic.topicDataType = "UnderlayMessage";
+  sub_attr->topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
+
+  switch (qos.history()) {
+    case QosHistoryPolicy::HISTORY_KEEP_LAST:
+      sub_attr->topic.historyQos.kind =
+          eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS;
+      break;
+    case QosHistoryPolicy::HISTORY_KEEP_ALL:
+      sub_attr->topic.historyQos.kind =
+          eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS;
+      break;
+    default:
+      break;
+  }
+  switch (qos.durability()) {
+    case QosDurabilityPolicy::DURABILITY_TRANSIENT_LOCAL:
+      sub_attr->qos.m_durability.kind =
+          eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS;
+      break;
+    case QosDurabilityPolicy::DURABILITY_VOLATILE:
+      sub_attr->qos.m_durability.kind =
+          eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS;
+      break;
+    default:
+      break;
+  }
+
+  switch (qos.reliability()) {
+    case QosReliabilityPolicy::RELIABILITY_BEST_EFFORT:
+      sub_attr->qos.m_reliability.kind =
+          eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS;
+      break;
+    case QosReliabilityPolicy::RELIABILITY_RELIABLE:
+      sub_attr->qos.m_reliability.kind =
+          eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS;
+      break;
+    default:
+      break;
+  }
+  if (qos.depth() != QosProfileConf::QOS_HISTORY_DEPTH_SYSTEM_DEFAULT) {
+    sub_attr->topic.historyQos.depth = static_cast<int32_t>(qos.depth());
+  }
+
+  // ensure the history depth is at least the requested queue size
+  RETURN_VAL_IF2(sub_attr->topic.historyQos.depth < 0, false);
+
+  sub_attr->historyMemoryPolicy =
+      eprosima::fastrtps::rtps::DYNAMIC_RESERVE_MEMORY_MODE;
+  AINFO << channel_name << "qos: [history: " << sub_attr->topic.historyQos.kind
+        << "] [durability: " << sub_attr->qos.m_durability.kind
+        << "] [reliability: " << sub_attr->qos.m_reliability.kind
+        << "] [depth: " << sub_attr->topic.historyQos.depth
+        << "] [samples: " << sub_attr->topic.resourceLimitsQos.max_samples
+        << "]";
+
+  return true;
+}
+
+bool GetDefaultTopicAttributes(
+    const std::string& channel_name, const QosProfile& qos,
+    eprosima::fastrtps::TopicAttributes* topic_attr) {
+  RETURN_VAL_IF_NULL2(topic_attr, false);
+  topic_attr->topicName = channel_name;
+  topic_attr->topicDataType = "UnderlayMessage";
+  topic_attr->topicKind = eprosima::fastrtps::rtps::NO_KEY;
+
+  switch (qos.history()) {
+    case QosHistoryPolicy::HISTORY_KEEP_LAST:
+      topic_attr->historyQos.kind =
+          eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS;
+      break;
+    case QosHistoryPolicy::HISTORY_KEEP_ALL:
+      topic_attr->historyQos.kind =
+          eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS;
+      break;
+    default:
+      break;
+  }
+
+  if (qos.depth() != QosProfileConf::QOS_HISTORY_DEPTH_SYSTEM_DEFAULT) {
+    topic_attr->historyQos.depth = static_cast<int32_t>(qos.depth());
+  }
+
+  // ensure the history depth is at least the requested queue size
+  RETURN_VAL_IF2(topic_attr->historyQos.depth < 0, false);
+
+  return true;
+}
+
+///////////////////////////////////////////////////////////////////////////
+bool QosFiller::FillInPubQos(const std::string& channel_name,
+                             const QosProfile& qos,
+                             eprosima::fastdds::dds::PublisherQos* pub_qos) {
+  RETURN_VAL_IF_NULL2(pub_qos, false);
+  eprosima::fastrtps::PublisherAttributes pub_attr;
+  if (!GetDefaultPubAttributes(channel_name, qos, &pub_attr)) {
+    return false;
+  }
+  pub_qos->group_data().setValue(pub_attr.qos.m_groupData);
+  pub_qos->partition() = pub_attr.qos.m_partition;
+  pub_qos->presentation() = pub_attr.qos.m_presentation;
+  return true;
+}
+
+bool QosFiller::FillInWriterQos(
+    const std::string& channel_name, const QosProfile& qos,
+    eprosima::fastdds::dds::DataWriterQos* writer_qos) {
+  RETURN_VAL_IF_NULL2(writer_qos, false);
+  eprosima::fastrtps::PublisherAttributes pub_attr;
+  if (!GetDefaultPubAttributes(channel_name, qos, &pub_attr)) {
+    return false;
+  }
+  writer_qos->writer_resource_limits().matched_subscriber_allocation =
+      pub_attr.matched_subscriber_allocation;
+  writer_qos->properties() = pub_attr.properties;
+  writer_qos->throughput_controller() = pub_attr.throughputController;
+  writer_qos->endpoint().unicast_locator_list = pub_attr.unicastLocatorList;
+  writer_qos->endpoint().multicast_locator_list = pub_attr.multicastLocatorList;
+  writer_qos->endpoint().remote_locator_list = pub_attr.remoteLocatorList;
+  writer_qos->endpoint().history_memory_policy = pub_attr.historyMemoryPolicy;
+  writer_qos->endpoint().user_defined_id = pub_attr.getUserDefinedID();
+  writer_qos->endpoint().entity_id = pub_attr.getEntityID();
+  writer_qos->reliable_writer_qos().times = pub_attr.times;
+  writer_qos->reliable_writer_qos().disable_positive_acks =
+      pub_attr.qos.m_disablePositiveACKs;
+  writer_qos->durability() = pub_attr.qos.m_durability;
+  writer_qos->durability_service() = pub_attr.qos.m_durabilityService;
+  writer_qos->deadline() = pub_attr.qos.m_deadline;
+  writer_qos->latency_budget() = pub_attr.qos.m_latencyBudget;
+  writer_qos->liveliness() = pub_attr.qos.m_liveliness;
+  writer_qos->reliability() = pub_attr.qos.m_reliability;
+  writer_qos->lifespan() = pub_attr.qos.m_lifespan;
+  writer_qos->user_data().setValue(pub_attr.qos.m_userData);
+  writer_qos->ownership() = pub_attr.qos.m_ownership;
+  writer_qos->ownership_strength() = pub_attr.qos.m_ownershipStrength;
+  writer_qos->destination_order() = pub_attr.qos.m_destinationOrder;
+  writer_qos->representation() = pub_attr.qos.representation;
+  writer_qos->publish_mode() = pub_attr.qos.m_publishMode;
+  writer_qos->history() = pub_attr.topic.historyQos;
+  writer_qos->resource_limits() = pub_attr.topic.resourceLimitsQos;
+  return true;
+}
+
+bool QosFiller::FillInSubQos(const std::string& channel_name,
+                             const QosProfile& qos,
+                             eprosima::fastdds::dds::SubscriberQos* sub_qos) {
+  RETURN_VAL_IF_NULL2(sub_qos, false);
+  eprosima::fastrtps::SubscriberAttributes sub_attr;
+  if (!GetDefaultSubAttributes(channel_name, qos, &sub_attr)) {
+    return false;
+  }
+  sub_qos->group_data().setValue(sub_attr.qos.m_groupData);
+  sub_qos->partition() = sub_attr.qos.m_partition;
+  sub_qos->presentation() = sub_attr.qos.m_presentation;
+  return true;
+}
+
+bool QosFiller::FillInReaderQos(
+    const std::string& channel_name, const proto::QosProfile& qos,
+    eprosima::fastdds::dds::DataReaderQos* reader_qos) {
+  RETURN_VAL_IF_NULL2(reader_qos, false);
+  eprosima::fastrtps::SubscriberAttributes sub_attr;
+  if (!GetDefaultSubAttributes(channel_name, qos, &sub_attr)) {
+    return false;
+  }
+  reader_qos->reader_resource_limits().matched_publisher_allocation =
+      sub_attr.matched_publisher_allocation;
+  reader_qos->properties() = sub_attr.properties;
+  reader_qos->expects_inline_qos(sub_attr.expectsInlineQos);
+  reader_qos->endpoint().unicast_locator_list = sub_attr.unicastLocatorList;
+  reader_qos->endpoint().multicast_locator_list = sub_attr.multicastLocatorList;
+  reader_qos->endpoint().remote_locator_list = sub_attr.remoteLocatorList;
+  reader_qos->endpoint().history_memory_policy = sub_attr.historyMemoryPolicy;
+  reader_qos->endpoint().user_defined_id = sub_attr.getUserDefinedID();
+  reader_qos->endpoint().entity_id = sub_attr.getEntityID();
+  reader_qos->reliable_reader_qos().times = sub_attr.times;
+  reader_qos->reliable_reader_qos().disable_positive_ACKs =
+      sub_attr.qos.m_disablePositiveACKs;
+  reader_qos->durability() = sub_attr.qos.m_durability;
+  reader_qos->durability_service() = sub_attr.qos.m_durabilityService;
+  reader_qos->deadline() = sub_attr.qos.m_deadline;
+  reader_qos->latency_budget() = sub_attr.qos.m_latencyBudget;
+  reader_qos->liveliness() = sub_attr.qos.m_liveliness;
+  reader_qos->reliability() = sub_attr.qos.m_reliability;
+  reader_qos->lifespan() = sub_attr.qos.m_lifespan;
+  reader_qos->user_data().setValue(sub_attr.qos.m_userData);
+  reader_qos->ownership() = sub_attr.qos.m_ownership;
+  reader_qos->destination_order() = sub_attr.qos.m_destinationOrder;
+  reader_qos->type_consistency().type_consistency =
+      sub_attr.qos.type_consistency;
+  reader_qos->type_consistency().representation = sub_attr.qos.representation;
+  reader_qos->time_based_filter() = sub_attr.qos.m_timeBasedFilter;
+  reader_qos->history() = sub_attr.topic.historyQos;
+  reader_qos->resource_limits() = sub_attr.topic.resourceLimitsQos;
+  return true;
+}
+
+bool QosFiller::FillInTopicQos(const std::string& channel_name,
+                               const proto::QosProfile& qos,
+                               eprosima::fastdds::dds::TopicQos* topic_qos) {
+  RETURN_VAL_IF_NULL2(topic_qos, false);
+  eprosima::fastrtps::TopicAttributes topic_attr;
+  if (!GetDefaultTopicAttributes(channel_name, qos, &topic_attr)) {
+    return false;
+  }
+  topic_qos->history() = topic_attr.historyQos;
+  topic_qos->resource_limits() = topic_attr.resourceLimitsQos;
+  return true;
+}
+}  // namespace transport
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/transport/qos/qos_filler.h b/cyber/transport/qos/qos_filler.h
new file mode 100644
index 0000000..f7104b8
--- /dev/null
+++ b/cyber/transport/qos/qos_filler.h
@@ -0,0 +1,62 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#ifndef CYBER_DDS_ADAPTER_FASTDDS_QOS_FILLER_H_
+#define CYBER_DDS_ADAPTER_FASTDDS_QOS_FILLER_H_
+
+#include <string>
+
+#include "cyber/base/macros.h"
+
+#include "fastdds/dds/publisher/qos/DataWriterQos.hpp"
+#include "fastdds/dds/publisher/qos/PublisherQos.hpp"
+#include "fastdds/dds/subscriber/qos/DataReaderQos.hpp"
+#include "fastdds/dds/subscriber/qos/SubscriberQos.hpp"
+#include "fastdds/dds/topic/qos/TopicQos.hpp"
+#include "cyber/proto/qos_profile.pb.h"
+
+namespace apollo {
+namespace cyber {
+namespace transport {
+
+class QosFiller {
+ public:
+  static bool FillInPubQos(const std::string& channel_name,
+                           const proto::QosProfile& qos,
+                           eprosima::fastdds::dds::PublisherQos* pub_qos);
+
+  static bool FillInWriterQos(
+      const std::string& channel_name, const proto::QosProfile& qos,
+      eprosima::fastdds::dds::DataWriterQos* writer_qos);
+
+  static bool FillInSubQos(const std::string& channel_name,
+                           const proto::QosProfile& qos,
+                           eprosima::fastdds::dds::SubscriberQos* sub_qos);
+
+  static bool FillInReaderQos(
+      const std::string& channel_name, const proto::QosProfile& qos,
+      eprosima::fastdds::dds::DataReaderQos* reader_qos);
+
+  static bool FillInTopicQos(const std::string& channel_name,
+                             const proto::QosProfile& qos,
+                             eprosima::fastdds::dds::TopicQos* topic_qos);
+};
+
+}  // namespace transport
+}  // namespace cyber
+}  // namespace apollo
+
+#endif  // CYBER_DDS_ADAPTER_FASTDDS_QOS_FILLER_H_
diff --git a/cyber/transport/receiver/shm_receiver.h b/cyber/transport/receiver/shm_receiver.h
index e39890b..ae18ed9 100644
--- a/cyber/transport/receiver/shm_receiver.h
+++ b/cyber/transport/receiver/shm_receiver.h
@@ -22,6 +22,7 @@
 #include "cyber/common/log.h"
 #include "cyber/transport/dispatcher/shm_dispatcher.h"
 #include "cyber/transport/receiver/receiver.h"
+#include "cyber/transport/shm/protobuf_arena_manager.h"
 
 namespace apollo {
 namespace cyber {
@@ -63,6 +64,17 @@ void ShmReceiver<M>::Enable() {
     return;
   }
 
+  if (cyber::common::GlobalData::Instance()->IsChannelEnableArenaShm(
+          this->attr_.channel_id()) && message::MessageType<M>() != \
+            message::MessageType<message::RawMessage>()) {
+    auto arena_manager = ProtobufArenaManager::Instance();
+    if (!arena_manager->Enable() ||
+        !arena_manager->EnableSegment(this->attr_.channel_id())) {
+      AERROR << "arena manager enable failed.";
+      return;
+    }
+  }
+
   dispatcher_->AddListener<M>(
       this->attr_, std::bind(&ShmReceiver<M>::OnNewMessage, this,
                              std::placeholders::_1, std::placeholders::_2));
@@ -81,6 +93,16 @@ void ShmReceiver<M>::Disable() {
 
 template <typename M>
 void ShmReceiver<M>::Enable(const RoleAttributes& opposite_attr) {
+  if (cyber::common::GlobalData::Instance()->IsChannelEnableArenaShm(
+          this->attr_.channel_id()) && message::MessageType<M>() != \
+            message::MessageType<message::RawMessage>()) {
+    auto arena_manager = ProtobufArenaManager::Instance();
+    if (!arena_manager->Enable() ||
+        !arena_manager->EnableSegment(this->attr_.channel_id())) {
+      AERROR << "arena manager enable failed.";
+      return;
+    }
+  }
   dispatcher_->AddListener<M>(
       this->attr_, opposite_attr,
       std::bind(&ShmReceiver<M>::OnNewMessage, this, std::placeholders::_1,
diff --git a/cyber/transport/rtps/attributes_filler.cc b/cyber/transport/rtps/attributes_filler.cc
index 411e12d..3a203f7 100644
--- a/cyber/transport/rtps/attributes_filler.cc
+++ b/cyber/transport/rtps/attributes_filler.cc
@@ -35,7 +35,7 @@ bool AttributesFiller::FillInPubAttr(
 
   pub_attr->topic.topicName = channel_name;
   pub_attr->topic.topicDataType = "UnderlayMessage";
-  pub_attr->topic.topicKind = eprosima::fastrtps::NO_KEY;
+  pub_attr->topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
 
   switch (qos.history()) {
     case QosHistoryPolicy::HISTORY_KEEP_LAST:
@@ -88,7 +88,7 @@ bool AttributesFiller::FillInPubAttr(
   // transform messages per second to rtps heartbeat
   // set default heartbeat period
   pub_attr->times.heartbeatPeriod.seconds = 1;
-  pub_attr->times.heartbeatPeriod.fraction = 0;
+  pub_attr->times.heartbeatPeriod.fraction(0);
   if (qos.mps() != 0) {
     uint64_t mps = qos.mps();
 
@@ -104,13 +104,13 @@ bool AttributesFiller::FillInPubAttr(
     int32_t seconds = static_cast<int32_t>(fractions >> 32);
 
     pub_attr->times.heartbeatPeriod.seconds = seconds;
-    pub_attr->times.heartbeatPeriod.fraction = fraction;
+    pub_attr->times.heartbeatPeriod.fraction(fraction);
   }
 
   pub_attr->qos.m_publishMode.kind =
       eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
   pub_attr->historyMemoryPolicy =
-      eprosima::fastrtps::DYNAMIC_RESERVE_MEMORY_MODE;
+      eprosima::fastrtps::rtps::DYNAMIC_RESERVE_MEMORY_MODE;
   pub_attr->topic.resourceLimitsQos.max_samples = 10000;
 
   return true;
@@ -122,7 +122,7 @@ bool AttributesFiller::FillInSubAttr(
   RETURN_VAL_IF_NULL(sub_attr, false);
   sub_attr->topic.topicName = channel_name;
   sub_attr->topic.topicDataType = "UnderlayMessage";
-  sub_attr->topic.topicKind = eprosima::fastrtps::NO_KEY;
+  sub_attr->topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
 
   switch (qos.history()) {
     case QosHistoryPolicy::HISTORY_KEEP_LAST:
@@ -173,7 +173,7 @@ bool AttributesFiller::FillInSubAttr(
   }
 
   sub_attr->historyMemoryPolicy =
-      eprosima::fastrtps::DYNAMIC_RESERVE_MEMORY_MODE;
+      eprosima::fastrtps::rtps::DYNAMIC_RESERVE_MEMORY_MODE;
   sub_attr->topic.resourceLimitsQos.max_samples = 10000;
 
   return true;
diff --git a/cyber/transport/rtps/attributes_filler.h b/cyber/transport/rtps/attributes_filler.h
index 44ab135..df57571 100644
--- a/cyber/transport/rtps/attributes_filler.h
+++ b/cyber/transport/rtps/attributes_filler.h
@@ -19,6 +19,8 @@
 
 #include <string>
 
+#include "cyber/base/macros.h"
+
 #include "cyber/proto/qos_profile.pb.h"
 #include "fastrtps/attributes/PublisherAttributes.h"
 #include "fastrtps/attributes/SubscriberAttributes.h"
diff --git a/cyber/transport/rtps/participant.cc b/cyber/transport/rtps/participant.cc
index 169ac48..6a362be 100644
--- a/cyber/transport/rtps/participant.cc
+++ b/cyber/transport/rtps/participant.cc
@@ -1,5 +1,5 @@
 /******************************************************************************
- * Copyright 2018 The Apollo Authors. All Rights Reserved.
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -13,130 +13,207 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *****************************************************************************/
-
 #include "cyber/transport/rtps/participant.h"
 
-#include "cyber/common/global_data.h"
-#include "cyber/common/log.h"
-#include "cyber/proto/transport_conf.pb.h"
+#include <vector>
 
 namespace apollo {
 namespace cyber {
 namespace transport {
 
-Participant::Participant(const std::string& name, int send_port,
-                         eprosima::fastrtps::ParticipantListener* listener)
+auto Participant::CreateSubscriber(const std::string& channel_name,
+                                   const proto::QosProfile& qos,
+                                   const rtps::subsciber_callback& callback)
+    -> std::shared_ptr<transport::Subscriber> {
+  if (!participant_) {
+    AWARN << "DDSParticipant already released when the subscriber created, "
+             "channel:"
+          << channel_name;
+    return nullptr;
+  }
+  auto subscriber_ptr = std::make_shared<transport::Subscriber>(
+      channel_name, qos, participant_, callback);
+  RETURN_VAL_IF(!subscriber_ptr->Init(), nullptr);
+  std::lock_guard<std::mutex> lock(subscriber_mutex_);
+  subscriber_map_.emplace(channel_name, subscriber_ptr);
+  return subscriber_ptr;
+}
+
+Participant::Participant(
+    const std::string& name, int send_port,
+    eprosima::fastdds::dds::DomainParticipantListener* listener)
     : shutdown_(false),
       name_(name),
       send_port_(send_port),
       listener_(listener),
-      fastrtps_participant_(nullptr) {}
+      type_support_(new UnderlayMessageType()),
+      participant_(nullptr) {}
 
 Participant::~Participant() {}
 
+bool Participant::Init() {
+  return CreateParticipant(name_, send_port_, listener_);
+}
+
 void Participant::Shutdown() {
   if (shutdown_.exchange(true)) {
     return;
   }
 
-  std::lock_guard<std::mutex> lk(mutex_);
-  if (fastrtps_participant_ != nullptr) {
-    eprosima::fastrtps::Domain::removeParticipant(fastrtps_participant_);
-    fastrtps_participant_ = nullptr;
+  publisher_map_.clear();
+  subscriber_map_.clear();
+  if (listener_ != nullptr) {
+    delete listener_;
     listener_ = nullptr;
   }
 }
 
-eprosima::fastrtps::Participant* Participant::fastrtps_participant() {
-  if (shutdown_.load()) {
+auto Participant::CreatePublisher(const std::string& channel_name,
+                                  const proto::QosProfile& qos)
+    -> std::shared_ptr<transport::Publisher> {
+  if (!participant_) {
+    AWARN << "DDSParticipant already released when the publisher created, "
+             "channel:"
+          << channel_name;
     return nullptr;
   }
+  auto publisher_ptr =
+      std::make_shared<transport::Publisher>(channel_name, qos, participant_);
 
-  std::lock_guard<std::mutex> lk(mutex_);
-  if (fastrtps_participant_ != nullptr) {
-    return fastrtps_participant_;
-  }
-
-  CreateFastRtpsParticipant(name_, send_port_, listener_);
-  return fastrtps_participant_;
+  RETURN_VAL_IF(!publisher_ptr->Init(), nullptr);
+  std::lock_guard<std::mutex> lock(publisher_mutex_);
+  publisher_map_.emplace(channel_name, publisher_ptr);
+  return publisher_ptr;
 }
 
-void Participant::CreateFastRtpsParticipant(
+bool Participant::CreateParticipant(
     const std::string& name, int send_port,
-    eprosima::fastrtps::ParticipantListener* listener) {
+    eprosima::fastdds::dds::DomainParticipantListener* listener) {
   uint32_t domain_id = 80;
-
   const char* val = ::getenv("CYBER_DOMAIN_ID");
   if (val != nullptr) {
     try {
       domain_id = std::stoi(val);
     } catch (const std::exception& e) {
       AERROR << "convert domain_id error " << e.what();
-      return;
+      return false;
     }
   }
 
-  auto part_attr_conf = std::make_shared<proto::RtpsParticipantAttr>();
-  auto& global_conf = common::GlobalData::Instance()->Config();
-  if (global_conf.has_transport_conf() &&
-      global_conf.transport_conf().has_participant_attr()) {
-    part_attr_conf->CopyFrom(global_conf.transport_conf().participant_attr());
-  }
-
-  eprosima::fastrtps::ParticipantAttributes attr;
-  attr.rtps.defaultSendPort = send_port;
-  attr.rtps.port.domainIDGain =
-      static_cast<uint16_t>(part_attr_conf->domain_id_gain());
-  attr.rtps.port.portBase = static_cast<uint16_t>(part_attr_conf->port_base());
-  attr.rtps.use_IP6_to_send = false;
-  attr.rtps.builtin.use_SIMPLE_RTPSParticipantDiscoveryProtocol = true;
-  attr.rtps.builtin.use_SIMPLE_EndpointDiscoveryProtocol = true;
-  attr.rtps.builtin.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter =
-      true;
-  attr.rtps.builtin.m_simpleEDP.use_PublicationWriterANDSubscriptionReader =
-      true;
-  attr.rtps.builtin.domainId = domain_id;
-
-  /**
-   * The user should set the lease_duration and the announcement_period with
-   * values that differ in at least 30%. Values too close to each other may
-   * cause the failure of the writer liveliness assertion in networks with high
-   * latency or with lots of communication errors.
-   */
-  attr.rtps.builtin.leaseDuration.seconds = part_attr_conf->lease_duration();
-  attr.rtps.builtin.leaseDuration_announcementperiod.seconds =
-      part_attr_conf->announcement_period();
-
-  attr.rtps.setName(name.c_str());
-
   std::string ip_env("127.0.0.1");
   const char* ip_val = ::getenv("CYBER_IP");
   if (ip_val != nullptr) {
     ip_env = ip_val;
     if (ip_env.empty()) {
       AERROR << "invalid CYBER_IP (an empty string)";
-      return;
+      return false;
     }
   }
-  ADEBUG << "cyber ip: " << ip_env;
 
+  auto part_attr_conf = std::make_shared<proto::RtpsParticipantAttr>();
+  auto& global_conf = common::GlobalData::Instance()->Config();
+
+  if (!global_conf.has_transport_conf() ||
+      !global_conf.transport_conf().has_participant_attr()) {
+    AERROR << "No rtps participant attr conf.";
+    return false;
+  }
+
+  part_attr_conf->CopyFrom(global_conf.transport_conf().participant_attr());
+
+  // set wire protocol
+  eprosima::fastdds::dds::WireProtocolConfigQos wire_protocol;
+  wire_protocol.port.domainIDGain =
+      static_cast<uint16_t>(part_attr_conf->domain_id_gain());
+  wire_protocol.port.portBase =
+      static_cast<uint16_t>(part_attr_conf->port_base());
+  wire_protocol.builtin.discovery_config.discoveryProtocol =
+      eprosima::fastrtps::rtps::DiscoveryProtocol_t::SIMPLE;
+  wire_protocol.builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol =
+      true;
+  wire_protocol.builtin.discovery_config.m_simpleEDP
+      .use_PublicationReaderANDSubscriptionWriter = true;
+  wire_protocol.builtin.discovery_config.m_simpleEDP
+      .use_PublicationWriterANDSubscriptionReader = true;
+  wire_protocol.builtin.discovery_config.leaseDuration.seconds =
+      part_attr_conf->lease_duration();
+  wire_protocol.builtin.discovery_config.leaseDuration_announcementperiod
+      .seconds = part_attr_conf->announcement_period();
+  wire_protocol.builtin.discovery_config.ignoreParticipantFlags = static_cast<
+      eprosima::fastrtps::rtps::ParticipantFilteringFlags>(
+      eprosima::fastrtps::rtps::ParticipantFilteringFlags::FILTER_SAME_PROCESS);
+
+  // set transport locator
   eprosima::fastrtps::rtps::Locator_t locator;
   locator.port = 0;
-  RETURN_IF(!locator.set_IP4_address(ip_env));
-
+  RETURN_VAL_IF(!eprosima::fastrtps::rtps::IPLocator::setIPv4(locator, ip_env),
+                false);
   locator.kind = LOCATOR_KIND_UDPv4;
+  wire_protocol.default_unicast_locator_list.push_back(locator);
+  wire_protocol.builtin.metatrafficUnicastLocatorList.push_back(locator);
+  eprosima::fastrtps::rtps::IPLocator::setIPv4(locator, 239, 255, 0, 1);
+  wire_protocol.builtin.metatrafficMulticastLocatorList.push_back(locator);
+
+  // set participant qos
+  eprosima::fastdds::dds::PropertyPolicyQos properties;
+  eprosima::fastdds::dds::DomainParticipantQos participant_qos;
+  participant_qos.name(this->name_.c_str());
+  participant_qos.wire_protocol(wire_protocol);
+  participant_qos.properties(properties);
+
+  // UDP
+  auto udp_transport =
+      std::make_shared<eprosima::fastdds::rtps::UDPv4TransportDescriptor>();
+  udp_transport->sendBufferSize = 1024 * 1025 * 10;
+  udp_transport->receiveBufferSize = 1024 * 1025 * 10;
+  udp_transport->interfaceWhiteList.push_back(ip_env);
+  participant_qos.transport().user_transports.push_back(udp_transport);
+  participant_qos.transport().use_builtin_transports = false;
+  AINFO << "part name: " << participant_qos.name() << ", port: " << send_port_;
+
+  participant_ =
+      eprosima::fastdds::dds::DomainParticipantFactory::get_instance()
+          ->create_participant(domain_id, participant_qos, listener_,
+                               eprosima::fastdds::dds::StatusMask::none());
+  RETURN_VAL_IF_NULL(participant_, false);
+  if (type_support_.register_type(participant_) != ReturnCode_t::RETCODE_OK) {
+    AERROR << "Register type failed!";
+    return false;
+  }
+  return true;
+}
 
-  attr.rtps.defaultUnicastLocatorList.push_back(locator);
-  attr.rtps.defaultOutLocatorList.push_back(locator);
-  attr.rtps.builtin.metatrafficUnicastLocatorList.push_back(locator);
-
-  locator.set_IP4_address(239, 255, 0, 1);
-  attr.rtps.builtin.metatrafficMulticastLocatorList.push_back(locator);
+bool Participant::CheckIPVaild(std::string ip_env) {
+  struct ifaddrs *ifap, *ifa;
+  struct sockaddr_in* sa;
+  char ip_address[INET_ADDRSTRLEN];
+  if (getifaddrs(&ifap) == -1) {
+    AERROR << "getifaddrs error";
+    return false;
+  }
+  std::vector<std::string> ip_vec;
+  std::stringstream ip_info;
+  ip_info << "All ip info:  \n";
+  for (ifa = ifap; ifa != NULL; ifa = ifa->ifa_next) {
+    if (ifa->ifa_addr != NULL && ifa->ifa_addr->sa_family == AF_INET) {
+      sa = (struct sockaddr_in*)ifa->ifa_addr;
+      inet_ntop(AF_INET, &sa->sin_addr, ip_address, sizeof(ip_address));
+      ip_info << "    " << ifa->ifa_name << " " << ip_address << "\n";
+      ip_vec.push_back(ip_address);
+    }
+  }
+  AINFO << ip_info.str();
+  freeifaddrs(ifap);
 
-  fastrtps_participant_ =
-      eprosima::fastrtps::Domain::createParticipant(attr, listener);
-  RETURN_IF_NULL(fastrtps_participant_);
-  eprosima::fastrtps::Domain::registerType(fastrtps_participant_, &type_);
+  for (std::string ip_interface : ip_vec) {
+    if (ip_interface == ip_env) {
+      AINFO << "Find same the ip interface in host as cyber ip: " << ip_env;
+      return true;
+    }
+  }
+  AERROR << "The same ip interface in host as cyber ip was not found: "
+         << ip_env;
+  return false;
 }
 
 }  // namespace transport
diff --git a/cyber/transport/rtps/participant.h b/cyber/transport/rtps/participant.h
index 455c897..9950cbe 100644
--- a/cyber/transport/rtps/participant.h
+++ b/cyber/transport/rtps/participant.h
@@ -1,5 +1,5 @@
 /******************************************************************************
- * Copyright 2018 The Apollo Authors. All Rights Reserved.
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -17,47 +17,81 @@
 #ifndef CYBER_TRANSPORT_RTPS_PARTICIPANT_H_
 #define CYBER_TRANSPORT_RTPS_PARTICIPANT_H_
 
+#include <arpa/inet.h>
+#include <ifaddrs.h>
+
 #include <atomic>
 #include <memory>
 #include <mutex>
 #include <string>
+#include <unordered_map>
+
+#include "fastdds/dds/domain/DomainParticipantFactory.hpp"
+#include "fastdds/dds/domain/DomainParticipantListener.hpp"
+#include "fastdds/rtps/transport/TCPv4TransportDescriptor.h"
+#include "fastdds/rtps/transport/UDPv4TransportDescriptor.h"
+#include "fastrtps/utils/IPLocator.h"
+
+#include "cyber/base/macros.h"
 
+#include "cyber/proto/qos_profile.pb.h"
+#include "cyber/proto/transport_conf.pb.h"
+
+#include "cyber/common/global_data.h"
+#include "cyber/common/log.h"
+#include "cyber/transport/rtps/publisher.h"
+#include "cyber/transport/rtps/subscriber.h"
 #include "cyber/transport/rtps/underlay_message_type.h"
-#include "fastrtps/Domain.h"
-#include "fastrtps/attributes/ParticipantAttributes.h"
-#include "fastrtps/participant/Participant.h"
-#include "fastrtps/participant/ParticipantListener.h"
-#include "fastrtps/rtps/common/Locator.h"
 
 namespace apollo {
 namespace cyber {
 namespace transport {
 
-class Participant;
-using ParticipantPtr = std::shared_ptr<Participant>;
-
 class Participant {
  public:
-  Participant(const std::string& name, int send_port,
-              eprosima::fastrtps::ParticipantListener* listener = nullptr);
+  Participant(
+      const std::string& name, int send_port,
+      eprosima::fastdds::dds::DomainParticipantListener* listener = nullptr);
   virtual ~Participant();
 
   void Shutdown();
+  bool Init();
+  auto CreatePublisher(const std::string& channel_name,
+                       const proto::QosProfile& qos)
+      -> std::shared_ptr<transport::Publisher>;
+
+  auto CreateSubscriber(const std::string& channel_name,
+                        const proto::QosProfile& qos,
+                        const rtps::subsciber_callback& callback = nullptr)
+      -> std::shared_ptr<Subscriber>;
 
-  eprosima::fastrtps::Participant* fastrtps_participant();
   bool is_shutdown() const { return shutdown_.load(); }
 
  private:
-  void CreateFastRtpsParticipant(
+  Participant(const Participant&) = delete;
+  Participant& operator=(const Participant&) = delete;
+  bool CreateParticipant(
       const std::string& name, int send_port,
-      eprosima::fastrtps::ParticipantListener* listener);
+      eprosima::fastdds::dds::DomainParticipantListener* listener);
 
+  bool CheckIPVaild(std::string ip_env);
   std::atomic<bool> shutdown_;
   std::string name_;
   int send_port_;
-  eprosima::fastrtps::ParticipantListener* listener_;
-  UnderlayMessageType type_;
-  eprosima::fastrtps::Participant* fastrtps_participant_;
+
+  using PublisherPtrMap =
+      std::unordered_multimap<std::string, std::shared_ptr<Publisher>>;
+  using SubscriberPtrMap =
+      std::unordered_multimap<std::string, std::shared_ptr<Subscriber>>;
+
+  std::mutex publisher_mutex_;
+  PublisherPtrMap publisher_map_;
+  std::mutex subscriber_mutex_;
+  SubscriberPtrMap subscriber_map_;
+
+  eprosima::fastdds::dds::DomainParticipantListener* listener_;
+  eprosima::fastdds::dds::TypeSupport type_support_;
+  eprosima::fastdds::dds::DomainParticipant* participant_;
   std::mutex mutex_;
 };
 
diff --git a/cyber/transport/rtps/publisher.cc b/cyber/transport/rtps/publisher.cc
new file mode 100644
index 0000000..ab2effa
--- /dev/null
+++ b/cyber/transport/rtps/publisher.cc
@@ -0,0 +1,136 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "cyber/transport/rtps/publisher.h"
+#include "cyber/common/log.h"
+
+namespace apollo {
+namespace cyber {
+namespace transport {
+
+Publisher::Publisher(const std::string& channel_name,
+                     const proto::QosProfile& qos,
+                     eprosima::fastdds::dds::DomainParticipant* participant)
+    : channel_name_(channel_name),
+      qos_(qos),
+      shutdown_(false),
+      participant_(participant),
+      publisher_(nullptr),
+      topic_(nullptr),
+      writer_(nullptr) {}
+
+Publisher::~Publisher() { Shutdown(); }
+
+bool Publisher::Init() {
+  eprosima::fastdds::dds::PublisherQos pub_qos;
+  RETURN_VAL_IF(
+      !QosFiller::FillInPubQos(this->channel_name_, this->qos_, &pub_qos),
+      false);
+  publisher_ = participant_->create_publisher(pub_qos, nullptr);
+  if (publisher_ == nullptr) {
+    AINFO << "something went wrong while creating the publisher...";
+    return false;
+  }
+
+  if (!EnsureCreateTopic(this->channel_name_)) {
+    AINFO << "something went wrong while creating the topic...";
+    return false;
+  }
+
+  eprosima::fastdds::dds::DataWriterQos writer_qos;
+  RETURN_VAL_IF(
+      !QosFiller::FillInWriterQos(this->channel_name_, this->qos_, &writer_qos),
+      false);
+  writer_ = publisher_->create_datawriter(topic_, writer_qos, nullptr);
+  if (writer_ == nullptr) {
+    AINFO << "something went wrong while creating the datawriter...";
+    return false;
+  }
+
+  return true;
+}
+
+bool Publisher::Write(const UnderlayMessage& msg, bool is_topo_msg) {
+  RETURN_VAL_IF(shutdown_.load(), false);
+  if (is_topo_msg) {
+    AINFO << "FastDDSPublisher::Write data size: " << msg.data().size();
+  }
+  return writer_->write(
+      reinterpret_cast<void*>(const_cast<UnderlayMessage*>(&msg)));
+}
+
+bool Publisher::Write(const UnderlayMessage& msg, const MessageInfo& msg_info,
+                      bool is_topo_msg) {
+  RETURN_VAL_IF(shutdown_.load(), false);
+  if (is_topo_msg) {
+    AINFO << "FastDDSPublisher::Write data size: " << msg.data().size();
+  }
+
+  eprosima::fastrtps::rtps::WriteParams wparams;
+
+  char* ptr =
+      reinterpret_cast<char*>(&wparams.related_sample_identity().writer_guid());
+
+  memcpy(ptr, msg_info.sender_id().data(), ID_SIZE);
+  memcpy(ptr + ID_SIZE, msg_info.spare_id().data(), ID_SIZE);
+
+  wparams.related_sample_identity().sequence_number().high =
+      (int32_t)((msg_info.seq_num() & 0xFFFFFFFF00000000) >> 32);
+  wparams.related_sample_identity().sequence_number().low =
+      (int32_t)(msg_info.seq_num() & 0xFFFFFFFF);
+
+  return writer_->write(
+      reinterpret_cast<void*>(const_cast<UnderlayMessage*>(&msg)), wparams);
+}
+
+void Publisher::Shutdown() {
+  RETURN_IF(shutdown_.exchange(true));
+
+  if (publisher_ != nullptr && writer_ != nullptr) {
+    publisher_->delete_datawriter(writer_);
+    writer_ = nullptr;
+  }
+  if (participant_ != nullptr && publisher_ != nullptr) {
+    if (participant_->delete_publisher(publisher_) ==
+        eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK) {
+      publisher_ = nullptr;
+    } else {
+      AERROR << channel_name_ << ": Failed to delete the publisher.";
+    }
+  }
+  if (participant_ != nullptr && topic_ != nullptr) {
+    participant_->delete_topic(topic_);
+    topic_ = nullptr;
+  }
+}
+
+bool Publisher::EnsureCreateTopic(const std::string& channel_name) {
+  topic_ = dynamic_cast<eprosima::fastdds::dds::Topic*>(
+      participant_->lookup_topicdescription(channel_name));
+  if (topic_ == nullptr) {
+    eprosima::fastdds::dds::TopicQos topic_qos;
+    RETURN_VAL_IF(
+        !QosFiller::FillInTopicQos(channel_name, this->qos_, &topic_qos),
+        false);
+    topic_ =
+        participant_->create_topic(channel_name, "UnderlayMessage", topic_qos);
+  }
+  return (topic_ != nullptr);
+}
+
+}  // namespace transport
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/transport/rtps/publisher.h b/cyber/transport/rtps/publisher.h
new file mode 100644
index 0000000..720fee5
--- /dev/null
+++ b/cyber/transport/rtps/publisher.h
@@ -0,0 +1,73 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+#ifndef CYBER_TRANSPORT_RTPS_PUBLISHER_H
+#define CYBER_TRANSPORT_RTPS_PUBLISHER_H
+
+#include <memory>
+#include <string>
+
+#include "fastdds/dds/domain/DomainParticipant.hpp"
+#include "fastdds/dds/domain/DomainParticipantFactory.hpp"
+#include "fastdds/dds/publisher/DataWriter.hpp"
+#include "fastdds/dds/publisher/DataWriterListener.hpp"
+#include "fastdds/dds/publisher/Publisher.hpp"
+#include "fastdds/dds/topic/Topic.hpp"
+#include "fastdds/dds/topic/TypeSupport.hpp"
+#include "cyber/proto/qos_profile.pb.h"
+#include "cyber/base/macros.h"
+#include "cyber/common/log.h"
+#include "cyber/transport/message/message_info.h"
+#include "cyber/transport/qos/qos_filler.h"
+#include "cyber/transport/rtps/underlay_message.h"
+
+namespace apollo {
+namespace cyber {
+namespace transport {
+
+class Publisher;
+using PublisherPtr = std::shared_ptr<Publisher>;
+class Publisher {
+ public:
+  Publisher(const std::string& channel_name, const proto::QosProfile& qos,
+            eprosima::fastdds::dds::DomainParticipant* participant);
+  virtual ~Publisher();
+
+  bool Init();
+  bool Write(const UnderlayMessage& msg, bool is_topo_msg = false);
+  bool Write(const UnderlayMessage& msg, const MessageInfo& msg_info,
+             bool is_topo_msg = false);
+  void Shutdown();
+
+ private:
+  Publisher(const Publisher&) = delete;
+  Publisher& operator=(const Publisher&) = delete;
+  bool EnsureCreateTopic(const std::string& channel_name);
+
+  std::string channel_name_;
+  proto::QosProfile qos_;
+  std::atomic<bool> shutdown_;
+
+  eprosima::fastdds::dds::DomainParticipant* participant_;
+  eprosima::fastdds::dds::Publisher* publisher_;
+  eprosima::fastdds::dds::Topic* topic_;
+  eprosima::fastdds::dds::DataWriter* writer_;
+};
+
+}  // namespace transport
+}  // namespace cyber
+}  // namespace apollo
+
+#endif  // CYBER_TRANSPORT_RTPS_PUBLISHER_H
diff --git a/cyber/transport/rtps/rtps_test.cc b/cyber/transport/rtps/rtps_test.cc
index 0f6cab4..1e6401b 100644
--- a/cyber/transport/rtps/rtps_test.cc
+++ b/cyber/transport/rtps/rtps_test.cc
@@ -14,142 +14,159 @@
  * limitations under the License.
  *****************************************************************************/
 
+#include <cstdint>
 #include <string>
 #include <utility>
 
-#include "fastcdr/Cdr.h"
-#include "fastcdr/exceptions/BadParamException.h"
 #include "gtest/gtest.h"
 
-#include "cyber/common/global_data.h"
 #include "cyber/common/log.h"
+#include "cyber/transport/qos/qos_filler.h"
 #include "cyber/transport/qos/qos_profile_conf.h"
 #include "cyber/transport/rtps/attributes_filler.h"
-#include "cyber/transport/rtps/participant.h"
 #include "cyber/transport/rtps/underlay_message.h"
-#include "cyber/transport/rtps/underlay_message_type.h"
 
 namespace apollo {
 namespace cyber {
 namespace transport {
 
-TEST(AttributesFillerTest, fill_in_pub_attr_test) {
+TEST(QosFillerTest, fill_in_pub_qos_test) {
   QosProfile qos;
-  AttributesFiller filler;
-  eprosima::fastrtps::PublisherAttributes attrs;
+  QosFiller filler;
+  eprosima::fastdds::dds::PublisherQos pub_qos;
+  eprosima::fastdds::dds::DataWriterQos writer_qos;
   qos.set_history(QosHistoryPolicy::HISTORY_KEEP_LAST);
   qos.set_durability(QosDurabilityPolicy::DURABILITY_TRANSIENT_LOCAL);
   qos.set_reliability(QosReliabilityPolicy::RELIABILITY_BEST_EFFORT);
   qos.set_mps(32);
-  filler.FillInPubAttr("channel", qos, &attrs);
-  EXPECT_EQ(eprosima::fastrtps::KEEP_LAST_HISTORY_QOS,
-            attrs.topic.historyQos.kind);
-  EXPECT_EQ(eprosima::fastrtps::TRANSIENT_LOCAL_DURABILITY_QOS,
-            attrs.qos.m_durability.kind);
-  EXPECT_EQ(eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS,
-            attrs.qos.m_reliability.kind);
-  AINFO << "heartbeat period: " << attrs.times.heartbeatPeriod.seconds << ", "
-        << attrs.times.heartbeatPeriod.fraction;
+  filler.FillInPubQos("channel", qos, &pub_qos);
+  filler.FillInWriterQos("channel", qos, &writer_qos);
+  EXPECT_EQ(eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS,
+            writer_qos.history().kind);
+  EXPECT_EQ(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS,
+            writer_qos.durability().kind);
+  EXPECT_EQ(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS,
+            writer_qos.reliability().kind);
+  AINFO << "heartbeat period: "
+        << writer_qos.reliable_writer_qos().times.heartbeatPeriod.seconds
+        << ", "
+        << writer_qos.reliable_writer_qos().times.heartbeatPeriod.nanosec;
   qos.set_depth(1024);
-  attrs.topic.historyQos.depth = 512;
-  filler.FillInPubAttr("channel", qos, &attrs);
+  filler.FillInPubQos("channel", qos, &pub_qos);
+  filler.FillInWriterQos("channel", qos, &writer_qos);
   AINFO << qos.depth() << ", "
         << QosProfileConf::QOS_HISTORY_DEPTH_SYSTEM_DEFAULT << ", "
-        << attrs.topic.historyQos.depth;
-  EXPECT_EQ(qos.depth(), attrs.topic.historyQos.depth);
+        << writer_qos.history().depth;
+  EXPECT_EQ(qos.depth(), writer_qos.history().depth);
 
   qos.set_history(QosHistoryPolicy::HISTORY_KEEP_ALL);
   qos.set_durability(QosDurabilityPolicy::DURABILITY_VOLATILE);
   qos.set_reliability(QosReliabilityPolicy::RELIABILITY_RELIABLE);
   qos.set_mps(65);
-  filler.FillInPubAttr("channel", qos, &attrs);
-  EXPECT_EQ(eprosima::fastrtps::KEEP_ALL_HISTORY_QOS,
-            attrs.topic.historyQos.kind);
-  EXPECT_EQ(eprosima::fastrtps::VOLATILE_DURABILITY_QOS,
-            attrs.qos.m_durability.kind);
-  EXPECT_EQ(eprosima::fastrtps::RELIABLE_RELIABILITY_QOS,
-            attrs.qos.m_reliability.kind);
-  AINFO << "heartbeat period: " << attrs.times.heartbeatPeriod.seconds << ", "
-        << attrs.times.heartbeatPeriod.fraction;
+  filler.FillInPubQos("channel", qos, &pub_qos);
+  filler.FillInWriterQos("channel", qos, &writer_qos);
+  EXPECT_EQ(eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS,
+            writer_qos.history().kind);
+  EXPECT_EQ(eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS,
+            writer_qos.durability().kind);
+  EXPECT_EQ(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS,
+            writer_qos.reliability().kind);
+  AINFO << "heartbeat period: "
+        << writer_qos.reliable_writer_qos().times.heartbeatPeriod.seconds
+        << ", "
+        << writer_qos.reliable_writer_qos().times.heartbeatPeriod.nanosec;
 
   qos.set_history(QosHistoryPolicy::HISTORY_SYSTEM_DEFAULT);
   qos.set_durability(QosDurabilityPolicy::DURABILITY_SYSTEM_DEFAULT);
   qos.set_reliability(QosReliabilityPolicy::RELIABILITY_SYSTEM_DEFAULT);
   qos.set_mps(1025);
-  filler.FillInPubAttr("channel", qos, &attrs);
-  EXPECT_EQ(eprosima::fastrtps::KEEP_ALL_HISTORY_QOS,
-            attrs.topic.historyQos.kind);
-  EXPECT_EQ(eprosima::fastrtps::VOLATILE_DURABILITY_QOS,
-            attrs.qos.m_durability.kind);
-  EXPECT_EQ(eprosima::fastrtps::RELIABLE_RELIABILITY_QOS,
-            attrs.qos.m_reliability.kind);
-  AINFO << "heartbeat period: " << attrs.times.heartbeatPeriod.seconds << ", "
-        << attrs.times.heartbeatPeriod.fraction;
+  filler.FillInPubQos("channel", qos, &pub_qos);
+  filler.FillInWriterQos("channel", qos, &writer_qos);
+  EXPECT_EQ(eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS,
+            writer_qos.history().kind);
+  EXPECT_EQ(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS,
+            writer_qos.durability().kind);
+  EXPECT_EQ(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS,
+            writer_qos.reliability().kind);
+  AINFO << "heartbeat period: "
+        << writer_qos.reliable_writer_qos().times.heartbeatPeriod.seconds
+        << ", "
+        << writer_qos.reliable_writer_qos().times.heartbeatPeriod.nanosec;
   qos.set_mps(0);
-  filler.FillInPubAttr("channel", qos, &attrs);
-  AINFO << "heartbeat period: " << attrs.times.heartbeatPeriod.seconds << ", "
-        << attrs.times.heartbeatPeriod.fraction;
+  filler.FillInPubQos("channel", qos, &pub_qos);
+  filler.FillInWriterQos("channel", qos, &writer_qos);
+  AINFO << "heartbeat period: "
+        << writer_qos.reliable_writer_qos().times.heartbeatPeriod.seconds
+        << ", "
+        << writer_qos.reliable_writer_qos().times.heartbeatPeriod.nanosec;
+  qos.set_depth(-1);
+  EXPECT_FALSE(filler.FillInPubQos("channel", qos, &pub_qos));
+  EXPECT_FALSE(filler.FillInWriterQos("channel", qos, &writer_qos));
 }
 
 TEST(AttributesFillerTest, fill_in_sub_attr_test) {
   QosProfile qos;
-  AttributesFiller filler;
-  eprosima::fastrtps::SubscriberAttributes attrs;
+  QosFiller filler;
+  eprosima::fastdds::dds::SubscriberQos sub_qos;
+  eprosima::fastdds::dds::DataReaderQos reader_qos;
   qos.set_history(QosHistoryPolicy::HISTORY_KEEP_LAST);
   qos.set_durability(QosDurabilityPolicy::DURABILITY_TRANSIENT_LOCAL);
   qos.set_reliability(QosReliabilityPolicy::RELIABILITY_BEST_EFFORT);
   qos.set_mps(32);
-  filler.FillInSubAttr("channel", qos, &attrs);
-  EXPECT_EQ(eprosima::fastrtps::KEEP_LAST_HISTORY_QOS,
-            attrs.topic.historyQos.kind);
-  EXPECT_EQ(eprosima::fastrtps::TRANSIENT_LOCAL_DURABILITY_QOS,
-            attrs.qos.m_durability.kind);
-  EXPECT_EQ(eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS,
-            attrs.qos.m_reliability.kind);
+  filler.FillInSubQos("channel", qos, &sub_qos);
+  filler.FillInReaderQos("channel", qos, &reader_qos);
+  EXPECT_EQ(eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS,
+            reader_qos.history().kind);
+  EXPECT_EQ(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS,
+            reader_qos.durability().kind);
+  EXPECT_EQ(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS,
+            reader_qos.reliability().kind);
   qos.set_depth(1024);
-  attrs.topic.historyQos.depth = 512;
-  filler.FillInSubAttr("channel", qos, &attrs);
-  EXPECT_EQ(qos.depth(), attrs.topic.historyQos.depth);
+  // attrs.topic.historyQos.depth = 512;
+  filler.FillInSubQos("channel", qos, &sub_qos);
+  filler.FillInReaderQos("channel", qos, &reader_qos);
+  EXPECT_EQ(qos.depth(), reader_qos.history().depth);
 
   qos.set_history(QosHistoryPolicy::HISTORY_KEEP_ALL);
   qos.set_durability(QosDurabilityPolicy::DURABILITY_VOLATILE);
   qos.set_reliability(QosReliabilityPolicy::RELIABILITY_RELIABLE);
   qos.set_mps(65);
-  filler.FillInSubAttr("channel", qos, &attrs);
-  EXPECT_EQ(eprosima::fastrtps::KEEP_ALL_HISTORY_QOS,
-            attrs.topic.historyQos.kind);
-  EXPECT_EQ(eprosima::fastrtps::VOLATILE_DURABILITY_QOS,
-            attrs.qos.m_durability.kind);
-  EXPECT_EQ(eprosima::fastrtps::RELIABLE_RELIABILITY_QOS,
-            attrs.qos.m_reliability.kind);
+  filler.FillInSubQos("channel", qos, &sub_qos);
+  filler.FillInReaderQos("channel", qos, &reader_qos);
+  EXPECT_EQ(eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS,
+            reader_qos.history().kind);
+  EXPECT_EQ(eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS,
+            reader_qos.durability().kind);
+  EXPECT_EQ(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS,
+            reader_qos.reliability().kind);
 
   qos.set_history(QosHistoryPolicy::HISTORY_SYSTEM_DEFAULT);
   qos.set_durability(QosDurabilityPolicy::DURABILITY_SYSTEM_DEFAULT);
   qos.set_reliability(QosReliabilityPolicy::RELIABILITY_SYSTEM_DEFAULT);
   qos.set_mps(1025);
-  filler.FillInSubAttr("channel", qos, &attrs);
-  EXPECT_EQ(eprosima::fastrtps::KEEP_ALL_HISTORY_QOS,
-            attrs.topic.historyQos.kind);
-  EXPECT_EQ(eprosima::fastrtps::VOLATILE_DURABILITY_QOS,
-            attrs.qos.m_durability.kind);
-  EXPECT_EQ(eprosima::fastrtps::RELIABLE_RELIABILITY_QOS,
-            attrs.qos.m_reliability.kind);
-}
-
-TEST(ParticipantTest, participant_test) {
-  eprosima::fastrtps::ParticipantListener listener;
-  eprosima::fastrtps::ParticipantListener listener1;
+  filler.FillInSubQos("channel", qos, &sub_qos);
+  filler.FillInReaderQos("channel", qos, &reader_qos);
+  EXPECT_EQ(eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS,
+            reader_qos.history().kind);
+  EXPECT_EQ(eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS,
+            reader_qos.durability().kind);
+  EXPECT_EQ(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS,
+            reader_qos.reliability().kind);
+
+  qos.set_depth(-1);
+  EXPECT_FALSE(filler.FillInSubQos("channel", qos, &sub_qos));
+  EXPECT_FALSE(filler.FillInReaderQos("channel", qos, &reader_qos));
 }
 
 TEST(UnderlayMessageTest, underlay_message_test) {
   UnderlayMessage message;
   message.timestamp(1024);
-  int32_t& t = message.timestamp();
+  uint64_t& t = message.timestamp();
   t = 256;
   EXPECT_EQ(256, message.timestamp());
 
   message.seq(1024);
-  int32_t& seq = message.seq();
+  uint64_t& seq = message.seq();
   seq = 256;
   EXPECT_EQ(256, message.seq());
 
@@ -160,51 +177,35 @@ TEST(UnderlayMessageTest, underlay_message_test) {
   message.data(std::forward<std::string>("data forward"));
   EXPECT_EQ("data forward", message.data());
 
-  message.datatype("datatype");
-  std::string& datatype = message.datatype();
-  datatype = "datatype string";
-  EXPECT_EQ(datatype, message.datatype());
-  message.datatype("datatype assign");
-  EXPECT_EQ("datatype assign", message.datatype());
-  message.datatype(std::forward<std::string>("datatype forward"));
-  EXPECT_EQ("datatype forward", message.datatype());
-
   const UnderlayMessage const_message(message);
   std::string data1 = const_message.data();
-  std::string datatype1 = const_message.datatype();
   EXPECT_EQ(256, const_message.timestamp());
   EXPECT_EQ(256, const_message.seq());
   EXPECT_EQ("data forward", const_message.data());
-  EXPECT_EQ("datatype forward", const_message.datatype());
 
   UnderlayMessage message2;
   message2 = message;
   EXPECT_EQ(256, message2.timestamp());
   EXPECT_EQ(256, message2.seq());
   EXPECT_EQ("data forward", message2.data());
-  EXPECT_EQ("datatype forward", message2.datatype());
 
   UnderlayMessage message3;
   message3 = std::forward<UnderlayMessage>(message2);
   EXPECT_EQ(256, message3.timestamp());
   EXPECT_EQ(256, message3.seq());
   EXPECT_EQ("data forward", message3.data());
-  EXPECT_EQ("datatype forward", message3.datatype());
 
   UnderlayMessage message4(message3);
   EXPECT_EQ(256, message4.timestamp());
   EXPECT_EQ(256, message4.seq());
   EXPECT_EQ("data forward", message4.data());
-  EXPECT_EQ("datatype forward", message4.datatype());
 
   UnderlayMessage message5(std::forward<UnderlayMessage>(message4));
   EXPECT_EQ(256, message5.timestamp());
   EXPECT_EQ(256, message5.seq());
   EXPECT_EQ("data forward", message5.data());
-  EXPECT_EQ("datatype forward", message5.datatype());
 
   EXPECT_EQ("", message4.data());
-  EXPECT_EQ("", message4.datatype());
 }
 
 }  // namespace transport
diff --git a/cyber/transport/rtps/sub_listener.cc b/cyber/transport/rtps/sub_listener.cc
deleted file mode 100644
index e623f5b..0000000
--- a/cyber/transport/rtps/sub_listener.cc
+++ /dev/null
@@ -1,77 +0,0 @@
-/******************************************************************************
- * Copyright 2018 The Apollo Authors. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *****************************************************************************/
-
-#include "cyber/transport/rtps/sub_listener.h"
-
-#include "cyber/common/log.h"
-#include "cyber/common/util.h"
-
-namespace apollo {
-namespace cyber {
-namespace transport {
-
-SubListener::SubListener(const NewMsgCallback& callback)
-    : callback_(callback) {}
-
-SubListener::~SubListener() {}
-
-void SubListener::onNewDataMessage(eprosima::fastrtps::Subscriber* sub) {
-  RETURN_IF_NULL(sub);
-  RETURN_IF_NULL(callback_);
-  std::lock_guard<std::mutex> lock(mutex_);
-
-  // fetch channel name
-  auto channel_id = common::Hash(sub->getAttributes().topic.getTopicName());
-  eprosima::fastrtps::SampleInfo_t m_info;
-  UnderlayMessage m;
-
-  RETURN_IF(!sub->takeNextData(reinterpret_cast<void*>(&m), &m_info));
-  RETURN_IF(m_info.sampleKind != eprosima::fastrtps::ALIVE);
-
-  // fetch MessageInfo
-  char* ptr =
-      reinterpret_cast<char*>(&m_info.related_sample_identity.writer_guid());
-  Identity sender_id(false);
-  sender_id.set_data(ptr);
-  msg_info_.set_sender_id(sender_id);
-
-  Identity spare_id(false);
-  spare_id.set_data(ptr + ID_SIZE);
-  msg_info_.set_spare_id(spare_id);
-
-  uint64_t seq_num =
-      ((int64_t)m_info.related_sample_identity.sequence_number().high) << 32 |
-      m_info.related_sample_identity.sequence_number().low;
-  msg_info_.set_seq_num(seq_num);
-
-  // fetch message string
-  std::shared_ptr<std::string> msg_str =
-      std::make_shared<std::string>(m.data());
-
-  // callback
-  callback_(channel_id, msg_str, msg_info_);
-}
-
-void SubListener::onSubscriptionMatched(
-    eprosima::fastrtps::Subscriber* sub,
-    eprosima::fastrtps::MatchingInfo& info) {
-  (void)sub;
-  (void)info;
-}
-
-}  // namespace transport
-}  // namespace cyber
-}  // namespace apollo
diff --git a/cyber/transport/rtps/subscriber.cc b/cyber/transport/rtps/subscriber.cc
new file mode 100644
index 0000000..52fbfdb
--- /dev/null
+++ b/cyber/transport/rtps/subscriber.cc
@@ -0,0 +1,113 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+#include "cyber/transport/rtps/subscriber.h"
+
+namespace apollo {
+namespace cyber {
+namespace transport {
+
+Subscriber::Subscriber(const std::string& name, const proto::QosProfile& qos,
+                       eprosima::fastdds::dds::DomainParticipant* participant,
+                       const rtps::subsciber_callback& callback)
+    : channel_name_(name),
+      qos_(qos),
+      shutdown_(false),
+      callback_(callback),
+      subscriber_listener_(nullptr),
+      participant_(participant),
+      subscriber_(nullptr),
+      topic_(nullptr),
+      reader_(nullptr) {}
+
+Subscriber::~Subscriber() {}
+
+bool Subscriber::Init() {
+  eprosima::fastdds::dds::SubscriberQos sub_qos;
+  RETURN_VAL_IF(
+      !QosFiller::FillInSubQos(this->channel_name_, this->qos_, &sub_qos),
+      false);
+  subscriber_ = participant_->create_subscriber(sub_qos);
+  if (subscriber_ == nullptr) {
+    AINFO << "something went wrong while creating the fastdds subscriber...";
+    return false;
+  }
+
+  if (!EnsureCreateTopic(this->channel_name_)) {
+    AINFO << "something went wrong while creating the fastdds topic...";
+    return false;
+  }
+
+  eprosima::fastdds::dds::DataReaderQos reader_qos;
+  RETURN_VAL_IF(
+      !QosFiller::FillInReaderQos(this->channel_name_, this->qos_, &reader_qos),
+      false);
+  subscriber_listener_ = new dispatcher::SubscriberListener(this->callback_);
+
+  reader_ =
+      subscriber_->create_datareader(topic_, reader_qos, subscriber_listener_);
+  if (reader_ == nullptr) {
+    AINFO << "something went wrong while creating the fastdds datareader...";
+    return false;
+  }
+
+  ADEBUG << "dds reader: " << reader_ << ", subscriber: " << this
+         << ", reader guid: " << reader_->guid()
+         << ", channel: " << this->channel_name_;
+  return true;
+}
+
+void Subscriber::Shutdown() {
+  RETURN_IF(shutdown_.exchange(true));
+
+  if (subscriber_ != nullptr && reader_ != nullptr) {
+    subscriber_->delete_datareader(reader_);
+    reader_ = nullptr;
+  }
+  if (participant_ != nullptr && subscriber_ != nullptr) {
+    if (participant_->delete_subscriber(subscriber_) ==
+        eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK) {
+      subscriber_ = nullptr;
+    } else {
+      AERROR << channel_name_ << ": Failed to delete the subscriber.";
+    }
+  }
+  if (participant_ != nullptr && topic_ != nullptr) {
+    participant_->delete_topic(topic_);
+    topic_ = nullptr;
+  }
+
+  if (subscriber_listener_ != nullptr) {
+    delete subscriber_listener_;
+  }
+}
+
+bool Subscriber::EnsureCreateTopic(const std::string& channel_name) {
+  topic_ = dynamic_cast<eprosima::fastdds::dds::Topic*>(
+      participant_->lookup_topicdescription(channel_name));
+  if (topic_ == nullptr) {
+    eprosima::fastdds::dds::TopicQos topic_qos;
+    RETURN_VAL_IF(
+        !QosFiller::FillInTopicQos(channel_name, this->qos_, &topic_qos),
+        false);
+    topic_ =
+        participant_->create_topic(channel_name, "UnderlayMessage", topic_qos);
+  }
+  return (topic_ != nullptr);
+}
+
+}  // namespace transport
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/transport/rtps/subscriber.h b/cyber/transport/rtps/subscriber.h
new file mode 100644
index 0000000..1cb5904
--- /dev/null
+++ b/cyber/transport/rtps/subscriber.h
@@ -0,0 +1,75 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+#ifndef CYBER_TRANSPORT_RTPS_SUBSCRIBER_H
+#define CYBER_TRANSPORT_RTPS_SUBSCRIBER_H
+
+#include <functional>
+#include <memory>
+#include <string>
+
+#include "cyber/base/macros.h"
+
+#include "fastdds/dds/domain/DomainParticipant.hpp"
+#include "fastdds/dds/domain/DomainParticipantFactory.hpp"
+#include "fastdds/dds/subscriber/DataReader.hpp"
+#include "fastdds/dds/subscriber/DataReaderListener.hpp"
+#include "fastdds/dds/subscriber/Subscriber.hpp"
+#include "fastdds/dds/topic/Topic.hpp"
+#include "fastdds/dds/topic/TypeSupport.hpp"
+
+#include "cyber/proto/qos_profile.pb.h"
+
+#include "cyber/common/log.h"
+#include "cyber/service_discovery/communication/subscriber_listener.h"
+#include "cyber/transport/dispatcher/subscriber_listener.h"
+#include "cyber/transport/message/message_info.h"
+#include "cyber/transport/qos/qos_filler.h"
+#include "cyber/transport/rtps/underlay_message.h"
+
+namespace apollo {
+namespace cyber {
+namespace transport {
+class Subscriber {
+ public:
+  Subscriber(const std::string& name, const proto::QosProfile& qos,
+             eprosima::fastdds::dds::DomainParticipant* participant,
+             const rtps::subsciber_callback& callback);
+  virtual ~Subscriber();
+
+  bool Init();
+  void Shutdown();
+
+ private:
+  Subscriber(const Subscriber&) = delete;
+  Subscriber& operator=(const Subscriber&) = delete;
+  bool EnsureCreateTopic(const std::string& channel_name);
+
+  std::string channel_name_;
+  proto::QosProfile qos_;
+  std::atomic<bool> shutdown_;
+  rtps::subsciber_callback callback_;
+
+  eprosima::fastdds::dds::SubscriberListener* subscriber_listener_;
+  eprosima::fastdds::dds::DomainParticipant* participant_;
+  eprosima::fastdds::dds::Subscriber* subscriber_;
+  eprosima::fastdds::dds::Topic* topic_;
+  eprosima::fastdds::dds::DataReader* reader_;
+};
+}  // namespace transport
+}  // namespace cyber
+}  // namespace apollo
+
+#endif  // CYBER_TRANSPORT_RTPS_SUBSCRIBER_H
diff --git a/cyber/transport/rtps/underlay_message.cc b/cyber/transport/rtps/underlay_message.cc
index 581af65..e1fbcf2 100644
--- a/cyber/transport/rtps/underlay_message.cc
+++ b/cyber/transport/rtps/underlay_message.cc
@@ -22,15 +22,17 @@
 
 #include "cyber/transport/rtps/underlay_message.h"
 
-#include "fastcdr/exceptions/BadParamException.h"
-
 namespace apollo {
 namespace cyber {
 namespace transport {
 
+#define UnderlayMessage_max_cdr_typesize 276ULL;
+#define UnderlayMessage_max_key_cdr_typesize 0ULL;
+
 UnderlayMessage::UnderlayMessage() {
   m_timestamp = 0;
   m_seq = 0;
+  m_data = "";
 }
 
 UnderlayMessage::~UnderlayMessage() {}
@@ -39,21 +41,18 @@ UnderlayMessage::UnderlayMessage(const UnderlayMessage& x) {
   m_timestamp = x.m_timestamp;
   m_seq = x.m_seq;
   m_data = x.m_data;
-  m_datatype = x.m_datatype;
 }
 
 UnderlayMessage::UnderlayMessage(UnderlayMessage&& x) {
   m_timestamp = x.m_timestamp;
   m_seq = x.m_seq;
   m_data = std::move(x.m_data);
-  m_datatype = std::move(x.m_datatype);
 }
 
 UnderlayMessage& UnderlayMessage::operator=(const UnderlayMessage& x) {
   m_timestamp = x.m_timestamp;
   m_seq = x.m_seq;
   m_data = x.m_data;
-  m_datatype = x.m_datatype;
 
   return *this;
 }
@@ -62,27 +61,12 @@ UnderlayMessage& UnderlayMessage::operator=(UnderlayMessage&& x) {
   m_timestamp = x.m_timestamp;
   m_seq = x.m_seq;
   m_data = std::move(x.m_data);
-  m_datatype = std::move(x.m_datatype);
 
   return *this;
 }
 
 size_t UnderlayMessage::getMaxCdrSerializedSize(size_t current_alignment) {
-  size_t initial_alignment = current_alignment;
-
-  current_alignment +=
-      4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
-
-  current_alignment +=
-      4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
-
-  current_alignment +=
-      4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4) + 255 + 1;
-
-  current_alignment +=
-      4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4) + 255 + 1;
-
-  return current_alignment - initial_alignment;
+  return UnderlayMessage_max_cdr_typesize;
 }
 
 size_t UnderlayMessage::getCdrSerializedSize(const UnderlayMessage& data,
@@ -90,41 +74,32 @@ size_t UnderlayMessage::getCdrSerializedSize(const UnderlayMessage& data,
   size_t initial_alignment = current_alignment;
 
   current_alignment +=
-      4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
+      8 + eprosima::fastcdr::Cdr::alignment(current_alignment, 8);
 
   current_alignment +=
-      4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
+      8 + eprosima::fastcdr::Cdr::alignment(current_alignment, 8);
 
   current_alignment += 4 +
                        eprosima::fastcdr::Cdr::alignment(current_alignment, 4) +
                        data.data().size() + 1;
 
-  current_alignment += 4 +
-                       eprosima::fastcdr::Cdr::alignment(current_alignment, 4) +
-                       data.datatype().size() + 1;
-
   return current_alignment - initial_alignment;
 }
 
 void UnderlayMessage::serialize(eprosima::fastcdr::Cdr& scdr) const {
   scdr << m_timestamp;
-
   scdr << m_seq;
-
   scdr << m_data;
-  scdr << m_datatype;
 }
 
 void UnderlayMessage::deserialize(eprosima::fastcdr::Cdr& dcdr) {
   dcdr >> m_timestamp;
   dcdr >> m_seq;
   dcdr >> m_data;
-  dcdr >> m_datatype;
 }
 
 size_t UnderlayMessage::getKeyMaxCdrSerializedSize(size_t current_alignment) {
-  size_t current_align = current_alignment;
-  return current_align;
+  return UnderlayMessage_max_key_cdr_typesize;
 }
 
 bool UnderlayMessage::isKeyDefined() { return false; }
diff --git a/cyber/transport/rtps/underlay_message.h b/cyber/transport/rtps/underlay_message.h
index b80e32e..e279df2 100644
--- a/cyber/transport/rtps/underlay_message.h
+++ b/cyber/transport/rtps/underlay_message.h
@@ -24,6 +24,8 @@
 #include <utility>
 #include <vector>
 
+#include "cyber/base/macros.h"
+
 #include "fastcdr/Cdr.h"
 
 namespace apollo {
@@ -75,36 +77,36 @@ class UnderlayMessage {
    * @brief This function sets a value in member timestamp
    * @param _timestamp New value for member timestamp
    */
-  inline void timestamp(int32_t _timestamp) { m_timestamp = _timestamp; }
+  inline void timestamp(uint64_t _timestamp) { m_timestamp = _timestamp; }
 
   /*!
    * @brief This function returns the value of member timestamp
    * @return Value of member timestamp
    */
-  inline int32_t timestamp() const { return m_timestamp; }
+  inline uint64_t timestamp() const { return m_timestamp; }
 
   /*!
    * @brief This function returns a reference to member timestamp
    * @return Reference to member timestamp
    */
-  inline int32_t& timestamp() { return m_timestamp; }
+  inline uint64_t& timestamp() { return m_timestamp; }
   /*!
    * @brief This function sets a value in member seq
    * @param _seq New value for member seq
    */
-  inline void seq(int32_t _seq) { m_seq = _seq; }
+  inline void seq(uint64_t _seq) { m_seq = _seq; }
 
   /*!
    * @brief This function returns the value of member seq
    * @return Value of member seq
    */
-  inline int32_t seq() const { return m_seq; }
+  inline uint64_t seq() const { return m_seq; }
 
   /*!
    * @brief This function returns a reference to member seq
    * @return Reference to member seq
    */
-  inline int32_t& seq() { return m_seq; }
+  inline uint64_t& seq() { return m_seq; }
   /*!
    * @brief This function copies the value in member data
    * @param _data New value to be copied in member data
@@ -128,31 +130,6 @@ class UnderlayMessage {
    * @return Reference to member data
    */
   inline std::string& data() { return m_data; }
-  /*!
-   * @brief This function copies the value in member datatype
-   * @param _datatype New value to be copied in member datatype
-   */
-  inline void datatype(const std::string& _datatype) { m_datatype = _datatype; }
-
-  /*!
-   * @brief This function moves the value in member datatype
-   * @param _datatype New value to be moved in member datatype
-   */
-  inline void datatype(std::string&& _datatype) {
-    m_datatype = std::move(_datatype);
-  }
-
-  /*!
-   * @brief This function returns a constant reference to member datatype
-   * @return Constant reference to member datatype
-   */
-  inline const std::string& datatype() const { return m_datatype; }
-
-  /*!
-   * @brief This function returns a reference to member datatype
-   * @return Reference to member datatype
-   */
-  inline std::string& datatype() { return m_datatype; }
 
   /*!
    * @brief This function returns the maximum serialized size of an object
@@ -206,10 +183,9 @@ class UnderlayMessage {
   void serializeKey(eprosima::fastcdr::Cdr& cdr) const;  // NOLINT
 
  private:
-  int32_t m_timestamp;
-  int32_t m_seq;
+  uint64_t m_timestamp;
+  uint64_t m_seq;
   std::string m_data;
-  std::string m_datatype;
 };
 
 }  // namespace transport
diff --git a/cyber/transport/rtps/underlay_message_type.cc b/cyber/transport/rtps/underlay_message_type.cc
index 8af2601..8c0c425 100644
--- a/cyber/transport/rtps/underlay_message_type.cc
+++ b/cyber/transport/rtps/underlay_message_type.cc
@@ -21,6 +21,8 @@
 
 #include "cyber/transport/rtps/underlay_message_type.h"
 
+#include <fastcdr/CdrEncoding.hpp>
+
 #include "fastcdr/Cdr.h"
 #include "fastcdr/FastBuffer.h"
 
@@ -32,13 +34,16 @@ namespace transport {
 
 UnderlayMessageType::UnderlayMessageType() {
   setName("UnderlayMessage");
-  m_typeSize = (uint32_t)UnderlayMessage::getMaxCdrSerializedSize() +
-               4 /*encapsulation*/;
+  auto type_size = UnderlayMessage::getMaxCdrSerializedSize();
+  type_size += eprosima::fastcdr::Cdr::alignment(
+      type_size, 4); /* possible submessage alignment */
+  m_typeSize = static_cast<uint32_t>(type_size) + 4; /*encapsulation*/
   m_isGetKeyDefined = UnderlayMessage::isKeyDefined();
-  m_keyBuffer =
-      (unsigned char*)malloc(UnderlayMessage::getKeyMaxCdrSerializedSize() > 16
-                                 ? UnderlayMessage::getKeyMaxCdrSerializedSize()
-                                 : 16);
+  size_t keyLength = UnderlayMessage::getKeyMaxCdrSerializedSize() > 16
+                         ? UnderlayMessage::getKeyMaxCdrSerializedSize()
+                         : 16;
+  m_keyBuffer = (unsigned char*)malloc(keyLength);
+  memset(m_keyBuffer, 0, keyLength);
 }
 
 UnderlayMessageType::~UnderlayMessageType() {
@@ -47,41 +52,61 @@ UnderlayMessageType::~UnderlayMessageType() {
   }
 }
 
-bool UnderlayMessageType::serialize(void* data, SerializedPayload_t* payload) {
+bool UnderlayMessageType::serialize(
+    void* data, eprosima::fastrtps::rtps::SerializedPayload_t* payload) {
   UnderlayMessage* p_type = reinterpret_cast<UnderlayMessage*>(data);
   eprosima::fastcdr::FastBuffer fastbuffer(
       reinterpret_cast<char*>(payload->data),
       payload->max_size);  // Object that manages the raw buffer.
   eprosima::fastcdr::Cdr ser(
       fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-      eprosima::fastcdr::Cdr::DDS_CDR);  // Object that serializes the data.
+      eprosima::fastcdr::CdrVersion::DDS_CDR);  // Object that serializes the
+                                                // data.
   payload->encapsulation =
       ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE
                                                                  : CDR_LE;
-  // Serialize encapsulation
-  ser.serialize_encapsulation();
-  p_type->serialize(ser);  // Serialize the object:
+  try {
+    // Serialize encapsulation
+    ser.serialize_encapsulation();
+    // Serialize the object.
+    p_type->serialize(ser);
+  } catch (eprosima::fastcdr::exception::Exception& e) {
+    AERROR << "serialize exception: " << e.what();
+    return false;
+  }
+
   payload->length =
-      (uint32_t)ser.getSerializedDataLength();  // Get the serialized length
+      (uint32_t)ser.get_serialized_data_length();  // Get the serialized length
   return true;
 }
 
-bool UnderlayMessageType::deserialize(SerializedPayload_t* payload,
-                                      void* data) {
-  UnderlayMessage* p_type = reinterpret_cast<UnderlayMessage*>(
-      data);  // Convert DATA to pointer of your type
-  eprosima::fastcdr::FastBuffer fastbuffer(
-      reinterpret_cast<char*>(payload->data),
-      payload->length);  // Object that manages the raw buffer.
-  eprosima::fastcdr::Cdr deser(
-      fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-      eprosima::fastcdr::Cdr::DDS_CDR);  // Object that deserializes the data.
-  // Deserialize encapsulation.
-  deser.read_encapsulation();
-  payload->encapsulation =
-      deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE
-                                                                   : CDR_LE;
-  p_type->deserialize(deser);  // Deserialize the object:
+bool UnderlayMessageType::deserialize(
+    eprosima::fastrtps::rtps::SerializedPayload_t* payload, void* data) {
+  try {
+    // Convert DATA to pointer of your type
+    UnderlayMessage* p_type = static_cast<UnderlayMessage*>(data);
+
+    // Object that manages the raw buffer.
+    eprosima::fastcdr::FastBuffer fastbuffer(
+        reinterpret_cast<char*>(payload->data), payload->length);
+
+    // Object that deserializes the data.
+    eprosima::fastcdr::Cdr deser(fastbuffer,
+                                 eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
+                                 eprosima::fastcdr::CdrVersion::DDS_CDR);
+
+    // Deserialize encapsulation.
+    deser.read_encapsulation();
+    payload->encapsulation =
+        deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE
+                                                                     : CDR_LE;
+
+    // Deserialize the object.
+    p_type->deserialize(deser);
+  } catch (eprosima::fastcdr::exception::Exception& e) {
+    AERROR << "deserialize exception: " << e.what();
+    return false;
+  }
   return true;
 }
 
@@ -90,7 +115,7 @@ std::function<uint32_t()> UnderlayMessageType::getSerializedSizeProvider(
   return [data]() -> uint32_t {
     return (uint32_t)type::getCdrSerializedSize(
                *static_cast<UnderlayMessage*>(data)) +
-           4 /*encapsulation*/;
+           4u /*encapsulation*/;
   };
 }
 
@@ -102,21 +127,23 @@ void UnderlayMessageType::deleteData(void* data) {
   delete (reinterpret_cast<UnderlayMessage*>(data));
 }
 
-bool UnderlayMessageType::getKey(void* data, InstanceHandle_t* handle) {
-  RETURN_VAL_IF((!m_isGetKeyDefined), false);
+bool UnderlayMessageType::getKey(
+    void* data, eprosima::fastrtps::rtps::InstanceHandle_t* handle,
+    bool force_md5) {
+  RETURN_VAL_IF(!m_isGetKeyDefined, false);
   UnderlayMessage* p_type = reinterpret_cast<UnderlayMessage*>(data);
   eprosima::fastcdr::FastBuffer fastbuffer(
       reinterpret_cast<char*>(m_keyBuffer),
       UnderlayMessage::getKeyMaxCdrSerializedSize());  // Object that manages
                                                        // the raw buffer.
-  eprosima::fastcdr::Cdr ser(
-      fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS);  // Object that
-                                                            // serializes the
-                                                            // data.
+  // Object that serializes the data.
+  eprosima::fastcdr::Cdr ser(fastbuffer,
+                             eprosima::fastcdr::Cdr::BIG_ENDIANNESS);
   p_type->serializeKey(ser);
-  if (UnderlayMessage::getKeyMaxCdrSerializedSize() > 16) {
+  if (force_md5 || UnderlayMessage::getKeyMaxCdrSerializedSize() > 16) {
     m_md5.init();
-    m_md5.update(m_keyBuffer, (unsigned int)ser.getSerializedDataLength());
+    m_md5.update(m_keyBuffer,
+                 static_cast<unsigned int>(ser.get_serialized_data_length()));
     m_md5.finalize();
     for (uint8_t i = 0; i < 16; ++i) {
       handle->value[i] = m_md5.digest[i];
diff --git a/cyber/transport/rtps/underlay_message_type.h b/cyber/transport/rtps/underlay_message_type.h
index 01db001..a57a012 100644
--- a/cyber/transport/rtps/underlay_message_type.h
+++ b/cyber/transport/rtps/underlay_message_type.h
@@ -17,8 +17,11 @@
 #ifndef CYBER_TRANSPORT_RTPS_UNDERLAY_MESSAGE_TYPE_H_
 #define CYBER_TRANSPORT_RTPS_UNDERLAY_MESSAGE_TYPE_H_
 
+#include "cyber/base/macros.h"
+
+#include "fastdds/dds/topic/TopicDataType.hpp"
+#include "fastrtps/utils/md5.h"
 #include "cyber/transport/rtps/underlay_message.h"
-#include "fastrtps/TopicDataType.h"
 
 namespace apollo {
 namespace cyber {
@@ -29,18 +32,25 @@ namespace transport {
  * defined by the user in the IDL file.
  * @ingroup UNDERLAYMESSAGE
  */
-class UnderlayMessageType : public eprosima::fastrtps::TopicDataType {
+class UnderlayMessageType : public eprosima::fastdds::dds::TopicDataType {
  public:
   using type = UnderlayMessage;
 
   UnderlayMessageType();
   virtual ~UnderlayMessageType();
-  bool serialize(void* data, SerializedPayload_t* payload);
-  bool deserialize(SerializedPayload_t* payload, void* data);
-  std::function<uint32_t()> getSerializedSizeProvider(void* data);
-  bool getKey(void* data, InstanceHandle_t* ihandle);
-  void* createData();
-  void deleteData(void* data);
+  virtual bool serialize(  // NOLINT
+      void* data,
+      eprosima::fastrtps::rtps::SerializedPayload_t* payload) override;
+  virtual bool deserialize(  // NOLINT
+      eprosima::fastrtps::rtps::SerializedPayload_t* payload,
+      void* data) override;
+  virtual std::function<uint32_t()> getSerializedSizeProvider(  // NOLINT
+      void* data) override;
+  virtual bool getKey(void* data,  // NOLINT
+                      eprosima::fastrtps::rtps::InstanceHandle_t* ihandle,
+                      bool force_md5 = false) override;
+  virtual void* createData() override;           // NOLINT
+  virtual void deleteData(void* data) override;  // NOLINT
   MD5 m_md5;
   unsigned char* m_keyBuffer;
 };
diff --git a/cyber/transport/shm/arena_address_allocator.cc b/cyber/transport/shm/arena_address_allocator.cc
new file mode 100644
index 0000000..bd94084
--- /dev/null
+++ b/cyber/transport/shm/arena_address_allocator.cc
@@ -0,0 +1,458 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+#include "cyber/transport/shm/arena_address_allocator.h"
+
+#include <sys/ipc.h>
+#include <sys/shm.h>
+#include <algorithm>
+#include <string>
+
+#include "cyber/base/pthread_rw_lock.h"
+#include "cyber/base/rw_lock_guard.h"
+
+namespace apollo {
+namespace cyber {
+namespace transport {
+
+ArenaAddressAllocator::ArenaAddressAllocator()
+    : meta_shm_key_(
+          std::hash<std::string>{}("/apollo/__arena__/__address__/__meta__")),
+      node_shm_key_(
+          std::hash<std::string>{}("/apollo/__arena__/__address__/__node__")),
+      meta_(nullptr),
+      nodes_(nullptr),
+      reclaim_stack_(nullptr) {
+  // TODO(all): configurable and address management for shared memory of cyber
+  meta_shm_address_ = nullptr;
+  // use fixed address
+  node_shm_address_ = reinterpret_cast<void*>(0x7f0000000000);
+
+  // ensure the allocator's segment size is larger
+  // than the actual arena's segment size
+  // otherwise the shmat will fail
+  Init(1024, reinterpret_cast<void*>(
+    0x710000000000), 2ULL * 1024 * 1024 * 1024);
+}
+
+ArenaAddressAllocator::~ArenaAddressAllocator() {
+  if (meta_ && meta_->struct_.ref_count_.fetch_sub(1) == 0) {
+    shmdt(meta_);
+    shmctl(shmget(meta_shm_key_, 0, 0), IPC_RMID, nullptr);
+    shmdt(nodes_);
+    shmctl(shmget(node_shm_key_, 0, 0), IPC_RMID, nullptr);
+  }
+}
+
+bool ArenaAddressAllocator::Init(uint64_t capacity, void* base_address,
+                                 uint64_t address_segment_size) {
+  if (!OpenMetaShm(capacity, base_address, address_segment_size)) {
+    return false;
+  }
+  if (!OpenNodeShm(capacity, base_address, address_segment_size)) {
+    return false;
+  }
+  meta_->struct_.occupied_.store(false);
+  return true;
+}
+
+bool ArenaAddressAllocator::Open(uint64_t key, void* base_address,
+                                 void** shm_address) {
+  auto shmid = shmget(static_cast<key_t>(key), 0, 0);
+
+  shmid = shmget(static_cast<key_t>(key), 0, 0);
+  if (shmid == -1) {
+    // open failed
+    return false;
+  }
+  *shm_address = shmat(shmid, base_address, 0);
+  if (*shm_address == reinterpret_cast<void*>(-1)) {
+    // shmat failed
+    return false;
+  }
+  return true;
+}
+
+bool ArenaAddressAllocator::OpenOrCreate(uint64_t key, uint64_t size,
+                                         void* base_address, void** shm_address,
+                                         bool* is_created) {
+  auto shmid =
+      shmget(static_cast<key_t>(key), size, 0644 | IPC_CREAT | IPC_EXCL);
+
+  if (shmid == -1) {
+    if (errno == EINVAL) {
+      // TODO(all): recreate larger shm
+    } else if (errno == EEXIST) {
+      *is_created = false;
+      return Open(key, base_address, shm_address);
+    } else {
+      return false;
+    }
+  }
+  *shm_address = shmat(shmid, base_address, 0);
+  if (*shm_address == reinterpret_cast<void*>(-1)) {
+    // shmat failed
+    return false;
+  }
+  *is_created = true;
+  return true;
+}
+
+bool ArenaAddressAllocator::OpenMetaShm(uint64_t capacity, void* base_address,
+                                        uint64_t address_segment_size) {
+  bool is_created = false;
+  bool ret = false;
+  for (uint32_t retry = 0; retry < 2 && !ret;
+       ++retry, ret = OpenOrCreate(
+                    meta_shm_key_, sizeof(ArenaAddressAllocatorMeta),
+                    meta_shm_address_, reinterpret_cast<void**>(&meta_),
+                    &is_created)) {
+  }
+  if (!ret) {
+    // create or open failed
+    return false;
+  }
+  if (!is_created) {
+    meta_->struct_.ref_count_.fetch_add(1);
+  } else {
+    meta_->struct_.version_ = 1;
+    meta_->struct_.capacity_ = capacity;
+    meta_->struct_.base_address_ = base_address;
+    meta_->struct_.address_segment_size_ = address_segment_size;
+    meta_->struct_.root_ = nullptr;
+    meta_->struct_.allocated_index_ = 0;
+    meta_->struct_.reclaim_stack_top_ = 0;
+    meta_->struct_.ref_count_.store(1);
+  }
+  return true;
+}
+
+bool ArenaAddressAllocator::OpenNodeShm(uint64_t capacity, void* base_address,
+                                        uint64_t address_segment_size) {
+  uint64_t size = sizeof(ArenaAddressAllocatorMeta) +
+                  sizeof(ArenaAddressNode) * (capacity + 1) +
+                  sizeof(uint64_t) * capacity;
+  bool is_created = false;
+  bool ret = false;
+  for (uint32_t retry = 0; retry < 2 && !ret;
+       ++retry, ret = OpenOrCreate(node_shm_key_, size, node_shm_address_,
+                                   reinterpret_cast<void**>(&nodes_),
+                                   &is_created)) {
+  }
+  if (!ret) {
+    // create or open failed
+    return false;
+  }
+
+  reclaim_stack_ = reinterpret_cast<uint64_t*>(
+      reinterpret_cast<uint64_t>(nodes_) + sizeof(ArenaAddressNode) * capacity);
+  return true;
+}
+
+ArenaAddressNode* ArenaAddressAllocator::NewNode(uint64_t key) {
+  if (meta_->struct_.reclaim_stack_top_ > 0) {
+    uint64_t index = reclaim_stack_[--meta_->struct_.reclaim_stack_top_];
+    nodes_[index].left_ = nullptr;
+    nodes_[index].right_ = nullptr;
+    nodes_[index].key_ = key;
+    return &nodes_[index];
+  }
+  if (meta_->struct_.allocated_index_ >= meta_->struct_.capacity_) {
+    // TODO(all): expand nodes
+    return nullptr;
+  }
+  nodes_[meta_->struct_.allocated_index_].left_ = nullptr;
+  nodes_[meta_->struct_.allocated_index_].right_ = nullptr;
+  nodes_[meta_->struct_.allocated_index_].key_ = key;
+  nodes_[meta_->struct_.allocated_index_].index_ =
+      meta_->struct_.allocated_index_;
+  return &nodes_[meta_->struct_.allocated_index_++];
+}
+
+void ArenaAddressAllocator::ReclaimNode(ArenaAddressNode* node) {
+  nodes_[node->index_].left_ = nullptr;
+  nodes_[node->index_].right_ = nullptr;
+  nodes_[node->index_].parent_ = nullptr;
+  reclaim_stack_[meta_->struct_.reclaim_stack_top_++] = node->index_;
+}
+
+ArenaAddressNode* ArenaAddressAllocator::FindNode(ArenaAddressNode* node,
+                                                  uint64_t key) {
+  if (node == nullptr) {
+    return nullptr;
+  }
+  if (key < node->key_) {
+    return FindNode(node->left_, key);
+  } else if (key > node->key_) {
+    return FindNode(node->right_, key);
+  }
+  return node;
+}
+
+ArenaAddressNode* ArenaAddressAllocator::FindOrInsertNode(
+    ArenaAddressNode* node, ArenaAddressNode** node_p, ArenaAddressNode* parent,
+    uint64_t key) {
+  if (node == nullptr) {
+    auto target = NewNode(key);
+    *node_p = target;
+    target->parent_ = parent;
+    return target;
+  }
+  if (key < node->key_) {
+    auto target = FindOrInsertNode(node->left_, &(node->left_), node, key);
+    TreeRebalance(node->left_, &(node->left_));
+    return target;
+  } else if (key > node->key_) {
+    auto target = FindOrInsertNode(node->right_, &(node->right_), node, key);
+    TreeRebalance(node->right_, &(node->right_));
+    return target;
+  }
+  // key == node->key_
+  return node;
+}
+
+void ArenaAddressAllocator::RemoveNode(ArenaAddressNode* node,
+                                       ArenaAddressNode** node_p,
+                                       uint64_t key) {
+  if (!node) {
+    return;
+  }
+  if (!FindNode(node, key)) {
+    return;
+  }
+  if (key < node->key_) {
+    RemoveNode(node->left_, &(node->left_), key);
+    if (TreeBalanceFactor(node) < -1) {
+      TreeRebalance(meta_->struct_.root_, &(meta_->struct_.root_));
+    }
+    return;
+  } else if (key > node->key_) {
+    RemoveNode(node->right_, &(node->right_), key);
+    if (TreeBalanceFactor(node) > 1) {
+      TreeRebalance(meta_->struct_.root_, &(meta_->struct_.root_));
+    }
+    return;
+  }
+  // node->key_ == key
+  // left and right both exist
+  if (node->left_ && node->right_) {
+    if (TreeBalanceFactor(node) > 0) {
+      auto max_p = &(node->left_);
+      auto max = TreeMax(node->left_, &max_p);
+      SwapNodePosition(node, node_p, max, max_p);
+      RemoveNode(max->left_, &(max->left_), key);
+      return;
+    } else {
+      auto min_p = &(node->right_);
+      auto min = TreeMin(node->right_, &min_p);
+      SwapNodePosition(node, node_p, min, min_p);
+      RemoveNode(min->right_, &(min->right_), key);
+      return;
+    }
+  }
+  // left or right exist
+  *node_p = node->left_ ? node->left_ : node->right_;
+  ReclaimNode(node);
+}
+
+void ArenaAddressAllocator::SwapNodePosition(ArenaAddressNode* x,
+                                             ArenaAddressNode** x_p,
+                                             ArenaAddressNode* y,
+                                             ArenaAddressNode** y_p) {
+  if (x == nullptr || y == nullptr) {
+    // cannot swap nullptr
+    return;
+  }
+
+  // swap address
+  *x_p = y;
+  *y_p = x;
+  // swap parent
+  auto parent_x = x->parent_;
+  auto parent_y = y->parent_;
+  x->parent_ = parent_y;
+  y->parent_ = parent_x;
+
+  ArenaAddressNode* tmp = nullptr;
+
+  // swap left
+  tmp = x->left_;
+  x->left_ = y->left_;
+  if (x->left_) {
+    x->left_->parent_ = x;
+  }
+  y->left_ = tmp;
+  if (y->left_) {
+    y->left_->parent_ = y;
+  }
+
+  // swap right
+  tmp = x->right_;
+  x->right_ = y->right_;
+  if (x->right_) {
+    x->right_->parent_ = x;
+  }
+  y->right_ = tmp;
+  if (y->right_) {
+    y->right_->parent_ = y;
+  }
+}
+
+uint64_t ArenaAddressAllocator::TreeHeight(ArenaAddressNode* node) {
+  if (node == nullptr) {
+    return 0;
+  }
+  return 1 + std::max(TreeHeight(node->left_), TreeHeight(node->right_));
+}
+
+ArenaAddressNode* ArenaAddressAllocator::TreeMax(ArenaAddressNode* node,
+                                                 ArenaAddressNode*** node_pp) {
+  if (node == nullptr) {
+    return nullptr;
+  }
+  for (; node->right_;) {
+    *node_pp = &(node->right_);
+    node = node->right_;
+  }
+  return node;
+}
+
+ArenaAddressNode* ArenaAddressAllocator::TreeMin(ArenaAddressNode* node,
+                                                 ArenaAddressNode*** node_pp) {
+  if (node == nullptr) {
+    return nullptr;
+  }
+  for (; node->left_;) {
+    *node_pp = &(node->left_);
+    node = node->left_;
+  }
+  return node;
+}
+
+int64_t ArenaAddressAllocator::TreeBalanceFactor(ArenaAddressNode* node) {
+  if (node == nullptr) {
+    return 0;
+  }
+  return TreeHeight(node->left_) - TreeHeight(node->right_);
+}
+
+ArenaAddressNode* ArenaAddressAllocator::TreeRotateLeft(
+    ArenaAddressNode* node, ArenaAddressNode** node_p) {
+  auto parent = node->parent_;
+  auto right = node->right_;
+
+  node->right_ = right->left_;
+  right->left_ = node;
+  node->parent_ = right;
+  *node_p = right;
+  right->parent_ = parent;
+
+  return right;
+}
+
+ArenaAddressNode* ArenaAddressAllocator::TreeRotateRight(
+    ArenaAddressNode* node, ArenaAddressNode** node_p) {
+  auto parent = node->parent_;
+  auto left = node->left_;
+
+  node->left_ = left->right_;
+  left->right_ = node;
+  node->parent_ = left;
+  *node_p = left;
+  left->parent_ = parent;
+
+  return left;
+}
+
+ArenaAddressNode* ArenaAddressAllocator::TreeRotateLeftRight(
+    ArenaAddressNode* node, ArenaAddressNode** node_p) {
+  TreeRotateLeft(node->left_, &(node->left_));
+  return TreeRotateRight(node, node_p);
+}
+
+ArenaAddressNode* ArenaAddressAllocator::TreeRotateRightLeft(
+    ArenaAddressNode* node, ArenaAddressNode** node_p) {
+  TreeRotateRight(node->right_, &(node->right_));
+  return TreeRotateLeft(node, node_p);
+}
+
+ArenaAddressNode* ArenaAddressAllocator::TreeRebalance(
+    ArenaAddressNode* node, ArenaAddressNode** node_p) {
+  if (node == nullptr) {
+    return nullptr;
+  }
+  auto balance_factor = TreeBalanceFactor(node);
+  if (balance_factor > 1) {
+    if (TreeBalanceFactor(node->left_) > 0) {
+      return TreeRotateRight(node, node_p);
+    } else {
+      return TreeRotateLeftRight(node, node_p);
+    }
+  } else if (balance_factor < -1) {
+    if (TreeBalanceFactor(node->right_) < 0) {
+      return TreeRotateLeft(node, node_p);
+    } else {
+      return TreeRotateRightLeft(node, node_p);
+    }
+  }
+  return node;
+}
+
+void* ArenaAddressAllocator::Allocate(uint64_t key) {
+  bool idle_status = false;
+  bool occupied_status = true;
+  while (!meta_->struct_.occupied_.compare_exchange_strong(
+                              idle_status, occupied_status)) {
+    // exchange failed, idle_status is set to true.
+    idle_status = false;
+    std::this_thread::sleep_for(std::chrono::microseconds(1000));
+  }
+  auto node = FindOrInsertNode(meta_->struct_.root_, &(meta_->struct_.root_),
+                               nullptr, key);
+  meta_->struct_.occupied_.store(false);
+  if (node == nullptr) {
+    return nullptr;
+  }
+
+  node->ref_count_.fetch_add(1);
+
+  return reinterpret_cast<void*>(
+      reinterpret_cast<uint64_t>(meta_->struct_.base_address_) +
+      meta_->struct_.address_segment_size_ * node->index_);
+}
+
+void ArenaAddressAllocator::Deallocate(uint64_t key) {
+  bool idle_status = false;
+  bool occupied_status = true;
+  while (!meta_->struct_.occupied_.compare_exchange_strong(
+                              idle_status, occupied_status)) {
+    // exchange failed, idle_status is set to true.
+    idle_status = false;
+    std::this_thread::sleep_for(std::chrono::microseconds(1000));
+  }
+  auto node = FindNode(meta_->struct_.root_, key);
+  meta_->struct_.occupied_.store(false);
+  if (node == nullptr) {
+    return;
+  }
+
+  if (node->ref_count_.fetch_sub(1) == 0) {
+    RemoveNode(meta_->struct_.root_, &(meta_->struct_.root_), key);
+  }
+}
+
+}  // namespace transport
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/transport/shm/arena_address_allocator.h b/cyber/transport/shm/arena_address_allocator.h
new file mode 100644
index 0000000..7ddc3c1
--- /dev/null
+++ b/cyber/transport/shm/arena_address_allocator.h
@@ -0,0 +1,121 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+#ifndef CYBER_TRANSPORT_SHM_ARENA_ADDRESS_ALLOCATOR_H_
+#define CYBER_TRANSPORT_SHM_ARENA_ADDRESS_ALLOCATOR_H_
+
+#include <atomic>
+#include <cstdint>
+
+#include "cyber/base/pthread_rw_lock.h"
+#include "cyber/common/macros.h"
+
+namespace apollo {
+namespace cyber {
+namespace transport {
+
+struct ArenaAddressNode {
+  uint64_t key_;
+  uint64_t index_;
+  std::atomic<uint64_t> ref_count_;
+  struct ArenaAddressNode* parent_;
+  struct ArenaAddressNode* left_;
+  struct ArenaAddressNode* right_;
+};
+
+union ArenaAddressAllocatorMeta {
+  struct {
+    uint64_t version_;
+    uint64_t capacity_;
+    std::atomic<uint64_t> ref_count_;
+    void* base_address_;
+    // TODO(ALL): support multiple size
+    uint64_t address_segment_size_;
+    ArenaAddressNode* root_;
+    uint64_t allocated_index_;
+    uint64_t reclaim_stack_top_;
+    // base::PthreadRWLock mutex_;
+    std::atomic<bool> occupied_;
+  } struct_;
+  uint8_t bytes_[128];
+};
+
+class ArenaAddressAllocator {
+ public:
+  ArenaAddressAllocator();
+  ~ArenaAddressAllocator();
+
+  bool Init(uint64_t capacity, void* base_address,
+            uint64_t address_segment_size);
+
+  bool OpenOrCreate(uint64_t key, uint64_t size, void* base_address,
+                    void** shm_address, bool* is_created);
+  bool Open(uint64_t key, void* base_address, void** shm_address);
+
+  bool OpenOrCreate(uint64_t capacity, void* base_address,
+                    uint64_t address_segment_size);
+
+  bool OpenMetaShm(uint64_t capacity, void* base_address,
+                   uint64_t address_segment_size);
+
+  bool OpenNodeShm(uint64_t capacity, void* base_address,
+                   uint64_t address_segment_size);
+
+  ArenaAddressNode* NewNode(uint64_t key);
+  void ReclaimNode(ArenaAddressNode* node);
+  ArenaAddressNode* FindNode(ArenaAddressNode* node, uint64_t key);
+  ArenaAddressNode* FindOrInsertNode(ArenaAddressNode* node,
+                                     ArenaAddressNode** node_p,
+                                     ArenaAddressNode* parent, uint64_t key);
+  void RemoveNode(ArenaAddressNode* node, ArenaAddressNode** node_addr,
+                  uint64_t key);
+  void SwapNodePosition(ArenaAddressNode* x, ArenaAddressNode** x_p,
+                        ArenaAddressNode* y, ArenaAddressNode** y_p);
+  uint64_t TreeHeight(ArenaAddressNode* node);
+  ArenaAddressNode* TreeMax(ArenaAddressNode* node,
+                            ArenaAddressNode*** node_pp);
+  ArenaAddressNode* TreeMin(ArenaAddressNode* node,
+                            ArenaAddressNode*** node_pp);
+  int64_t TreeBalanceFactor(ArenaAddressNode* node);
+  ArenaAddressNode* TreeRebalance(ArenaAddressNode* node,
+                                  ArenaAddressNode** node_p);
+  ArenaAddressNode* TreeRotateLeft(ArenaAddressNode* node,
+                                   ArenaAddressNode** node_p);
+  ArenaAddressNode* TreeRotateRight(ArenaAddressNode* node,
+                                    ArenaAddressNode** node_p);
+  ArenaAddressNode* TreeRotateLeftRight(ArenaAddressNode* node,
+                                        ArenaAddressNode** node_p);
+  ArenaAddressNode* TreeRotateRightLeft(ArenaAddressNode* node,
+                                        ArenaAddressNode** node_p);
+  void* Allocate(uint64_t key);
+  void Deallocate(uint64_t key);
+
+ private:
+  uint64_t meta_shm_key_;
+  uint64_t node_shm_key_;
+  void* meta_shm_address_;
+  void* node_shm_address_;
+  ArenaAddressAllocatorMeta* meta_;
+  ArenaAddressNode* nodes_;
+  ArenaAddressNode* root_;
+  uint64_t* reclaim_stack_;
+  // DECLARE_SINGLETON(ArenaAddressAllocator)
+};
+
+}  // namespace transport
+}  // namespace cyber
+}  // namespace apollo
+
+#endif
diff --git a/cyber/transport/shm/posix_segment.cc b/cyber/transport/shm/posix_segment.cc
index c1519ed..d9d963b 100644
--- a/cyber/transport/shm/posix_segment.cc
+++ b/cyber/transport/shm/posix_segment.cc
@@ -96,13 +96,28 @@ bool PosixSegment::OpenOrCreate() {
     return false;
   }
 
+  // create field arena_blocks_
+  arena_blocks_ = new (static_cast<char*>(managed_shm_) + sizeof(State) + \
+                       conf_.block_num() * sizeof(Block)) Block[
+                        ShmConf::ARENA_BLOCK_NUM];
+  if (arena_blocks_ == nullptr) {
+    AERROR << "create blocks failed.";
+    state_->~State();
+    state_ = nullptr;
+    munmap(managed_shm_, conf_.managed_shm_size());
+    managed_shm_ = nullptr;
+    shm_unlink(shm_name_.c_str());
+    return false;
+  }
+
   // create block buf
   uint32_t i = 0;
   for (; i < conf_.block_num(); ++i) {
     uint8_t* addr =
-        new (static_cast<char*>(managed_shm_) + sizeof(State) +
-             conf_.block_num() * sizeof(Block) + i * conf_.block_buf_size())
-            uint8_t[conf_.block_buf_size()];
+        new (static_cast<char*>(managed_shm_) + sizeof(State) + \
+             conf_.block_num() * sizeof(Block) + \
+             ShmConf::ARENA_BLOCK_NUM * sizeof(Block) + \
+             i * conf_.block_buf_size()) uint8_t[conf_.block_buf_size()];
 
     if (addr == nullptr) {
       break;
@@ -112,15 +127,38 @@ bool PosixSegment::OpenOrCreate() {
     block_buf_addrs_[i] = addr;
   }
 
-  if (i != conf_.block_num()) {
-    AERROR << "create block buf failed.";
+  // create arena block buf
+  uint32_t ai = 0;
+  for (; ai < ShmConf::ARENA_BLOCK_NUM; ++ai) {
+    uint8_t* addr = \
+        new(static_cast<char*>(managed_shm_) + sizeof(State) + \
+             conf_.block_num() * sizeof(Block) + \
+             ShmConf::ARENA_BLOCK_NUM * sizeof(Block) + \
+             conf_.block_num() * conf_.block_buf_size() + \
+             ai * ShmConf::ARENA_MESSAGE_SIZE) uint8_t[
+              ShmConf::ARENA_MESSAGE_SIZE];
+    if (addr == nullptr) {
+      break;
+    }
+
+    std::lock_guard<std::mutex> _g(arena_block_buf_lock_);
+    arena_block_buf_addrs_[ai] = addr;
+  }
+
+  if (ai != ShmConf::ARENA_BLOCK_NUM || i != conf_.block_num()) {
+    AERROR << "create arena block buf failed.";
     state_->~State();
     state_ = nullptr;
     blocks_ = nullptr;
+    arena_blocks_ = nullptr;
     {
       std::lock_guard<std::mutex> lg(block_buf_lock_);
       block_buf_addrs_.clear();
     }
+    {
+      std::lock_guard<std::mutex> lg(arena_block_buf_lock_);
+      arena_block_buf_addrs_.clear();
+    }
     munmap(managed_shm_, conf_.managed_shm_size());
     managed_shm_ = nullptr;
     shm_unlink(shm_name_.c_str());
@@ -183,26 +221,64 @@ bool PosixSegment::OpenOnly() {
     return false;
   }
 
+  // get field arena_blocks_
+  arena_blocks_ = reinterpret_cast<Block*>(
+    static_cast<char*>(managed_shm_) + sizeof(State) +
+    sizeof(Block) * conf_.block_num());
+  if (blocks_ == nullptr) {
+    AERROR << "get arena blocks failed.";
+    state_ = nullptr;
+    munmap(managed_shm_, conf_.managed_shm_size());
+    managed_shm_ = nullptr;
+    return false;
+  }
+
   // get block buf
   uint32_t i = 0;
   for (; i < conf_.block_num(); ++i) {
     uint8_t* addr = reinterpret_cast<uint8_t*>(
         static_cast<char*>(managed_shm_) + sizeof(State) +
-        conf_.block_num() * sizeof(Block) + i * conf_.block_buf_size());
+        conf_.block_num() * sizeof(Block) +
+        ShmConf::ARENA_BLOCK_NUM * sizeof(Block) +
+        i * conf_.block_buf_size());
 
+    if (addr == nullptr) {
+      break;
+    }
     std::lock_guard<std::mutex> lg(block_buf_lock_);
     block_buf_addrs_[i] = addr;
   }
 
-  if (i != conf_.block_num()) {
+  // get arena block buf
+  uint32_t ai = 0;
+  for (; i < ShmConf::ARENA_BLOCK_NUM; ++ai) {
+    uint8_t* addr = reinterpret_cast<uint8_t*>(
+        static_cast<char*>(managed_shm_) + sizeof(State) + \
+        conf_.block_num() * sizeof(Block) + ShmConf::ARENA_BLOCK_NUM * \
+        sizeof(Block) + conf_.block_num() * conf_.block_buf_size() + \
+        ai * ShmConf::ARENA_MESSAGE_SIZE);
+
+    if (addr == nullptr) {
+      break;
+    }
+    std::lock_guard<std::mutex> _g(arena_block_buf_lock_);
+    arena_block_buf_addrs_[ai] = addr;
+  }
+
+  if (i != conf_.block_num() || ai != ShmConf::ARENA_BLOCK_NUM) {
     AERROR << "open only failed.";
     state_->~State();
     state_ = nullptr;
     blocks_ = nullptr;
+    arena_blocks_ = nullptr;
     {
       std::lock_guard<std::mutex> lg(block_buf_lock_);
       block_buf_addrs_.clear();
     }
+    {
+      std::lock_guard<std::mutex> lg(arena_block_buf_lock_);
+      arena_block_buf_addrs_.clear();
+    }
     munmap(managed_shm_, conf_.managed_shm_size());
     managed_shm_ = nullptr;
     shm_unlink(shm_name_.c_str());
@@ -226,10 +302,15 @@ bool PosixSegment::Remove() {
 void PosixSegment::Reset() {
   state_ = nullptr;
   blocks_ = nullptr;
+  arena_blocks_ = nullptr;
   {
     std::lock_guard<std::mutex> lg(block_buf_lock_);
     block_buf_addrs_.clear();
   }
+  {
+    std::lock_guard<std::mutex> lg(arena_block_buf_lock_);
+    arena_block_buf_addrs_.clear();
+  }
   if (managed_shm_ != nullptr) {
     munmap(managed_shm_, conf_.managed_shm_size());
     managed_shm_ = nullptr;
diff --git a/cyber/transport/shm/protobuf_arena_manager.cc b/cyber/transport/shm/protobuf_arena_manager.cc
new file mode 100644
index 0000000..30db9b7
--- /dev/null
+++ b/cyber/transport/shm/protobuf_arena_manager.cc
@@ -0,0 +1,564 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+#include "cyber/transport/shm/protobuf_arena_manager.h"
+
+#include <sys/ipc.h>
+#include <sys/shm.h>
+
+#include <cstring>
+#include <string>
+
+#include <google/protobuf/arena.h>
+#include <google/protobuf/message.h>
+
+#include "cyber/transport/shm/segment_factory.h"
+
+namespace apollo {
+namespace cyber {
+namespace transport {
+
+const int32_t ArenaSegmentBlock::kRWLockFree = 0;
+const int32_t ArenaSegmentBlock::kWriteExclusive = -1;
+const int32_t ArenaSegmentBlock::kMaxTryLockTimes = 5;
+
+ArenaSegment::ArenaSegment()
+    : channel_id_(0), key_id_(0), base_address_(nullptr) {}
+
+ArenaSegment::ArenaSegment(uint64_t channel_id)
+    : channel_id_(channel_id),
+      key_id_(std::hash<std::string>{}("/apollo/__arena__/" +
+                                       std::to_string(channel_id))) {}
+
+ArenaSegment::ArenaSegment(uint64_t channel_id, void* base_address)
+    : channel_id_(channel_id),
+      key_id_(std::hash<std::string>{}("/apollo/__arena__/" +
+                                       std::to_string(channel_id))),
+      base_address_(base_address) {}
+
+ArenaSegment::ArenaSegment(uint64_t channel_id, uint64_t message_size,
+                           uint64_t block_num, void* base_address)
+    : channel_id_(channel_id),
+      key_id_(std::hash<std::string>{}("/apollo/__arena__/" +
+                                       std::to_string(channel_id))),
+      base_address_(base_address) {
+  Init(message_size, block_num);
+}
+
+ArenaSegment::~ArenaSegment() {}
+
+bool ArenaSegment::Init(uint64_t message_size, uint64_t block_num) {
+  uint64_t key_id = std::hash<std::string>{}("/apollo/__arena__/" +
+                                             std::to_string(channel_id_));
+  // fprintf(stderr, "channel_id: %lx, key_id: %lx\n", channel_id_, key_id);
+
+  for (uint32_t retry = 0; retry < 2 && !OpenOrCreate(message_size, block_num);
+       ++retry) {
+  }
+
+  return true;
+}
+
+bool ArenaSegment::OpenOrCreate(uint64_t message_size, uint64_t block_num) {
+  auto arena_conf =
+      cyber::common::GlobalData::Instance()->GetChannelArenaConf(channel_id_);
+  auto shared_buffer_size = arena_conf.shared_buffer_size();
+  auto size = sizeof(ArenaSegmentState) +
+              sizeof(ArenaSegmentBlockDescriptor) * block_num +
+              message_size * block_num + shared_buffer_size;
+  auto shmid =
+      shmget(static_cast<key_t>(key_id_), size, 0644 | IPC_CREAT | IPC_EXCL);
+  if (shmid == -1) {
+    if (errno == EINVAL) {
+      // TODO(all): need larger space, recreate
+    } else if (errno == EEXIST) {
+      // TODO(all): shm already exist, open only
+      return Open(message_size, block_num);
+    } else {
+      //  create or open shm failed
+      return false;
+    }
+  }
+  message_capacity_ = message_size;
+  shm_address_ = shmat(shmid, base_address_, 0);
+  if (shm_address_ == reinterpret_cast<void*>(-1)) {
+    // shmat failed
+    return false;
+  }
+
+  arenas_.resize(block_num, nullptr);
+  if (shared_buffer_size == 0) {
+    shared_buffer_arena_ = nullptr;
+  } else {
+    google::protobuf::ArenaOptions options;
+    options.start_block_size = shared_buffer_size;
+    options.max_block_size = shared_buffer_size;
+    options.initial_block = reinterpret_cast<char*>(
+        reinterpret_cast<uint64_t>(shm_address_) + sizeof(ArenaSegmentState) +
+        block_num * sizeof(ArenaSegmentBlock) + block_num * message_size);
+    options.initial_block_size = shared_buffer_size;
+    shared_buffer_arena_ = std::make_shared<google::protobuf::Arena>(options);
+  }
+  for (size_t i = 0; i < block_num; i++) {
+    arena_block_address_.push_back(
+        reinterpret_cast<uint64_t>(shm_address_) + sizeof(ArenaSegmentState) +
+        block_num * sizeof(ArenaSegmentBlock) + i * message_size);
+  }
+
+  state_ = reinterpret_cast<ArenaSegmentState*>(shm_address_);
+  state_->struct_.ref_count_.store(1);
+  state_->struct_.auto_extended_.store(false);
+  state_->struct_.message_size_.store(message_size);
+  state_->struct_.block_num_.store(block_num);
+  state_->struct_.message_seq_.store(0);
+  blocks_ = reinterpret_cast<ArenaSegmentBlock*>(
+      reinterpret_cast<uint64_t>(shm_address_) + sizeof(ArenaSegmentState));
+  for (uint64_t i = 0; i < block_num; ++i) {
+    blocks_[i].size_ = message_size;
+    // blocks_[i].writing_ref_count_.store(0);
+    // blocks_[i].reading_ref_count_.store(0);
+    blocks_[i].lock_num_.store(0);
+  }
+  return true;
+}
+
+bool ArenaSegment::Open(uint64_t message_size, uint64_t block_num) {
+  auto arena_conf =
+      cyber::common::GlobalData::Instance()->GetChannelArenaConf(channel_id_);
+  auto shared_buffer_size = arena_conf.shared_buffer_size();
+  auto shmid = shmget(static_cast<key_t>(key_id_), 0, 0644);
+  if (shmid == -1) {
+    // shm not exist
+    return false;
+  }
+  shm_address_ = shmat(shmid, base_address_, 0);
+  if (shm_address_ == reinterpret_cast<void*>(-1)) {
+    // shmat failed
+    return false;
+  }
+  message_capacity_ = message_size;
+  state_ = reinterpret_cast<ArenaSegmentState*>(shm_address_);
+  state_->struct_.ref_count_.fetch_add(1);
+  blocks_ = reinterpret_cast<ArenaSegmentBlock*>(
+      reinterpret_cast<uint64_t>(shm_address_) + sizeof(ArenaSegmentState));
+
+  arenas_.resize(block_num, nullptr);
+  if (shared_buffer_size == 0) {
+    shared_buffer_arena_ = nullptr;
+  } else {
+    google::protobuf::ArenaOptions options;
+    options.start_block_size = shared_buffer_size;
+    options.max_block_size = shared_buffer_size;
+    options.initial_block = reinterpret_cast<char*>(
+        reinterpret_cast<uint64_t>(shm_address_) + sizeof(ArenaSegmentState) +
+        block_num * sizeof(ArenaSegmentBlock) + block_num * message_size);
+    options.initial_block_size = shared_buffer_size;
+    shared_buffer_arena_ = std::make_shared<google::protobuf::Arena>(options);
+  }
+  for (size_t i = 0; i < block_num; i++) {
+    arena_block_address_.push_back(
+        reinterpret_cast<uint64_t>(shm_address_) + sizeof(ArenaSegmentState) +
+        block_num * sizeof(ArenaSegmentBlock) + i * message_size);
+  }
+  return true;
+}
+
+void* ArenaSegment::GetShmAddress() { return shm_address_; }
+
+uint64_t ArenaSegment::GetNextWritableBlockIndex() {
+  const auto block_num = state_->struct_.block_num_.load();
+  while (1) {
+    uint64_t next_idx = state_->struct_.message_seq_.fetch_add(1) % block_num;
+    if (AddBlockWriteLock(next_idx)) {
+      return next_idx;
+    }
+  }
+  return 0;
+}
+
+bool ArenaSegment::AddBlockWriteLock(uint64_t block_index) {
+  // base::WriteLockGuard<base::PthreadRWLock> lock(
+  //     blocks_[block_index].read_write_mutex_);
+  // if (blocks_[block_index].writing_ref_count_.load() > 0) {
+  //   return false;
+  // }
+  // if (blocks_[block_index].reading_ref_count_.load() > 0) {
+  //   return false;
+  // }
+  // blocks_[block_index].writing_ref_count_.fetch_add(1);
+  auto& block = blocks_[block_index];
+  int32_t rw_lock_free = ArenaSegmentBlock::kRWLockFree;
+  if (!block.lock_num_.compare_exchange_weak(
+          rw_lock_free, ArenaSegmentBlock::kWriteExclusive,
+          std::memory_order_acq_rel, std::memory_order_relaxed)) {
+    ADEBUG << "lock num: " << block.lock_num_.load();
+    return false;
+  }
+  return true;
+}
+
+void ArenaSegment::RemoveBlockWriteLock(uint64_t block_index) {
+  blocks_[block_index].lock_num_.fetch_add(1);
+}
+
+bool ArenaSegment::AddBlockReadLock(uint64_t block_index) {
+  // when multiple readers are reading an arena channel
+  // at the same time, using write locks can cause one
+  // or more readers to hang at the lock, whereas
+  // read locks do not have this problem
+  // base::ReadLockGuard<base::PthreadRWLock> lock(
+  //     blocks_[block_index].read_write_mutex_);
+  // if (blocks_[block_index].writing_ref_count_.load() > 0) {
+  //   return false;
+  // }
+  // blocks_[block_index].reading_ref_count_.fetch_add(1);
+  auto& block = blocks_[block_index];
+  int32_t lock_num = block.lock_num_.load();
+  if (lock_num < ArenaSegmentBlock::kRWLockFree) {
+    AINFO << "block is being written.";
+    return false;
+  }
+
+  int32_t try_times = 0;
+  while (!block.lock_num_.compare_exchange_weak(lock_num, lock_num + 1,
+                                                std::memory_order_acq_rel,
+                                                std::memory_order_relaxed)) {
+    ++try_times;
+    if (try_times == ArenaSegmentBlock::kMaxTryLockTimes) {
+      AINFO << "fail to add read lock num, curr num: " << lock_num;
+      return false;
+    }
+
+    lock_num = block.lock_num_.load();
+    if (lock_num < ArenaSegmentBlock::kRWLockFree) {
+      AINFO << "block is being written.";
+      return false;
+    }
+  }
+  return true;
+}
+
+void ArenaSegment::RemoveBlockReadLock(uint64_t block_index) {
+  blocks_[block_index].lock_num_.fetch_sub(1);
+}
+
+bool ArenaSegment::AcquireBlockToWrite(uint64_t size,
+                                       ArenaSegmentBlockInfo* block_info) {
+  if (!block_info) {
+    return false;
+  }
+  if (!state_ || !blocks_) {
+    return false;
+  }
+
+  // TODO(all): support dynamic block size
+
+  uint64_t block_num = state_->struct_.block_num_.load();
+  uint64_t block_size = state_->struct_.message_size_.load();
+  uint64_t block_index = GetNextWritableBlockIndex();
+  block_info->block_index_ = block_index;
+  block_info->block_ = &blocks_[block_index];
+  block_info->block_buffer_address_ = reinterpret_cast<void*>(
+      reinterpret_cast<uint64_t>(shm_address_) + sizeof(ArenaSegmentState) +
+      block_num * sizeof(ArenaSegmentBlock) + block_index * block_size);
+  return true;
+}
+
+void ArenaSegment::ReleaseWrittenBlock(
+    const ArenaSegmentBlockInfo& block_info) {
+  if (!state_ || !blocks_) {
+    return;
+  }
+  if (block_info.block_index_ >= state_->struct_.block_num_.load()) {
+    return;
+  }
+  RemoveBlockWriteLock(block_info.block_index_);
+}
+
+bool ArenaSegment::AcquireBlockToRead(ArenaSegmentBlockInfo* block_info) {
+  if (!block_info) {
+    return false;
+  }
+  if (!state_ || !blocks_) {
+    return false;
+  }
+
+  if (block_info->block_index_ >= state_->struct_.block_num_.load()) {
+    return false;
+  }
+
+  // TODO(all): support dynamic block size
+
+  if (!AddBlockReadLock(block_info->block_index_)) {
+    return false;
+  }
+  uint64_t block_num = state_->struct_.block_num_.load();
+  uint64_t block_size = state_->struct_.message_size_.load();
+
+  block_info->block_ = &blocks_[block_info->block_index_];
+  block_info->block_buffer_address_ = reinterpret_cast<void*>(
+      reinterpret_cast<uint64_t>(shm_address_) + sizeof(ArenaSegmentState) +
+      block_num * sizeof(ArenaSegmentBlock) +
+      block_info->block_index_ * block_size);
+  return true;
+}
+
+void ArenaSegment::ReleaseReadBlock(const ArenaSegmentBlockInfo& block_info) {
+  if (!state_ || !blocks_) {
+    return;
+  }
+  if (block_info.block_index_ >= state_->struct_.block_num_.load()) {
+    return;
+  }
+  RemoveBlockReadLock(block_info.block_index_);
+}
+
+ProtobufArenaManager::ProtobufArenaManager() {
+  address_allocator_ = std::make_shared<ArenaAddressAllocator>();
+}
+
+ProtobufArenaManager::~ProtobufArenaManager() { Destroy(); }
+
+uint64_t ProtobufArenaManager::GetBaseAddress(
+    const message::ArenaMessageWrapper* wrapper) {
+  return 0;
+}
+
+std::shared_ptr<ArenaSegment> ProtobufArenaManager::GetSegment(
+    uint64_t channel_id) {
+  std::lock_guard<std::mutex> lock(segments_mutex_);
+  if (segments_.find(channel_id) == segments_.end()) {
+    return nullptr;
+  }
+  return segments_[channel_id];
+}
+
+void* ProtobufArenaManager::SetMessage(message::ArenaMessageWrapper* wrapper,
+                                       const void* message) {
+  auto input_msg = reinterpret_cast<const google::protobuf::Message*>(message);
+  auto channel_id = GetMessageChannelId(wrapper);
+  auto segment = GetSegment(channel_id);
+  auto arena_ptr = input_msg->GetArena();
+  google::protobuf::ArenaOptions options;
+
+  if (!segment) {
+    return nullptr;
+  }
+
+  void* msg_output = nullptr;
+  if (arena_ptr == nullptr) {
+    auto arena_conf =
+        cyber::common::GlobalData::Instance()->GetChannelArenaConf(channel_id);
+    google::protobuf::ArenaOptions options;
+    options.start_block_size = arena_conf.max_msg_size();
+    options.max_block_size = arena_conf.max_msg_size();
+
+    if (!segment) {
+      return nullptr;
+    }
+
+    ResetMessageRelatedBlocks(wrapper);
+
+    ArenaSegmentBlockInfo wb;
+    // TODO(all): AcquireBlockToWrite for dynamic adjust block
+    // auto size = input_msg->ByteSizeLong();
+    uint64_t size = 0;
+    if (!segment->AcquireBlockToWrite(size, &wb)) {
+      return nullptr;
+    }
+    this->AddMessageRelatedBlock(wrapper, wb.block_index_);
+    options.initial_block =
+        reinterpret_cast<char*>(segment->arena_block_address_[wb.block_index_]);
+    options.initial_block_size = segment->message_capacity_;
+    if (segment->arenas_[wb.block_index_] != nullptr) {
+      segment->arenas_[wb.block_index_] = nullptr;
+    }
+    segment->arenas_[wb.block_index_] =
+        std::make_shared<google::protobuf::Arena>(options);
+    auto msg = input_msg->New(segment->arenas_[wb.block_index_].get());
+    msg->CopyFrom(*input_msg);
+    SetMessageAddressOffset(
+        wrapper, reinterpret_cast<uint64_t>(msg) -
+                     reinterpret_cast<uint64_t>(segment->GetShmAddress()));
+    msg_output = reinterpret_cast<void*>(msg);
+    segment->ReleaseWrittenBlock(wb);
+  } else {
+    ArenaSegmentBlockInfo wb;
+    int block_index = -1;
+    for (size_t i = 0; i < segment->message_capacity_; i++) {
+      if (segment->arenas_[i].get() == arena_ptr) {
+        block_index = i;
+        break;
+      }
+    }
+    if (block_index == -1) {
+      return nullptr;
+    }
+    wb.block_index_ = block_index;
+    ResetMessageRelatedBlocks(wrapper);
+    this->AddMessageRelatedBlock(wrapper, block_index);
+    SetMessageAddressOffset(
+        wrapper, reinterpret_cast<uint64_t>(input_msg) -
+                     reinterpret_cast<uint64_t>(segment->GetShmAddress()));
+    msg_output = reinterpret_cast<void*>(
+        const_cast<google::protobuf::Message*>(input_msg));
+    segment->ReleaseWrittenBlock(wb);
+  }
+
+  return msg_output;
+}
+
+void* ProtobufArenaManager::GetMessage(message::ArenaMessageWrapper* wrapper) {
+  auto segment = GetSegment(GetMessageChannelId(wrapper));
+  if (!segment) {
+    return nullptr;
+  }
+
+  auto address = reinterpret_cast<uint64_t>(segment->GetShmAddress()) +
+                 GetMessageAddressOffset(wrapper);
+
+  return reinterpret_cast<void*>(address);
+}
+
+bool ProtobufArenaManager::Enable() {
+  if (init_) {
+    return true;
+  }
+
+  // do something
+
+  init_ = true;
+  return true;
+}
+
+bool ProtobufArenaManager::EnableSegment(uint64_t channel_id) {
+  if (segments_.find(channel_id) != segments_.end()) {
+    if (arena_buffer_callbacks_.find(channel_id) !=
+        arena_buffer_callbacks_.end()) {
+      arena_buffer_callbacks_[channel_id]();
+    }
+    return true;
+  }
+
+  // uint64_t asociated_channel_id = channel_id + 1;
+  // auto segment = SegmentFactory::CreateSegment(asociated_channel_id);
+  // segment->InitOnly(10 * 1024);
+  auto cyber_config = apollo::cyber::common::GlobalData::Instance()->Config();
+  if (!cyber_config.has_transport_conf()) {
+    return false;
+  }
+  if (!cyber_config.transport_conf().has_shm_conf()) {
+    return false;
+  }
+  if (!cyber_config.transport_conf().shm_conf().has_arena_shm_conf()) {
+    return false;
+  }
+  if (!cyber::common::GlobalData::Instance()->IsChannelEnableArenaShm(
+          channel_id)) {
+    return false;
+  }
+  auto arena_conf =
+      cyber::common::GlobalData::Instance()->GetChannelArenaConf(channel_id);
+  auto segment_shm_address = address_allocator_->Allocate(channel_id);
+  auto segment = std::make_shared<ArenaSegment>(
+      channel_id, arena_conf.max_msg_size(), arena_conf.max_pool_size(),
+      reinterpret_cast<void*>(segment_shm_address));
+  segments_[channel_id] = segment;
+  if (arena_buffer_callbacks_.find(channel_id) !=
+      arena_buffer_callbacks_.end()) {
+    arena_buffer_callbacks_[channel_id]();
+  }
+  return true;
+}
+
+bool ProtobufArenaManager::Destroy() {
+  if (!init_) {
+    return true;
+  }
+
+  for (auto& segment : segments_) {
+    address_allocator_->Deallocate(segment.first);
+  }
+  for (auto& buffer : non_arena_buffers_) {
+    delete buffer.second;
+  }
+  segments_.clear();
+
+  init_ = false;
+  return true;
+}
+
+void ProtobufArenaManager::SetMessageChannelId(
+    message::ArenaMessageWrapper* wrapper, uint64_t channel_id) {
+  wrapper->GetExtended<ExtendedStruct>()->meta_.channel_id_ = channel_id;
+}
+
+uint64_t ProtobufArenaManager::GetMessageChannelId(
+    message::ArenaMessageWrapper* wrapper) {
+  return wrapper->GetExtended<ExtendedStruct>()->meta_.channel_id_;
+}
+
+void ProtobufArenaManager::SetMessageAddressOffset(
+    message::ArenaMessageWrapper* wrapper, uint64_t address_offset) {
+  wrapper->GetExtended<ExtendedStruct>()->meta_.address_offset_ =
+      address_offset;
+}
+
+uint64_t ProtobufArenaManager::GetMessageAddressOffset(
+    message::ArenaMessageWrapper* wrapper) {
+  return wrapper->GetExtended<ExtendedStruct>()->meta_.address_offset_;
+}
+
+std::vector<uint64_t> ProtobufArenaManager::GetMessageRelatedBlocks(
+    message::ArenaMessageWrapper* wrapper) {
+  std::vector<uint64_t> related_blocks;
+  auto extended = wrapper->GetExtended<ExtendedStruct>();
+  for (uint64_t i = 0; i < extended->meta_.related_blocks_size_; ++i) {
+    related_blocks.push_back(extended->meta_.related_blocks_[i]);
+  }
+  return related_blocks;
+}
+
+void ProtobufArenaManager::ResetMessageRelatedBlocks(
+    message::ArenaMessageWrapper* wrapper) {
+  auto extended = wrapper->GetExtended<ExtendedStruct>();
+  extended->meta_.related_blocks_size_ = 0;
+  // memset(extended->meta_.related_blocks_, 0,
+  //        sizeof(extended->meta_.related_blocks_));
+}
+
+void ProtobufArenaManager::AddMessageRelatedBlock(
+    message::ArenaMessageWrapper* wrapper, uint64_t block_index) {
+  auto extended = wrapper->GetExtended<ExtendedStruct>();
+  if (extended->meta_.related_blocks_size_ >=
+      sizeof(extended->meta_.related_blocks_) / sizeof(uint64_t)) {
+    return;
+  }
+  extended->meta_.related_blocks_[extended->meta_.related_blocks_size_++] =
+      block_index;
+}
+
+ProtobufArenaManager::ArenaAllocCallback ProtobufArenaManager::arena_alloc_cb_ =
+    nullptr;
+
+void* ProtobufArenaManager::ArenaAlloc(uint64_t size) {
+  return arena_alloc_cb_ ? arena_alloc_cb_(size) : nullptr;
+}
+
+void ProtobufArenaManager::ArenaDealloc(void* addr, uint64_t size) {}
+
+}  // namespace transport
+}  // namespace cyber
+}  // namespace apollo
diff --git a/cyber/transport/shm/protobuf_arena_manager.h b/cyber/transport/shm/protobuf_arena_manager.h
new file mode 100644
index 0000000..d250ccc
--- /dev/null
+++ b/cyber/transport/shm/protobuf_arena_manager.h
@@ -0,0 +1,319 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+#ifndef CYBER_TRANSPORT_SHM_PROTOBUF_ARENA_MANAGER_H_
+#define CYBER_TRANSPORT_SHM_PROTOBUF_ARENA_MANAGER_H_
+
+#include <functional>
+#include <memory>
+#include <unordered_map>
+#include <vector>
+
+#include <google/protobuf/arena.h>
+
+#include "cyber/base/arena_queue.h"
+#include "cyber/base/pthread_rw_lock.h"
+#include "cyber/common/global_data.h"
+#include "cyber/common/macros.h"
+#include "cyber/message/arena_manager_base.h"
+#include "cyber/message/arena_message_wrapper.h"
+#include "cyber/transport/shm/arena_address_allocator.h"
+#include "cyber/transport/shm/segment.h"
+
+namespace apollo {
+namespace cyber {
+namespace transport {
+
+union ArenaSegmentState {
+  struct {
+    std::atomic<uint64_t> ref_count_;
+    std::atomic<bool> auto_extended_;
+    std::atomic<uint64_t> message_size_;
+    std::atomic<uint64_t> block_num_;
+    std::atomic<uint64_t> message_seq_;
+    std::mutex mutex_;
+  } struct_;
+  uint8_t bytes_[128];
+};
+
+union ArenaSegmentBlockDescriptor {
+  struct {
+    uint64_t size_;
+    std::atomic<uint64_t> writing_ref_count_;
+    std::atomic<uint64_t> reading_ref_count_;
+    base::PthreadRWLock read_write_mutex_;
+  } struct_;
+  uint8_t bytes_[128];
+};
+
+struct ArenaSegmentBlock {
+  uint64_t size_;
+  // std::atomic<uint64_t> writing_ref_count_;
+  // std::atomic<uint64_t> reading_ref_count_;
+  // base::PthreadRWLock read_write_mutex_;
+  static const int32_t kRWLockFree;
+  static const int32_t kWriteExclusive;
+  static const int32_t kMaxTryLockTimes;
+  std::atomic<int32_t> lock_num_ = {0};
+};
+
+struct ArenaSegmentBlockInfo {
+  uint64_t block_index_;
+  ArenaSegmentBlock* block_;
+  void* block_buffer_address_;
+};
+
+class ArenaSegment {
+ public:
+  ArenaSegment();
+  explicit ArenaSegment(uint64_t channel_id);
+  ArenaSegment(uint64_t channel_id, void* base_address);
+  ArenaSegment(uint64_t channel_id, uint64_t message_size, uint64_t block_num,
+               void* base_address);
+  ~ArenaSegment();
+
+  bool Init(uint64_t message_size, uint64_t block_num);
+  // bool Create(uint64_t message_size, uint64_t block_num);
+  bool Open(uint64_t message_size, uint64_t block_num);
+  bool OpenOrCreate(uint64_t message_size, uint64_t block_num);
+
+  void* GetShmAddress();
+
+  uint64_t GetNextWritableBlockIndex();
+  bool AddBlockWriteLock(uint64_t block_index);
+  void RemoveBlockWriteLock(uint64_t block_index);
+  bool AddBlockReadLock(uint64_t block_index);
+  void RemoveBlockReadLock(uint64_t block_index);
+
+  bool AcquireBlockToWrite(uint64_t size, ArenaSegmentBlockInfo* block_info);
+  void ReleaseWrittenBlock(const ArenaSegmentBlockInfo& block_info);
+
+  bool AcquireBlockToRead(ArenaSegmentBlockInfo* block_info);
+  void ReleaseReadBlock(const ArenaSegmentBlockInfo& block_info);
+
+  // uint64_t GetCapicity();
+
+ public:
+  ArenaSegmentState* state_;
+  ArenaSegmentBlock* blocks_;
+  std::vector<std::shared_ptr<google::protobuf::Arena>> arenas_;
+  std::vector<uint64_t> arena_block_address_;
+  uint64_t channel_id_;
+  uint64_t key_id_;
+  void* base_address_;
+  void* shm_address_;
+  std::shared_ptr<google::protobuf::Arena> shared_buffer_arena_;
+  void* arena_buffer_address_ = nullptr;
+
+  uint64_t message_capacity_;
+};
+
+union ExtendedStruct {
+  struct {
+    uint64_t channel_id_;
+    uint64_t address_offset_;
+    uint64_t related_blocks_[4];
+    uint64_t related_blocks_size_ = 0;
+  } meta_;
+  uint8_t bytes_[256];
+};
+
+union ProtobufArenaManagerMeta {
+  struct {
+    uint64_t version_;
+    uint64_t base_address_;
+    uint64_t segment_size_;
+    uint64_t block_size_;
+    uint64_t block_num_;
+    uint64_t message_size_;
+    uint64_t message_num_;
+    uint64_t message_seq_;
+    uint64_t extended_struct_size_;
+    uint64_t extended_struct_num_;
+    uint64_t extended_struct_seq_;
+  } struct_;
+  uint8_t bytes_[256];
+};
+
+class ProtobufArenaManager : public message::ArenaManagerBase {
+ public:
+  using ArenaAllocCallback = std::function<void*(uint64_t)>;
+
+  ~ProtobufArenaManager();
+
+  uint64_t GetBaseAddress(const message::ArenaMessageWrapper* wrapper) override;
+
+  bool Enable();
+  bool EnableSegment(uint64_t channel_id);
+  bool Destroy();
+  // bool Shutdown();
+
+  void SetMessageChannelId(message::ArenaMessageWrapper* wrapper,
+                           uint64_t channel_id);
+  uint64_t GetMessageChannelId(message::ArenaMessageWrapper* wrapper);
+  void SetMessageAddressOffset(message::ArenaMessageWrapper* wrapper,
+                               uint64_t offset);
+  uint64_t GetMessageAddressOffset(message::ArenaMessageWrapper* wrapper);
+  std::vector<uint64_t> GetMessageRelatedBlocks(
+      message::ArenaMessageWrapper* wrapper);
+  void ResetMessageRelatedBlocks(message::ArenaMessageWrapper* wrapper);
+  void AddMessageRelatedBlock(message::ArenaMessageWrapper* wrapper,
+                              uint64_t block_index);
+
+  std::shared_ptr<ArenaSegment> GetSegment(uint64_t channel_id);
+
+  void* SetMessage(message::ArenaMessageWrapper* wrapper,
+                   const void* message) override;
+  void* GetMessage(message::ArenaMessageWrapper* wrapper) override;
+
+  void* GetAvailableBuffer(uint64_t channel_id) {
+    auto segment = this->GetSegment(channel_id);
+    if (!segment) {
+      if (non_arena_buffers_.find(channel_id) == non_arena_buffers_.end()) {
+        return nullptr;
+      }
+      return non_arena_buffers_[channel_id];
+    }
+    if (segment->arena_buffer_address_ != nullptr) {
+      return segment->arena_buffer_address_;
+    }
+    return non_arena_buffers_[channel_id];
+  }
+
+  template <typename T>
+  bool RegisterQueue(uint64_t channel_id, uint64_t size) {
+    if (non_arena_buffers_.find(channel_id) == non_arena_buffers_.end() ||
+        arena_buffer_callbacks_.find(channel_id) ==
+            arena_buffer_callbacks_.end()) {
+      auto non_arena_buffer_ptr = new apollo::cyber::base::ArenaQueue<T>();
+      non_arena_buffer_ptr->Init(size);
+      non_arena_buffers_[channel_id] = non_arena_buffer_ptr;
+      arena_buffer_callbacks_[channel_id] = [this, channel_id, size]() {
+        auto segment = this->GetSegment(channel_id);
+        if (!segment) {
+          ADEBUG << "channel id '" << channel_id << "' not enable";
+          ADEBUG << "fallback to use nomarl queue";
+          return;
+        }
+        if (segment->shared_buffer_arena_ == nullptr) {
+          ADEBUG << "Not enable arena shared buffer in channel id '"
+                 << channel_id << "'";
+          ADEBUG << "fallback to use nomarl queue";
+          return;
+        }
+        if (segment->arena_buffer_address_ == nullptr) {
+          auto ptr = google::protobuf::Arena::Create<base::ArenaQueue<T>>(
+              segment->shared_buffer_arena_.get());
+          ptr->Init(size, segment->shared_buffer_arena_.get());
+          segment->arena_buffer_address_ = reinterpret_cast<void*>(ptr);
+        }
+      };
+    }
+    // try enable arena buffer
+    auto segment = GetSegment(channel_id);
+    if (segment) {
+      arena_buffer_callbacks_[channel_id]();
+    }
+    return true;
+  }
+
+  template <typename M,
+            typename std::enable_if<
+                google::protobuf::Arena::is_arena_constructable<M>::value,
+                M>::type* = nullptr>
+  void AcquireArenaMessage(uint64_t channel_id, std::shared_ptr<M>& ret_msg) {
+    auto arena_conf =
+        cyber::common::GlobalData::Instance()->GetChannelArenaConf(channel_id);
+    google::protobuf::ArenaOptions options;
+    options.start_block_size = arena_conf.max_msg_size();
+    options.max_block_size = arena_conf.max_msg_size();
+
+    auto segment = GetSegment(channel_id);
+    if (!segment) {
+      return;
+    }
+
+    ArenaSegmentBlockInfo wb;
+    // TODO(All): size should be send to
+    // AcquireBlockToWrite for dynamic adjust block size
+    // auto size = input_msg->ByteSizeLong();
+    uint64_t size = 0;
+    if (!segment->AcquireBlockToWrite(size, &wb)) {
+      return;
+    }
+    options.initial_block =
+        reinterpret_cast<char*>(segment->arena_block_address_[wb.block_index_]);
+    options.initial_block_size = segment->message_capacity_;
+    if (segment->arenas_[wb.block_index_] != nullptr) {
+      segment->arenas_[wb.block_index_] = nullptr;
+    }
+    segment->arenas_[wb.block_index_] =
+        std::make_shared<google::protobuf::Arena>(options);
+
+    // deconstructor do nothing to avoid proto
+    // instance deconstructed before arena allocator
+    ret_msg = std::shared_ptr<M>(
+        google::protobuf::Arena::CreateMessage<M>(
+            segment->arenas_[wb.block_index_].get()),
+        [segment, wb](M* ptr) {
+          int32_t lock_num = segment->blocks_[wb.block_index_].lock_num_.load();
+          if (lock_num < ArenaSegmentBlock::kRWLockFree) {
+            segment->ReleaseWrittenBlock(wb);
+          }
+        });
+    return;
+  }
+
+  template <typename M,
+            typename std::enable_if<
+                !google::protobuf::Arena::is_arena_constructable<M>::value,
+                M>::type* = nullptr>
+  void AcquireArenaMessage(uint64_t channel_id, std::shared_ptr<M>& ret_msg) {
+    return;
+  }
+
+ private:
+  bool init_;
+  std::unordered_map<uint64_t, std::shared_ptr<ArenaSegment>> segments_;
+  std::unordered_map<uint64_t, void*> non_arena_buffers_;
+  std::unordered_map<uint64_t, std::function<void()>> arena_buffer_callbacks_;
+  std::mutex segments_mutex_;
+
+  std::shared_ptr<ArenaAddressAllocator> address_allocator_;
+
+  static ArenaAllocCallback arena_alloc_cb_;
+  static void* ArenaAlloc(uint64_t size);
+  static void ArenaDealloc(void* addr, uint64_t size);
+
+  std::mutex arena_alloc_cb_mutex_;
+
+  std::unordered_map<uint64_t, uint64_t> managed_wrappers_;
+
+  DECLARE_SINGLETON(ProtobufArenaManager)
+};
+
+// template <typename MessageT>
+// std::shared_ptr<MessageT> ProtobufArenaManager::CreateMessage(
+//     message::ArenaMessageWrapper* wrapper, const MessageT& message) {}
+
+// template <typename MessageT>
+// std::shared_ptr<MessageT> ProtobufArenaManager::LoadMessage(
+//     message::ArenaMessageWrapper* wrapper) {}
+
+}  // namespace transport
+}  // namespace cyber
+}  // namespace apollo
+
+#endif
diff --git a/cyber/transport/shm/readable_info.cc b/cyber/transport/shm/readable_info.cc
index 605da79..5f7c332 100644
--- a/cyber/transport/shm/readable_info.cc
+++ b/cyber/transport/shm/readable_info.cc
@@ -24,13 +24,21 @@ namespace apollo {
 namespace cyber {
 namespace transport {
 
-const size_t ReadableInfo::kSize = sizeof(uint64_t) * 2 + sizeof(uint32_t);
-
-ReadableInfo::ReadableInfo() : host_id_(0), block_index_(0), channel_id_(0) {}
-
-ReadableInfo::ReadableInfo(uint64_t host_id, uint32_t block_index,
-                           uint64_t channel_id)
-    : host_id_(host_id), block_index_(block_index), channel_id_(channel_id) {}
+const size_t ReadableInfo::kSize = sizeof(uint64_t) * 2 + \
+                                   sizeof(int32_t) + sizeof(int32_t);
+
+ReadableInfo::ReadableInfo()
+    : host_id_(0),
+      block_index_(0),
+      arena_block_index_(-1),
+      channel_id_(0) {}
+
+ReadableInfo::ReadableInfo(uint64_t host_id, int32_t block_index,
+                           uint64_t channel_id, int32_t arena_block_index)
+    : host_id_(host_id),
+      block_index_(block_index),
+      arena_block_index_(arena_block_index),
+      channel_id_(channel_id) {}
 
 ReadableInfo::~ReadableInfo() {}
 
@@ -39,6 +47,7 @@ ReadableInfo& ReadableInfo::operator=(const ReadableInfo& other) {
     this->host_id_ = other.host_id_;
     this->block_index_ = other.block_index_;
     this->channel_id_ = other.channel_id_;
+    this->arena_block_index_ = other.arena_block_index_;
   }
   return *this;
 }
@@ -48,10 +57,12 @@ bool ReadableInfo::SerializeTo(std::string* dst) const {
 
   dst->assign(reinterpret_cast<char*>(const_cast<uint64_t*>(&host_id_)),
               sizeof(host_id_));
-  dst->append(reinterpret_cast<char*>(const_cast<uint32_t*>(&block_index_)),
+  dst->append(reinterpret_cast<char*>(const_cast<int32_t*>(&block_index_)),
               sizeof(block_index_));
   dst->append(reinterpret_cast<char*>(const_cast<uint64_t*>(&channel_id_)),
               sizeof(channel_id_));
+  dst->append(reinterpret_cast<char*>(const_cast<int32_t*>(
+                &arena_block_index_)), sizeof(arena_block_index_));
   return true;
 }
 
@@ -72,7 +83,9 @@ bool ReadableInfo::DeserializeFrom(const char* src, std::size_t len) {
   memcpy(reinterpret_cast<char*>(&block_index_), ptr, sizeof(block_index_));
   ptr += sizeof(block_index_);
   memcpy(reinterpret_cast<char*>(&channel_id_), ptr, sizeof(channel_id_));
-
+  ptr += sizeof(channel_id_);
+  memcpy(reinterpret_cast<char*>(&arena_block_index_),
+         ptr, sizeof(arena_block_index_));
   return true;
 }
 
diff --git a/cyber/transport/shm/readable_info.h b/cyber/transport/shm/readable_info.h
index ffeb5c8..06d4e71 100644
--- a/cyber/transport/shm/readable_info.h
+++ b/cyber/transport/shm/readable_info.h
@@ -32,7 +32,8 @@ using ReadableInfoPtr = std::shared_ptr<ReadableInfo>;
 class ReadableInfo {
  public:
   ReadableInfo();
-  ReadableInfo(uint64_t host_id, uint32_t block_index, uint64_t channel_id);
+  ReadableInfo(uint64_t host_id, int32_t block_index,
+      uint64_t channel_id, int32_t arena_block_index = -1);
   virtual ~ReadableInfo();
 
   ReadableInfo& operator=(const ReadableInfo& other);
@@ -44,8 +45,12 @@ class ReadableInfo {
   uint64_t host_id() const { return host_id_; }
   void set_host_id(uint64_t host_id) { host_id_ = host_id; }
 
-  uint32_t block_index() const { return block_index_; }
-  void set_block_index(uint32_t block_index) { block_index_ = block_index; }
+  int32_t block_index() const { return block_index_; }
+  void set_block_index(int32_t block_index) { block_index_ = block_index; }
+
+  int32_t arena_block_index() const { return arena_block_index_; }
+  void set_arena_block_index(
+    int32_t arena_block_index) { arena_block_index_ = arena_block_index; }
 
   uint64_t channel_id() const { return channel_id_; }
   void set_channel_id(uint64_t channel_id) { channel_id_ = channel_id; }
@@ -54,7 +59,8 @@ class ReadableInfo {
 
  private:
   uint64_t host_id_;
-  uint32_t block_index_;
+  int32_t block_index_;
+  int32_t arena_block_index_;
   uint64_t channel_id_;
 };
 
diff --git a/cyber/transport/shm/segment.cc b/cyber/transport/shm/segment.cc
index 1890e1b..a250f6c 100644
--- a/cyber/transport/shm/segment.cc
+++ b/cyber/transport/shm/segment.cc
@@ -30,9 +30,12 @@ Segment::Segment(uint64_t channel_id)
       channel_id_(channel_id),
       state_(nullptr),
       blocks_(nullptr),
+      arena_blocks_(nullptr),
       managed_shm_(nullptr),
       block_buf_lock_(),
-      block_buf_addrs_() {}
+      arena_block_buf_lock_(),
+      block_buf_addrs_(),
+      arena_block_buf_addrs_() {}
 
 bool Segment::AcquireBlockToWrite(std::size_t msg_size,
                                   WritableBlock* writable_block) {
@@ -66,6 +69,25 @@ bool Segment::AcquireBlockToWrite(std::size_t msg_size,
   return true;
 }
 
+bool Segment::AcquireArenaBlockToWrite(std::size_t msg_size,
+                                  WritableBlock* writable_block) {
+  RETURN_VAL_IF_NULL(writable_block, false);
+  if (!init_ && !OpenOrCreate()) {
+    AERROR << "create shm failed, can't write now.";
+    return false;
+  }
+
+  if (state_->need_remap()) {
+    Remap();
+  }
+
+  uint32_t index = GetNextArenaWritableBlockIndex();
+  writable_block->index = index;
+  writable_block->block = &arena_blocks_[index];
+  writable_block->buf = arena_block_buf_addrs_[index];
+  return true;
+}
+
 void Segment::ReleaseWrittenBlock(const WritableBlock& writable_block) {
   auto index = writable_block.index;
   if (index >= conf_.block_num()) {
@@ -74,6 +96,14 @@ void Segment::ReleaseWrittenBlock(const WritableBlock& writable_block) {
   blocks_[index].ReleaseWriteLock();
 }
 
+void Segment::ReleaseArenaWrittenBlock(const WritableBlock& writable_block) {
+  auto index = writable_block.index;
+  if (index >= ShmConf::ARENA_BLOCK_NUM) {
+    return;
+  }
+  arena_blocks_[index].ReleaseWriteLock();
+}
+
 bool Segment::AcquireBlockToRead(ReadableBlock* readable_block) {
   RETURN_VAL_IF_NULL(readable_block, false);
   if (!init_ && !OpenOnly()) {
@@ -105,6 +135,45 @@ bool Segment::AcquireBlockToRead(ReadableBlock* readable_block) {
   return true;
 }
 
+bool Segment::AcquireArenaBlockToRead(ReadableBlock* readable_block) {
+  RETURN_VAL_IF_NULL(readable_block, false);
+  if (!init_ && !OpenOnly()) {
+    AERROR << "failed to open shared memory, can't read now.";
+    return false;
+  }
+
+  auto index = readable_block->index;
+  if (index >= ShmConf::ARENA_BLOCK_NUM) {
+    AERROR << "invalid arena block_index[" << index << "].";
+    return false;
+  }
+
+  bool result = true;
+  if (state_->need_remap()) {
+    result = Remap();
+  }
+
+  if (!result) {
+    AERROR << "segment update failed.";
+    return false;
+  }
+
+  if (!arena_blocks_[index].TryLockForRead()) {
+    return false;
+  }
+  readable_block->block = arena_blocks_ + index;
+  readable_block->buf = arena_block_buf_addrs_[index];
+  return true;
+}
+
+void Segment::ReleaseArenaReadBlock(const ReadableBlock& readable_block) {
+  auto index = readable_block.index;
+  if (index >= ShmConf::ARENA_BLOCK_NUM) {
+    return;
+  }
+  arena_blocks_[index].ReleaseReadLock();
+}
+
 void Segment::ReleaseReadBlock(const ReadableBlock& readable_block) {
   auto index = readable_block.index;
   if (index >= conf_.block_num()) {
@@ -113,6 +182,79 @@ void Segment::ReleaseReadBlock(const ReadableBlock& readable_block) {
   blocks_[index].ReleaseReadLock();
 }
 
+bool Segment::InitOnly(uint64_t message_size) {
+  if (init_) {
+    return true;
+  }
+  conf_.Update(message_size);
+  if (!OpenOrCreate()) {
+    return false;
+  }
+  return true;
+}
+
+void* Segment::GetManagedShm() { return managed_shm_; }
+
+bool Segment::LockBlockForWriteByIndex(uint64_t block_index) {
+  if (block_index >= conf_.block_num()) {
+    return false;
+  }
+  return blocks_[block_index].TryLockForWrite();
+}
+
+bool Segment::ReleaseBlockForWriteByIndex(uint64_t block_index) {
+  if (block_index >= conf_.block_num()) {
+    return false;
+  }
+  blocks_[block_index].ReleaseWriteLock();
+  return true;
+}
+
+bool Segment::LockBlockForReadByIndex(uint64_t block_index) {
+  if (block_index >= conf_.block_num()) {
+    return false;
+  }
+  return blocks_[block_index].TryLockForRead();
+}
+
+bool Segment::ReleaseBlockForReadByIndex(uint64_t block_index) {
+  if (block_index >= conf_.block_num()) {
+    return false;
+  }
+  blocks_[block_index].ReleaseReadLock();
+  return true;
+}
+
+bool Segment::LockArenaBlockForWriteByIndex(uint64_t block_index) {
+  if (block_index >= ShmConf::ARENA_BLOCK_NUM) {
+    return false;
+  }
+  return arena_blocks_[block_index].TryLockForWrite();
+}
+
+bool Segment::ReleaseArenaBlockForWriteByIndex(uint64_t block_index) {
+  if (block_index >= ShmConf::ARENA_BLOCK_NUM) {
+    return false;
+  }
+  arena_blocks_[block_index].ReleaseWriteLock();
+  return true;
+}
+
+bool Segment::LockArenaBlockForReadByIndex(uint64_t block_index) {
+  if (block_index >= ShmConf::ARENA_BLOCK_NUM) {
+    return false;
+  }
+  return arena_blocks_[block_index].TryLockForRead();
+}
+
+bool Segment::ReleaseArenaBlockForReadByIndex(uint64_t block_index) {
+  if (block_index >= ShmConf::ARENA_BLOCK_NUM) {
+    return false;
+  }
+  arena_blocks_[block_index].ReleaseReadLock();
+  return true;
+}
+
 bool Segment::Destroy() {
   if (!init_) {
     return true;
@@ -161,6 +303,17 @@ uint32_t Segment::GetNextWritableBlockIndex() {
   return 0;
 }
 
+uint32_t Segment::GetNextArenaWritableBlockIndex() {
+  const auto block_num = ShmConf::ARENA_BLOCK_NUM;
+  while (1) {
+    uint32_t try_idx = state_->FetchAddArenaSeq(1) % block_num;
+    if (arena_blocks_[try_idx].TryLockForWrite()) {
+      return try_idx;
+    }
+  }
+  return 0;
+}
+
 }  // namespace transport
 }  // namespace cyber
 }  // namespace apollo
diff --git a/cyber/transport/shm/segment.h b/cyber/transport/shm/segment.h
index 1adaea6..1e4416b 100644
--- a/cyber/transport/shm/segment.h
+++ b/cyber/transport/shm/segment.h
@@ -48,9 +48,28 @@ class Segment {
   bool AcquireBlockToWrite(std::size_t msg_size, WritableBlock* writable_block);
   void ReleaseWrittenBlock(const WritableBlock& writable_block);
 
+  bool AcquireArenaBlockToWrite(
+    std::size_t msg_size, WritableBlock* writable_block);
+  void ReleaseArenaWrittenBlock(const WritableBlock& writable_block);
+
   bool AcquireBlockToRead(ReadableBlock* readable_block);
   void ReleaseReadBlock(const ReadableBlock& readable_block);
 
+  bool AcquireArenaBlockToRead(ReadableBlock* readable_block);
+  void ReleaseArenaReadBlock(const ReadableBlock& readable_block);
+
+  bool InitOnly(uint64_t message_size);
+  void* GetManagedShm();
+  bool LockBlockForWriteByIndex(uint64_t block_index);
+  bool ReleaseBlockForWriteByIndex(uint64_t block_index);
+  bool LockBlockForReadByIndex(uint64_t block_index);
+  bool ReleaseBlockForReadByIndex(uint64_t block_index);
+
+  bool LockArenaBlockForWriteByIndex(uint64_t block_index);
+  bool ReleaseArenaBlockForWriteByIndex(uint64_t block_index);
+  bool LockArenaBlockForReadByIndex(uint64_t block_index);
+  bool ReleaseArenaBlockForReadByIndex(uint64_t block_index);
+
  protected:
   virtual bool Destroy();
   virtual void Reset() = 0;
@@ -64,14 +83,18 @@ class Segment {
 
   State* state_;
   Block* blocks_;
+  Block* arena_blocks_;
   void* managed_shm_;
   std::mutex block_buf_lock_;
+  std::mutex arena_block_buf_lock_;
   std::unordered_map<uint32_t, uint8_t*> block_buf_addrs_;
+  std::unordered_map<uint32_t, uint8_t*> arena_block_buf_addrs_;
 
  private:
   bool Remap();
   bool Recreate(const uint64_t& msg_size);
   uint32_t GetNextWritableBlockIndex();
+  uint32_t GetNextArenaWritableBlockIndex();
 };
 
 }  // namespace transport
diff --git a/cyber/transport/shm/shm_conf.cc b/cyber/transport/shm/shm_conf.cc
index e7ffb22..44c780e 100644
--- a/cyber/transport/shm/shm_conf.cc
+++ b/cyber/transport/shm/shm_conf.cc
@@ -31,8 +31,9 @@ void ShmConf::Update(const uint64_t& real_msg_size) {
   ceiling_msg_size_ = GetCeilingMessageSize(real_msg_size);
   block_buf_size_ = GetBlockBufSize(ceiling_msg_size_);
   block_num_ = GetBlockNum(ceiling_msg_size_);
-  managed_shm_size_ =
-      EXTRA_SIZE + STATE_SIZE + (BLOCK_SIZE + block_buf_size_) * block_num_;
+  managed_shm_size_ = EXTRA_SIZE + STATE_SIZE + \
+                      (BLOCK_SIZE + block_buf_size_) * block_num_ + \
+                      (BLOCK_SIZE + ARENA_MESSAGE_SIZE) * ARENA_BLOCK_NUM;
 }
 
 const uint64_t ShmConf::EXTRA_SIZE = 1024 * 4;
@@ -40,6 +41,9 @@ const uint64_t ShmConf::STATE_SIZE = 1024;
 const uint64_t ShmConf::BLOCK_SIZE = 1024;
 const uint64_t ShmConf::MESSAGE_INFO_SIZE = 1024;
 
+const uint32_t ShmConf::ARENA_BLOCK_NUM = 512;
+const uint64_t ShmConf::ARENA_MESSAGE_SIZE = 1024;
+
 const uint32_t ShmConf::BLOCK_NUM_16K = 512;
 const uint64_t ShmConf::MESSAGE_SIZE_16K = 1024 * 16;
 
diff --git a/cyber/transport/shm/shm_conf.h b/cyber/transport/shm/shm_conf.h
index 84f9d16..d230ae1 100644
--- a/cyber/transport/shm/shm_conf.h
+++ b/cyber/transport/shm/shm_conf.h
@@ -37,6 +37,10 @@ class ShmConf {
   const uint32_t& block_num() { return block_num_; }
   const uint64_t& managed_shm_size() { return managed_shm_size_; }
 
+  // For arena msg
+  static const uint32_t ARENA_BLOCK_NUM;
+  static const uint64_t ARENA_MESSAGE_SIZE;
+
  private:
   uint64_t GetCeilingMessageSize(const uint64_t& real_msg_size);
   uint64_t GetBlockBufSize(const uint64_t& ceiling_msg_size);
diff --git a/cyber/transport/shm/state.h b/cyber/transport/shm/state.h
index 62da2a9..98cd5d2 100644
--- a/cyber/transport/shm/state.h
+++ b/cyber/transport/shm/state.h
@@ -46,6 +46,11 @@ class State {
   uint32_t FetchAddSeq(uint32_t diff) { return seq_.fetch_add(diff); }
   uint32_t seq() { return seq_.load(); }
 
+  uint32_t FetchAddArenaSeq(uint32_t diff) {
+    return arena_seq_.fetch_add(diff);
+  }
+  uint32_t arena_seq() { return arena_seq_.load(); }
+
   void set_need_remap(bool need) { need_remap_.store(need); }
   bool need_remap() { return need_remap_; }
 
@@ -55,6 +60,7 @@ class State {
  private:
   std::atomic<bool> need_remap_ = {false};
   std::atomic<uint32_t> seq_ = {0};
+  std::atomic<uint32_t> arena_seq_ = {0};
   std::atomic<uint32_t> reference_count_ = {0};
   std::atomic<uint64_t> ceiling_msg_size_;
 };
diff --git a/cyber/transport/shm/xsi_segment.cc b/cyber/transport/shm/xsi_segment.cc
index dce45e7..a613222 100644
--- a/cyber/transport/shm/xsi_segment.cc
+++ b/cyber/transport/shm/xsi_segment.cc
@@ -100,27 +100,60 @@ bool XsiSegment::OpenOrCreate() {
     return false;
   }
 
+  // create field arena_blocks_
+  arena_blocks_ = new (static_cast<char*>(managed_shm_) + sizeof(State) + \
+                       conf_.block_num() * sizeof(Block)) Block[
+                        ShmConf::ARENA_BLOCK_NUM];
+  if (arena_blocks_ == nullptr) {
+    AERROR << "create arena blocks failed.";
+    state_->~State();
+    state_ = nullptr;
+    shmdt(managed_shm_);
+    managed_shm_ = nullptr;
+    shmctl(shmid, IPC_RMID, 0);
+    return false;
+  }
+
   // create block buf
   uint32_t i = 0;
   for (; i < conf_.block_num(); ++i) {
-    uint8_t* addr =
-        new (static_cast<char*>(managed_shm_) + sizeof(State) +
-             conf_.block_num() * sizeof(Block) + i * conf_.block_buf_size())
-            uint8_t[conf_.block_buf_size()];
-
+    uint8_t* addr = \
+        new (static_cast<char*>(managed_shm_) + sizeof(State) + \
+             conf_.block_num() * sizeof(Block) + \
+             ShmConf::ARENA_BLOCK_NUM * sizeof(Block) + \
+             i * conf_.block_buf_size()) uint8_t[conf_.block_buf_size()];
     std::lock_guard<std::mutex> _g(block_buf_lock_);
     block_buf_addrs_[i] = addr;
   }
 
-  if (i != conf_.block_num()) {
-    AERROR << "create block buf failed.";
+  // create arena block buf
+  uint32_t ai = 0;
+  for (; ai < ShmConf::ARENA_BLOCK_NUM; ++ai) {
+    uint8_t* addr = \
+        new(static_cast<char*>(managed_shm_) + sizeof(State) + \
+             conf_.block_num() * sizeof(Block) + \
+             ShmConf::ARENA_BLOCK_NUM * sizeof(Block) + \
+             conf_.block_num() * conf_.block_buf_size() + \
+             ai * ShmConf::ARENA_MESSAGE_SIZE) uint8_t[
+              ShmConf::ARENA_MESSAGE_SIZE];
+    std::lock_guard<std::mutex> _g(arena_block_buf_lock_);
+    arena_block_buf_addrs_[ai] = addr;
+  }
+
+  if (ai != ShmConf::ARENA_BLOCK_NUM || i != conf_.block_num()) {
+    AERROR << "create arena block or block buf failed.";
     state_->~State();
     state_ = nullptr;
     blocks_ = nullptr;
+    arena_blocks_ = nullptr;
     {
       std::lock_guard<std::mutex> _g(block_buf_lock_);
       block_buf_addrs_.clear();
     }
+    {
+      std::lock_guard<std::mutex> _g(arena_block_buf_lock_);
+      arena_block_buf_addrs_.clear();
+    }
     shmdt(managed_shm_);
     managed_shm_ = nullptr;
     shmctl(shmid, IPC_RMID, 0);
@@ -174,12 +207,26 @@ bool XsiSegment::OpenOnly() {
     return false;
   }
 
+  // get field arena_blocks_
+  arena_blocks_ = reinterpret_cast<Block*>(
+    static_cast<char*>(managed_shm_) + sizeof(State) + \
+    sizeof(Block) * conf_.block_num());
+  if (arena_blocks_ == nullptr) {
+    AERROR << "get blocks failed.";
+    state_ = nullptr;
+    shmdt(managed_shm_);
+    managed_shm_ = nullptr;
+    return false;
+  }
+
   // get block buf
   uint32_t i = 0;
   for (; i < conf_.block_num(); ++i) {
     uint8_t* addr = reinterpret_cast<uint8_t*>(
-        static_cast<char*>(managed_shm_) + sizeof(State) +
-        conf_.block_num() * sizeof(Block) + i * conf_.block_buf_size());
+        static_cast<char*>(managed_shm_) + sizeof(State) + \
+        conf_.block_num() * sizeof(Block) + \
+        ShmConf::ARENA_BLOCK_NUM * sizeof(Block) + \
+        i * conf_.block_buf_size());
 
     if (addr == nullptr) {
       break;
@@ -188,15 +235,36 @@ bool XsiSegment::OpenOnly() {
     block_buf_addrs_[i] = addr;
   }
 
-  if (i != conf_.block_num()) {
+  // get arena block buf
+  uint32_t ai = 0;
+  for (; ai < ShmConf::ARENA_BLOCK_NUM; ++ai) {
+    uint8_t* addr = reinterpret_cast<uint8_t*>(
+        static_cast<char*>(managed_shm_) + sizeof(State) + \
+        conf_.block_num() * sizeof(Block) + ShmConf::ARENA_BLOCK_NUM * \
+        sizeof(Block) + conf_.block_num() * conf_.block_buf_size() + \
+        ai * ShmConf::ARENA_MESSAGE_SIZE);
+
+    if (addr == nullptr) {
+      break;
+    }
+    std::lock_guard<std::mutex> _g(arena_block_buf_lock_);
+    arena_block_buf_addrs_[ai] = addr;
+  }
+
+  if (i != conf_.block_num() || ai != ShmConf::ARENA_BLOCK_NUM) {
     AERROR << "open only failed.";
     state_->~State();
     state_ = nullptr;
     blocks_ = nullptr;
+    arena_blocks_ = nullptr;
     {
       std::lock_guard<std::mutex> _g(block_buf_lock_);
       block_buf_addrs_.clear();
     }
+    {
+      std::lock_guard<std::mutex> _g(arena_block_buf_lock_);
+      arena_block_buf_addrs_.clear();
+    }
     shmdt(managed_shm_);
     managed_shm_ = nullptr;
     shmctl(shmid, IPC_RMID, 0);
@@ -222,10 +290,15 @@ bool XsiSegment::Remove() {
 void XsiSegment::Reset() {
   state_ = nullptr;
   blocks_ = nullptr;
+  arena_blocks_ = nullptr;
   {
     std::lock_guard<std::mutex> _g(block_buf_lock_);
     block_buf_addrs_.clear();
   }
+  {
+    std::lock_guard<std::mutex> _g(arena_block_buf_lock_);
+    arena_block_buf_addrs_.clear();
+  }
   if (managed_shm_ != nullptr) {
     shmdt(managed_shm_);
     managed_shm_ = nullptr;
diff --git a/cyber/transport/transmitter/hybrid_transmitter.h b/cyber/transport/transmitter/hybrid_transmitter.h
index 1afba70..fe176d4 100644
--- a/cyber/transport/transmitter/hybrid_transmitter.h
+++ b/cyber/transport/transmitter/hybrid_transmitter.h
@@ -25,12 +25,13 @@
 #include <unordered_map>
 #include <vector>
 
+#include "cyber/proto/role_attributes.pb.h"
+#include "cyber/proto/transport_conf.pb.h"
 #include "cyber/common/global_data.h"
 #include "cyber/common/log.h"
 #include "cyber/common/types.h"
-#include "cyber/proto/role_attributes.pb.h"
-#include "cyber/proto/transport_conf.pb.h"
 #include "cyber/task/task.h"
+#include "cyber/transport/dispatcher/rtps_dispatcher.h"
 #include "cyber/transport/message/history.h"
 #include "cyber/transport/rtps/participant.h"
 #include "cyber/transport/transmitter/intra_transmitter.h"
@@ -71,6 +72,8 @@ class HybridTransmitter : public Transmitter<M> {
 
   bool Transmit(const MessagePtr& msg, const MessageInfo& msg_info) override;
 
+  bool AcquireMessage(std::shared_ptr<M>& msg);
+
  private:
   void InitMode();
   void ObtainConfig();
@@ -141,7 +144,7 @@ void HybridTransmitter<M>::Enable(const RoleAttributes& opposite_attr) {
   uint64_t id = opposite_attr.id();
   std::lock_guard<std::mutex> lock(mutex_);
   receivers_[mapping_table_[relation]].insert(id);
-  transmitters_[mapping_table_[relation]]->Enable();
+  transmitters_[mapping_table_[relation]]->Enable(opposite_attr);
   TransmitHistoryMsg(opposite_attr);
 }
 
@@ -155,9 +158,7 @@ void HybridTransmitter<M>::Disable(const RoleAttributes& opposite_attr) {
   uint64_t id = opposite_attr.id();
   std::lock_guard<std::mutex> lock(mutex_);
   receivers_[mapping_table_[relation]].erase(id);
-  if (receivers_[mapping_table_[relation]].empty()) {
-    transmitters_[mapping_table_[relation]]->Disable();
-  }
+  transmitters_[mapping_table_[relation]]->Disable(opposite_attr);
 }
 
 template <typename M>
@@ -165,12 +166,25 @@ bool HybridTransmitter<M>::Transmit(const MessagePtr& msg,
                                     const MessageInfo& msg_info) {
   std::lock_guard<std::mutex> lock(mutex_);
   history_->Add(msg, msg_info);
+  bool return_val = false;
   for (auto& item : transmitters_) {
     item.second->Transmit(msg, msg_info);
   }
   return true;
 }
 
+template <typename M>
+bool HybridTransmitter<M>::AcquireMessage(std::shared_ptr<M>& msg) {
+  bool result = false;
+  for (auto& item : transmitters_) {
+    result = item.second->AcquireMessage(msg);
+    if (result) {
+      return true;
+    }
+  }
+  return false;
+}
+
 template <typename M>
 void HybridTransmitter<M>::InitMode() {
   mode_ = std::make_shared<proto::CommunicationMode>();
diff --git a/cyber/transport/transmitter/intra_transmitter.h b/cyber/transport/transmitter/intra_transmitter.h
index 1235652..de9ab7c 100644
--- a/cyber/transport/transmitter/intra_transmitter.h
+++ b/cyber/transport/transmitter/intra_transmitter.h
@@ -39,13 +39,23 @@ class IntraTransmitter : public Transmitter<M> {
   void Enable() override;
   void Disable() override;
 
+  void Enable(const RoleAttributes& opposite_attr) override;
+  void Disable(const RoleAttributes& opposite_attr) override;
+
   bool Transmit(const MessagePtr& msg, const MessageInfo& msg_info) override;
 
+  bool AcquireMessage(std::shared_ptr<M>& msg);
+
  private:
   uint64_t channel_id_;
   IntraDispatcherPtr dispatcher_;
 };
 
+template <typename M>
+bool IntraTransmitter<M>::AcquireMessage(std::shared_ptr<M>& msg) {
+  return false;
+}
+
 template <typename M>
 IntraTransmitter<M>::IntraTransmitter(const RoleAttributes& attr)
     : Transmitter<M>(attr),
@@ -57,6 +67,18 @@ IntraTransmitter<M>::~IntraTransmitter() {
   Disable();
 }
 
+template <typename M>
+void IntraTransmitter<M>::Enable(const RoleAttributes& opposite_attr) {
+  (void)opposite_attr;
+  this->Enable();
+}
+
+template <typename M>
+void IntraTransmitter<M>::Disable(const RoleAttributes& opposite_attr) {
+  (void)opposite_attr;
+  this->Disable();
+}
+
 template <typename M>
 void IntraTransmitter<M>::Enable() {
   if (!this->enabled_) {
diff --git a/cyber/transport/transmitter/rtps_transmitter.h b/cyber/transport/transmitter/rtps_transmitter.h
index 54864c2..7ec65ff 100644
--- a/cyber/transport/transmitter/rtps_transmitter.h
+++ b/cyber/transport/transmitter/rtps_transmitter.h
@@ -17,18 +17,19 @@
 #ifndef CYBER_TRANSPORT_TRANSMITTER_RTPS_TRANSMITTER_H_
 #define CYBER_TRANSPORT_TRANSMITTER_RTPS_TRANSMITTER_H_
 
+#include <cstddef>
 #include <memory>
 #include <string>
 
 #include "cyber/common/log.h"
 #include "cyber/message/message_traits.h"
+#include "cyber/statistics/statistics.h"
+#include "cyber/time/time.h"
+#include "cyber/transport/dispatcher/subscriber_listener.h"
 #include "cyber/transport/rtps/attributes_filler.h"
 #include "cyber/transport/rtps/participant.h"
+#include "cyber/transport/rtps/publisher.h"
 #include "cyber/transport/transmitter/transmitter.h"
-#include "fastrtps/Domain.h"
-#include "fastrtps/attributes/PublisherAttributes.h"
-#include "fastrtps/participant/Participant.h"
-#include "fastrtps/publisher/Publisher.h"
 
 namespace apollo {
 namespace cyber {
@@ -38,6 +39,7 @@ template <typename M>
 class RtpsTransmitter : public Transmitter<M> {
  public:
   using MessagePtr = std::shared_ptr<M>;
+  using ParticipantPtr = std::shared_ptr<Participant>;
 
   RtpsTransmitter(const RoleAttributes& attr,
                   const ParticipantPtr& participant);
@@ -46,15 +48,25 @@ class RtpsTransmitter : public Transmitter<M> {
   void Enable() override;
   void Disable() override;
 
+  void Enable(const RoleAttributes& opposite_attr) override;
+  void Disable(const RoleAttributes& opposite_attr) override;
+
   bool Transmit(const MessagePtr& msg, const MessageInfo& msg_info) override;
 
+  bool AcquireMessage(std::shared_ptr<M>& msg);
+
  private:
   bool Transmit(const M& msg, const MessageInfo& msg_info);
 
   ParticipantPtr participant_;
-  eprosima::fastrtps::Publisher* publisher_;
+  PublisherPtr publisher_;
 };
 
+template <typename M>
+bool RtpsTransmitter<M>::AcquireMessage(std::shared_ptr<M>& msg) {
+  return false;
+}
+
 template <typename M>
 RtpsTransmitter<M>::RtpsTransmitter(const RoleAttributes& attr,
                                     const ParticipantPtr& participant)
@@ -65,6 +77,18 @@ RtpsTransmitter<M>::~RtpsTransmitter() {
   Disable();
 }
 
+template <typename M>
+void RtpsTransmitter<M>::Enable(const RoleAttributes& opposite_attr) {
+  (void)opposite_attr;
+  this->Enable();
+}
+
+template <typename M>
+void RtpsTransmitter<M>::Disable(const RoleAttributes& opposite_attr) {
+  (void)opposite_attr;
+  this->Disable();
+}
+
 template <typename M>
 void RtpsTransmitter<M>::Enable() {
   if (this->enabled_) {
@@ -73,11 +97,9 @@ void RtpsTransmitter<M>::Enable() {
 
   RETURN_IF_NULL(participant_);
 
-  eprosima::fastrtps::PublisherAttributes pub_attr;
-  RETURN_IF(!AttributesFiller::FillInPubAttr(
-      this->attr_.channel_name(), this->attr_.qos_profile(), &pub_attr));
-  publisher_ = eprosima::fastrtps::Domain::createPublisher(
-      participant_->fastrtps_participant(), pub_attr);
+  publisher_ = participant_->CreatePublisher(this->attr_.channel_name(),
+                                             this->attr_.qos_profile());
+
   RETURN_IF_NULL(publisher_);
   this->enabled_ = true;
 }
@@ -99,30 +121,21 @@ bool RtpsTransmitter<M>::Transmit(const MessagePtr& msg,
 template <typename M>
 bool RtpsTransmitter<M>::Transmit(const M& msg, const MessageInfo& msg_info) {
   if (!this->enabled_) {
-    ADEBUG << "not enable.";
+    ADEBUG << "RtpsTransmitter not enable.";
     return false;
   }
 
   UnderlayMessage m;
   RETURN_VAL_IF(!message::SerializeToString(msg, &m.data()), false);
-
-  eprosima::fastrtps::rtps::WriteParams wparams;
-
-  char* ptr =
-      reinterpret_cast<char*>(&wparams.related_sample_identity().writer_guid());
-
-  memcpy(ptr, msg_info.sender_id().data(), ID_SIZE);
-  memcpy(ptr + ID_SIZE, msg_info.spare_id().data(), ID_SIZE);
-
-  wparams.related_sample_identity().sequence_number().high =
-      (int32_t)((msg_info.seq_num() & 0xFFFFFFFF00000000) >> 32);
-  wparams.related_sample_identity().sequence_number().low =
-      (int32_t)(msg_info.seq_num() & 0xFFFFFFFF);
+  m.timestamp(msg_info.send_time());
+  m.seq(msg_info.seq_num());
 
   if (participant_->is_shutdown()) {
     return false;
   }
-  return publisher_->write(reinterpret_cast<void*>(&m), wparams);
+
+  RETURN_VAL_IF_NULL(publisher_, NULL);
+  return publisher_->Write(m, msg_info);
 }
 
 }  // namespace transport
diff --git a/cyber/transport/transmitter/shm_transmitter.h b/cyber/transport/transmitter/shm_transmitter.h
index b4a6667..5d8a0d5 100644
--- a/cyber/transport/transmitter/shm_transmitter.h
+++ b/cyber/transport/transmitter/shm_transmitter.h
@@ -21,12 +21,16 @@
 #include <iostream>
 #include <memory>
 #include <string>
+#include <type_traits>
 
 #include "cyber/common/global_data.h"
 #include "cyber/common/log.h"
 #include "cyber/common/util.h"
+#include "cyber/message/arena_message_wrapper.h"
 #include "cyber/message/message_traits.h"
+#include "cyber/statistics/statistics.h"
 #include "cyber/transport/shm/notifier_factory.h"
+#include "cyber/transport/shm/protobuf_arena_manager.h"
 #include "cyber/transport/shm/readable_info.h"
 #include "cyber/transport/shm/segment_factory.h"
 #include "cyber/transport/transmitter/transmitter.h"
@@ -35,6 +39,9 @@ namespace apollo {
 namespace cyber {
 namespace transport {
 
+template <typename T, typename U>
+struct type_check : std::is_same<typename std::decay<T>::type, U>::type {};
+
 template <typename M>
 class ShmTransmitter : public Transmitter<M> {
  public:
@@ -46,8 +53,13 @@ class ShmTransmitter : public Transmitter<M> {
   void Enable() override;
   void Disable() override;
 
+  void Enable(const RoleAttributes& opposite_attr);
+  void Disable(const RoleAttributes& opposite_attr);
+
   bool Transmit(const MessagePtr& msg, const MessageInfo& msg_info) override;
 
+  bool AcquireMessage(std::shared_ptr<M>& msg);
+
  private:
   bool Transmit(const M& msg, const MessageInfo& msg_info);
 
@@ -55,15 +67,44 @@ class ShmTransmitter : public Transmitter<M> {
   uint64_t channel_id_;
   uint64_t host_id_;
   NotifierPtr notifier_;
+  std::atomic<int> serialized_receiver_count_;
+  std::atomic<int> arena_receiver_count_;
+  bool arena_transmit_;
 };
 
+template <typename M>
+bool ShmTransmitter<M>::AcquireMessage(std::shared_ptr<M>& msg) {
+  if (this->enabled_) {
+    auto msg_o = msg.get();
+    auto arena_manager = ProtobufArenaManager::Instance();
+    if (!arena_manager->Enable() ||
+        !arena_manager->EnableSegment(this->attr_.channel_id())) {
+      ADEBUG << "arena manager enable failed.";
+      return false;
+    }
+    arena_manager->AcquireArenaMessage(channel_id_, msg);
+    if (msg.get() != msg_o) {
+      return true;
+    } else {
+      return false;
+    }
+  }
+  return false;
+}
+
 template <typename M>
 ShmTransmitter<M>::ShmTransmitter(const RoleAttributes& attr)
     : Transmitter<M>(attr),
       segment_(nullptr),
       channel_id_(attr.channel_id()),
-      notifier_(nullptr) {
+      notifier_(nullptr),
+      serialized_receiver_count_(0),
+      arena_receiver_count_(0) {
   host_id_ = common::Hash(attr.host_ip());
+  arena_transmit_ = common::GlobalData::Instance()->IsChannelEnableArenaShm(
+                        this->attr_.channel_id()) &&
+                    !type_check<M, message::RawMessage>::value &&
+                    !type_check<M, message::PyMessageWrap>::value;
 }
 
 template <typename M>
@@ -71,12 +112,71 @@ ShmTransmitter<M>::~ShmTransmitter() {
   Disable();
 }
 
+template <typename M>
+void ShmTransmitter<M>::Enable(const RoleAttributes& opposite_attr) {
+  if (arena_transmit_) {
+    if (opposite_attr.message_type() ==
+            message::MessageType<message::RawMessage>() ||
+        opposite_attr.message_type() ==
+            message::MessageType<message::PyMessageWrap>()) {
+      serialized_receiver_count_.fetch_add(1);
+    } else {
+      arena_receiver_count_.fetch_add(1);
+    }
+  } else {
+    serialized_receiver_count_.fetch_add(1);
+  }
+  if (!this->enabled_) {
+    this->Enable();
+  }
+}
+
+template <typename M>
+void ShmTransmitter<M>::Disable(const RoleAttributes& opposite_attr) {
+  if (this->enabled_) {
+    if (arena_transmit_) {
+      if (opposite_attr.message_type() ==
+              message::MessageType<message::RawMessage>() ||
+          opposite_attr.message_type() ==
+              message::MessageType<message::PyMessageWrap>()) {
+        serialized_receiver_count_.fetch_sub(1);
+      } else {
+        arena_receiver_count_.fetch_sub(1);
+      }
+      if (serialized_receiver_count_.load() <= 0 &&
+          arena_receiver_count_.load() <= 0) {
+        this->Disable();
+      }
+    } else {
+      serialized_receiver_count_.fetch_sub(1);
+      if (serialized_receiver_count_.load() <= 0) {
+        this->Disable();
+      }
+    }
+  }
+}
+
 template <typename M>
 void ShmTransmitter<M>::Enable() {
   if (this->enabled_) {
     return;
   }
 
+  if (serialized_receiver_count_.load() == 0 &&
+      arena_receiver_count_.load() == 0) {
+    AERROR << "please enable shm transmitter by passing role attr.";
+    return;
+  }
+
+  if (arena_transmit_) {
+    auto arena_manager = ProtobufArenaManager::Instance();
+    if (!arena_manager->Enable() ||
+        !arena_manager->EnableSegment(this->attr_.channel_id())) {
+      AERROR << "arena manager enable failed.";
+      return;
+    }
+  }
+
   segment_ = SegmentFactory::CreateSegment(channel_id_);
   notifier_ = NotifierFactory::CreateNotifier();
   this->enabled_ = true;
@@ -104,35 +204,119 @@ bool ShmTransmitter<M>::Transmit(const M& msg, const MessageInfo& msg_info) {
     return false;
   }
 
+  ReadableInfo readable_info;
+  WritableBlock arena_wb;
   WritableBlock wb;
-  std::size_t msg_size = message::ByteSize(msg);
-  if (!segment_->AcquireBlockToWrite(msg_size, &wb)) {
-    AERROR << "acquire block failed.";
-    return false;
-  }
 
-  ADEBUG << "block index: " << wb.index;
-  if (!message::SerializeToArray(msg, wb.buf, static_cast<int>(msg_size))) {
-    AERROR << "serialize to array failed.";
-    segment_->ReleaseWrittenBlock(wb);
-    return false;
-  }
-  wb.block->set_msg_size(msg_size);
+  readable_info.set_host_id(host_id_);
+  readable_info.set_channel_id(channel_id_);
+  readable_info.set_arena_block_index(-1);
+  readable_info.set_block_index(-1);
+
+  if (arena_transmit_) {
+    // std::size_t msg_size = sizeof(message::ArenaMessageWrapper);
+    std::size_t msg_size = 1024;
+    if (!segment_->AcquireArenaBlockToWrite(msg_size, &arena_wb)) {
+      AERROR << "acquire block failed.";
+      return false;
+    }
+
+    ADEBUG << "arena block index: " << arena_wb.index;
+    auto arena_manager = ProtobufArenaManager::Instance();
+    auto msg_wrapper = arena_manager->CreateMessageWrapper();
+    arena_manager->SetMessageChannelId(msg_wrapper.get(), channel_id_);
+    M* msg_p;
+    // arena_manager->CreateMessage(msg_wrapper.get(), msg);
+    if (!message::SerializeToArenaMessageWrapper(msg, msg_wrapper.get(),
+                                                 &msg_p)) {
+      AERROR << "serialize to arena message wrapper failed.";
+      segment_->ReleaseArenaWrittenBlock(arena_wb);
+      return false;
+    }
+    auto segment = arena_manager->GetSegment(channel_id_);
+    // auto msg_n =
+    // std::shared_ptr<M>(
+    // msg_p, [arena_manager, segment, msg_wrapper](M* p) {
+    // auto related_blocks =
+    //     arena_manager->GetMessageRelatedBlocks(msg_wrapper.get());
+    // for (auto block_index : related_blocks) {
+    //   // segment->ReleaseBlockForWriteByIndex(block_index);
+    //   segment->RemoveBlockWriteLock(block_index);
+    // }
+    // });
+    // for (auto block_index :
+    //      arena_manager->GetMessageRelatedBlocks(msg_wrapper.get())) {
+    //   segment->LockBlockForWriteByIndex(block_index);
+    // }
+    memcpy(arena_wb.buf, msg_wrapper->GetData(), msg_size);
+    arena_wb.block->set_msg_size(msg_size);
+
+    char* msg_info_addr = reinterpret_cast<char*>(arena_wb.buf) + msg_size;
+    if (!msg_info.SerializeTo(msg_info_addr, MessageInfo::kSize)) {
+      AERROR << "serialize message info failed.";
+      segment_->ReleaseArenaWrittenBlock(arena_wb);
+      return false;
+    }
+    arena_wb.block->set_msg_info_size(MessageInfo::kSize);
+    readable_info.set_arena_block_index(arena_wb.index);
+    if (serialized_receiver_count_.load() > 0) {
+      std::size_t msg_size = message::ByteSize(msg);
+      if (!segment_->AcquireBlockToWrite(msg_size, &wb)) {
+        AERROR << "acquire block failed.";
+        return false;
+      }
+
+      ADEBUG << "block index: " << wb.index;
+      if (!message::SerializeToArray(msg, wb.buf, static_cast<int>(msg_size))) {
+        AERROR << "serialize to array failed.";
+        segment_->ReleaseWrittenBlock(wb);
+        return false;
+      }
+      wb.block->set_msg_size(msg_size);
 
-  char* msg_info_addr = reinterpret_cast<char*>(wb.buf) + msg_size;
-  if (!msg_info.SerializeTo(msg_info_addr, MessageInfo::kSize)) {
-    AERROR << "serialize message info failed.";
+      char* msg_info_addr = reinterpret_cast<char*>(wb.buf) + msg_size;
+      if (!msg_info.SerializeTo(msg_info_addr, MessageInfo::kSize)) {
+        AERROR << "serialize message info failed.";
+        segment_->ReleaseWrittenBlock(wb);
+        return false;
+      }
+      wb.block->set_msg_info_size(MessageInfo::kSize);
+      segment_->ReleaseWrittenBlock(wb);
+      segment_->ReleaseArenaWrittenBlock(arena_wb);
+      readable_info.set_block_index(wb.index);
+    } else {
+      segment_->ReleaseArenaWrittenBlock(arena_wb);
+    }
+  } else {
+    std::size_t msg_size = message::ByteSize(msg);
+    if (!segment_->AcquireBlockToWrite(msg_size, &wb)) {
+      AERROR << "acquire block failed.";
+      return false;
+    }
+
+    ADEBUG << "block index: " << wb.index;
+    if (!message::SerializeToArray(msg, wb.buf, static_cast<int>(msg_size))) {
+      AERROR << "serialize to array failed.";
+      segment_->ReleaseWrittenBlock(wb);
+      return false;
+    }
+    wb.block->set_msg_size(msg_size);
+
+    char* msg_info_addr = reinterpret_cast<char*>(wb.buf) + msg_size;
+    if (!msg_info.SerializeTo(msg_info_addr, MessageInfo::kSize)) {
+      AERROR << "serialize message info failed.";
+      segment_->ReleaseWrittenBlock(wb);
+      return false;
+    }
+    wb.block->set_msg_info_size(MessageInfo::kSize);
     segment_->ReleaseWrittenBlock(wb);
-    return false;
+    readable_info.set_block_index(wb.index);
   }
-  wb.block->set_msg_info_size(MessageInfo::kSize);
-  segment_->ReleaseWrittenBlock(wb);
-
-  ReadableInfo readable_info(host_id_, wb.index, channel_id_);
 
   ADEBUG << "Writing sharedmem message: "
          << common::GlobalData::GetChannelById(channel_id_)
-         << " to block: " << wb.index;
+         << " to normal block: " << readable_info.block_index()
+         << " to arena block: " << readable_info.arena_block_index();
   return notifier_->Notify(readable_info);
 }
 
diff --git a/cyber/transport/transmitter/transmitter.h b/cyber/transport/transmitter/transmitter.h
index b8fc7f7..de0fa96 100644
--- a/cyber/transport/transmitter/transmitter.h
+++ b/cyber/transport/transmitter/transmitter.h
@@ -22,6 +22,7 @@
 #include <string>
 
 #include "cyber/event/perf_event_cache.h"
+#include "cyber/statistics/statistics.h"
 #include "cyber/transport/common/endpoint.h"
 #include "cyber/transport/message/message_info.h"
 
@@ -43,26 +44,32 @@ class Transmitter : public Endpoint {
   virtual void Enable() = 0;
   virtual void Disable() = 0;
 
+  virtual bool AcquireMessage(std::shared_ptr<M>& msg) = 0;
+
   virtual void Enable(const RoleAttributes& opposite_attr);
   virtual void Disable(const RoleAttributes& opposite_attr);
 
   virtual bool Transmit(const MessagePtr& msg);
   virtual bool Transmit(const MessagePtr& msg, const MessageInfo& msg_info) = 0;
 
-  uint64_t NextSeqNum() { return ++seq_num_; }
+  uint64_t NextSeqNum() {
+    (*seq_num_) << 1;
+    return seq_num_->get_value();
+  }
 
-  uint64_t seq_num() const { return seq_num_; }
+  uint64_t seq_num() const { return seq_num_->get_value(); }
 
  protected:
-  uint64_t seq_num_;
   MessageInfo msg_info_;
+  std::shared_ptr<::bvar::Adder<int>> seq_num_;
 };
 
 template <typename M>
-Transmitter<M>::Transmitter(const RoleAttributes& attr)
-    : Endpoint(attr), seq_num_(0) {
+Transmitter<M>::Transmitter(const RoleAttributes& attr) : Endpoint(attr) {
   msg_info_.set_sender_id(this->id_);
-  msg_info_.set_seq_num(this->seq_num_);
+  msg_info_.set_seq_num(0);
+  seq_num_ =
+      statistics::Statistics::Instance()->CreateAdder<int>(Endpoint::attr_);
 }
 
 template <typename M>
@@ -71,6 +78,7 @@ Transmitter<M>::~Transmitter() {}
 template <typename M>
 bool Transmitter<M>::Transmit(const MessagePtr& msg) {
   msg_info_.set_seq_num(NextSeqNum());
+  msg_info_.set_send_time(Time::Now().ToNanosecond());
   PerfEventCache::Instance()->AddTransportEvent(
       TransPerf::TRANSMIT_BEGIN, attr_.channel_id(), msg_info_.seq_num());
   return Transmit(msg, msg_info_);
diff --git a/cyber/transport/transport.cc b/cyber/transport/transport.cc
index 0234871..a9d6d0c 100644
--- a/cyber/transport/transport.cc
+++ b/cyber/transport/transport.cc
@@ -17,6 +17,7 @@
 #include "cyber/transport/transport.h"
 
 #include "cyber/common/global_data.h"
+#include "cyber/transport/dispatcher/rtps_dispatcher.h"
 
 namespace apollo {
 namespace cyber {
@@ -28,7 +29,7 @@ Transport::Transport() {
   intra_dispatcher_ = IntraDispatcher::Instance();
   shm_dispatcher_ = ShmDispatcher::Instance();
   rtps_dispatcher_ = RtpsDispatcher::Instance();
-  rtps_dispatcher_->set_participant(participant_);
+  rtps_dispatcher_->SetParticipant(participant_);
 }
 
 Transport::~Transport() { Shutdown(); }
@@ -53,7 +54,11 @@ void Transport::CreateParticipant() {
   std::string participant_name =
       common::GlobalData::Instance()->HostName() + "+" +
       std::to_string(common::GlobalData::Instance()->ProcessId());
-  participant_ = std::make_shared<Participant>(participant_name, 11512);
+  participant_ = std::make_shared<
+      Participant>(participant_name, 11512);
+  if (!participant_->Init()) {
+    AERROR << "Transport inner participant init failed!";
+  }
 }
 
 }  // namespace transport

From 98f13ce098a67f887fa83be9b4a8b1c1d8e50b70 Mon Sep 17 00:00:00 2001
From: minhanghuang <job@minhang.me>
Date: Sat, 14 Dec 2024 12:33:03 +0800
Subject: [PATCH 05/14] feat(common_msgs): update common_msgs for v10

---
 .../common_msgs/basic_msgs/pnc_point.proto    |   1 +
 .../common_msgs/chassis_msgs/chassis.proto    |   1 +
 modules/common_msgs/control_msgs/BUILD        |   8 +
 .../control_msgs/control_cmd.proto            |   5 +-
 .../control_interactive_msg.proto             |  17 ++
 .../dreamview_msgs/hmi_config.proto           |   1 +
 .../common_msgs/dreamview_msgs/hmi_mode.proto |  10 +-
 .../dreamview_msgs/simulation_world.proto     |   2 +
 .../common_msgs/external_command_msgs/BUILD   |  18 +++
 .../action_command.proto                      |   4 +
 .../precise_parking_command.proto             |  26 ++++
 .../zone_cover_command.proto                  |  16 ++
 .../localization_status.proto                 |  71 ++++++++-
 modules/common_msgs/map_msgs/BUILD            |  22 +++
 modules/common_msgs/map_msgs/map.proto        |   4 +
 modules/common_msgs/map_msgs/map_area.proto   |  22 +++
 .../map_msgs/map_barrier_gate.proto           |  22 +++
 modules/common_msgs/map_msgs/map_lane.proto   |   1 +
 .../common_msgs/map_msgs/map_overlap.proto    |   6 +
 .../monitor_msgs/monitor_log.proto            |   1 +
 modules/common_msgs/perception_msgs/BUILD     |   8 +
 .../perception_barrier_gate.proto             |  33 ++++
 .../perception_msgs/perception_obstacle.proto |  69 +++++++++
 .../traffic_light_detection.proto             |   1 +
 .../common_msgs/planning_msgs/pad_msg.proto   |   4 +
 .../common_msgs/planning_msgs/planning.proto  |  25 +++
 .../prediction_msgs/prediction_obstacle.proto |   3 +
 modules/common_msgs/sensor_msgs/BUILD         |   8 +
 .../common_msgs/sensor_msgs/nano_radar.proto  | 146 ++++++++++++++++++
 .../common_msgs/simulation_msgs/agent.proto   |  17 ++
 30 files changed, 567 insertions(+), 5 deletions(-)
 create mode 100644 modules/common_msgs/control_msgs/control_interactive_msg.proto
 create mode 100644 modules/common_msgs/external_command_msgs/precise_parking_command.proto
 create mode 100644 modules/common_msgs/external_command_msgs/zone_cover_command.proto
 create mode 100644 modules/common_msgs/map_msgs/map_area.proto
 create mode 100644 modules/common_msgs/map_msgs/map_barrier_gate.proto
 create mode 100644 modules/common_msgs/perception_msgs/perception_barrier_gate.proto
 create mode 100755 modules/common_msgs/sensor_msgs/nano_radar.proto

diff --git a/modules/common_msgs/basic_msgs/pnc_point.proto b/modules/common_msgs/basic_msgs/pnc_point.proto
index cf948f5..f8cff2c 100644
--- a/modules/common_msgs/basic_msgs/pnc_point.proto
+++ b/modules/common_msgs/basic_msgs/pnc_point.proto
@@ -74,6 +74,7 @@ message TrajectoryPoint {
 
   // Gaussian probability information
   optional GaussianInfo gaussian_info = 7;
+
 }
 
 message Trajectory {
diff --git a/modules/common_msgs/chassis_msgs/chassis.proto b/modules/common_msgs/chassis_msgs/chassis.proto
index 77e9fb7..d4ab806 100644
--- a/modules/common_msgs/chassis_msgs/chassis.proto
+++ b/modules/common_msgs/chassis_msgs/chassis.proto
@@ -35,6 +35,7 @@ message Chassis {
     CHASSIS_ERROR_ON_BRAKE = 7;
     CHASSIS_ERROR_ON_THROTTLE = 8;
     CHASSIS_ERROR_ON_GEAR = 9;
+    CHASSIS_CAN_LOST = 10;
 
     MANUAL_INTERVENTION = 3;  // human manual intervention
 
diff --git a/modules/common_msgs/control_msgs/BUILD b/modules/common_msgs/control_msgs/BUILD
index 2f12fee..e17a1b2 100644
--- a/modules/common_msgs/control_msgs/BUILD
+++ b/modules/common_msgs/control_msgs/BUILD
@@ -19,6 +19,14 @@ proto_library(
     ],
 )
 
+proto_library(
+    name = "control_interactive_msg_proto",
+    srcs = ["control_interactive_msg.proto"],
+    deps = [
+        "//modules/common_msgs/basic_msgs:header_proto",
+    ],
+)
+
 proto_library(
     name = "control_pad_msg_proto",
     srcs = ["pad_msg.proto"],
diff --git a/modules/common_msgs/control_msgs/control_cmd.proto b/modules/common_msgs/control_msgs/control_cmd.proto
index 7559675..87c3ce8 100644
--- a/modules/common_msgs/control_msgs/control_cmd.proto
+++ b/modules/common_msgs/control_msgs/control_cmd.proto
@@ -38,7 +38,7 @@ message ControlCommand {
   // target steering angle, in percentage of full scale [-100, 100]
   optional double steering_target = 7;
 
-  // parking brake engage. true: engaged
+  // parking brake engage. true: engaged epd brake
   optional bool parking_brake = 8;
 
   // target speed, in m/s
@@ -171,6 +171,9 @@ message SimpleLateralDebug {
   // Mrac control status and feedback states for steer control
   optional MracDebug steer_mrac_debug = 32;
   optional bool steer_mrac_enable_status = 33;
+
+  // lat acc in ENU, in m/s^2
+  optional double lateral_centripetal_acceleration = 34;
 }
 
 message SimpleMPCDebug {
diff --git a/modules/common_msgs/control_msgs/control_interactive_msg.proto b/modules/common_msgs/control_msgs/control_interactive_msg.proto
new file mode 100644
index 0000000..159a458
--- /dev/null
+++ b/modules/common_msgs/control_msgs/control_interactive_msg.proto
@@ -0,0 +1,17 @@
+syntax = "proto2";
+package apollo.control;
+
+import "modules/common_msgs/basic_msgs/header.proto";
+
+message ControlInteractiveMsg {
+  optional apollo.common.Header header = 1;   // common header
+  optional bool replan_request = 2;   // request replan. true: need replan, false: don't need replan
+  optional ReplanRequestReasonCode replan_req_reason_code = 3; // request replan reason code
+  optional string replan_request_reason = 4; // request replan reason
+}
+
+enum ReplanRequestReasonCode {
+  REPLAN_REQ_ALL_REPLAN = 1;
+  REPLAN_REQ_STATION_REPLAN = 2;
+  REPLAN_REQ_SPEED_REPLAN = 3;
+}
diff --git a/modules/common_msgs/dreamview_msgs/hmi_config.proto b/modules/common_msgs/dreamview_msgs/hmi_config.proto
index 9e373d4..44c4b9b 100644
--- a/modules/common_msgs/dreamview_msgs/hmi_config.proto
+++ b/modules/common_msgs/dreamview_msgs/hmi_config.proto
@@ -34,6 +34,7 @@ enum HMIAction {
   LOAD_RTK_RECORDS = 25; // Load all rtk records
   CHANGE_RTK_RECORD = 26; // change rtk records
   LOAD_RECORD = 27;     // Load record
+  LOAD_MAPS  = 28;     // Load maps
 }
 
 message HMIConfig {
diff --git a/modules/common_msgs/dreamview_msgs/hmi_mode.proto b/modules/common_msgs/dreamview_msgs/hmi_mode.proto
index aef7cde..09354ba 100644
--- a/modules/common_msgs/dreamview_msgs/hmi_mode.proto
+++ b/modules/common_msgs/dreamview_msgs/hmi_mode.proto
@@ -118,6 +118,14 @@ message CyberModule {
   optional string process_group = 3;
 }
 
+message Layout {
+    optional string type = 1;
+    optional Layout first = 2;
+    optional Layout second = 3;
+    optional string direction = 4;
+    optional double splitPercentage = 5 [default = 50.0];
+}
+
 message HMIMode {
   map<string, CyberModule> cyber_modules = 1;
   map<string, Module> modules = 2;
@@ -125,6 +133,6 @@ message HMIMode {
   map<string, ProcessMonitorConfig> other_components = 4;
   repeated HMIModeOperation operations = 5;
   optional HMIModeOperation default_operation = 6;
-  optional string layout = 7;
+  optional Layout layout = 7;
   map<string, MonitoredComponent> global_components = 8;
 }
diff --git a/modules/common_msgs/dreamview_msgs/simulation_world.proto b/modules/common_msgs/dreamview_msgs/simulation_world.proto
index 089ae9b..a1c8218 100644
--- a/modules/common_msgs/dreamview_msgs/simulation_world.proto
+++ b/modules/common_msgs/dreamview_msgs/simulation_world.proto
@@ -197,6 +197,8 @@ message MapElementIds {
   repeated string parking_space = 10;
   repeated string speed_bump = 11;
   repeated string pnc_junction = 12;
+  repeated string ad_area = 13;
+  repeated string barrier_gate = 14;
 }
 
 message ControlData {
diff --git a/modules/common_msgs/external_command_msgs/BUILD b/modules/common_msgs/external_command_msgs/BUILD
index 830d0e8..fab1d33 100644
--- a/modules/common_msgs/external_command_msgs/BUILD
+++ b/modules/common_msgs/external_command_msgs/BUILD
@@ -4,6 +4,15 @@ load("//tools:apollo_package.bzl", "apollo_package")
 
 package(default_visibility = ["//visibility:public"])
 
+proto_library(
+    name = "precise_parking_command_proto",
+    srcs = ["precise_parking_command.proto"],
+    deps = [
+        ":external_geometry_proto",
+        "//modules/common_msgs/basic_msgs:header_proto",
+    ],
+)
+
 proto_library(
     name = "valet_parking_command_proto",
     srcs = ["valet_parking_command.proto"],
@@ -60,6 +69,15 @@ proto_library(
     ],
 )
 
+proto_library(
+    name = "zone_cover_command_proto",
+    srcs = ["zone_cover_command.proto"],
+    deps = [
+        ":external_geometry_proto",
+        "//modules/common_msgs/basic_msgs:header_proto",
+    ],
+)
+
 proto_library(
     name = "speed_command_proto",
     srcs = ["speed_command.proto"],
diff --git a/modules/common_msgs/external_command_msgs/action_command.proto b/modules/common_msgs/external_command_msgs/action_command.proto
index 6e52ed8..89bc1f7 100644
--- a/modules/common_msgs/external_command_msgs/action_command.proto
+++ b/modules/common_msgs/external_command_msgs/action_command.proto
@@ -25,6 +25,10 @@ enum ActionCommandType {
   SWITCH_TO_AUTO = 51;
   // Varify vin code of vehicle.
   VIN_REQ = 52;
+  // Enter mission model
+  ENTER_MISSION = 53;
+  // Exit mission model
+  EXIT_MISSION = 54;
 }
 
 message ActionCommand {
diff --git a/modules/common_msgs/external_command_msgs/precise_parking_command.proto b/modules/common_msgs/external_command_msgs/precise_parking_command.proto
new file mode 100644
index 0000000..212dd29
--- /dev/null
+++ b/modules/common_msgs/external_command_msgs/precise_parking_command.proto
@@ -0,0 +1,26 @@
+syntax = "proto2";
+
+package apollo.external_command;
+
+import "modules/common_msgs/basic_msgs/header.proto";
+import "modules/common_msgs/external_command_msgs/geometry.proto";
+
+enum PreciseMissionType {
+  CHARGE = 0;
+  DUMP = 1;
+}
+
+message PreciseParkingCommand {
+  optional apollo.common.Header header = 1;
+  // Unique identification for command.
+  optional int64 command_id = 2 [default = -1];
+  // If the start pose is set as the first point of "way_point".
+  optional bool is_start_pose_set = 3 [default = false];
+  // Pose of the parking spot.
+  required Pose parking_spot_pose = 4;
+  // true: parking inwards, false: parking outwards
+  required bool parking_inwards = 5;
+  required PreciseMissionType mission_type = 6;
+  // not given, the default target speed of system will be used.
+  optional double target_speed = 7;
+}
\ No newline at end of file
diff --git a/modules/common_msgs/external_command_msgs/zone_cover_command.proto b/modules/common_msgs/external_command_msgs/zone_cover_command.proto
new file mode 100644
index 0000000..f206305
--- /dev/null
+++ b/modules/common_msgs/external_command_msgs/zone_cover_command.proto
@@ -0,0 +1,16 @@
+syntax = "proto2";
+
+package apollo.external_command;
+
+import "modules/common_msgs/basic_msgs/header.proto";
+import "modules/common_msgs/external_command_msgs/geometry.proto";
+
+message ZoneCoverCommand {
+  optional apollo.common.Header header = 1;
+  // Unique identification for command.
+  optional int64 command_id = 2 [default = -1];
+  required string overlap_id = 3;
+  optional double target_speed = 4;
+  repeated RoiPolygon non_drivable_roi = 5;
+  optional RoiPolygon drivable_roi = 6;
+}
diff --git a/modules/common_msgs/localization_msgs/localization_status.proto b/modules/common_msgs/localization_msgs/localization_status.proto
index d852c31..11d3db7 100644
--- a/modules/common_msgs/localization_msgs/localization_status.proto
+++ b/modules/common_msgs/localization_msgs/localization_status.proto
@@ -155,6 +155,7 @@ enum MsfRunningStatus {
   MSF_NOSOL_X_XX = 22;
   MSF_NOSOL_X_XXX = 23;
   MSF_RUNNING_INIT = 24;
+  MSF_REINIT_ABNORMALLY = 25;
 }
 
 // The status of sensor msg
@@ -164,12 +165,76 @@ message MsfSensorMsgStatus {
   optional ImuMsgDataStatus imu_data_status = 3;
 }
 
+// The init pose source 
+enum MsfInitPoseSource {
+    UNKNOWN_SOURCE = 0;
+    GNSS_HEADING = 1;
+    LOCAL_SEARCH_FROM_INTEGPVA = 2;
+    LOCAL_SEARCH_FROM_FILE = 3;
+    LOCAL_UPDATE_FROM_FILE = 4;
+    USER_INTERACTION = 5;
+    INSPVA_RECORD = 6;
+    GNSS_VELOCITY = 7;
+    GLOBAL_LIDAR = 8;
+}
+
+// The status of gnss map offset
+enum MsfGnssMapOffsetStatus {
+    MSF_LOCAL_GNSS_MAP_OFFSET_NORMAL = 0;
+    MSF_LOCAL_GNSS_MAP_OFFSET_ABNORMAL = 1;
+}
+
+// The gnss map offset
+message MsfGnssMapOffset {
+    optional MsfGnssMapOffsetStatus status = 1;
+    optional double offsetx = 2;
+    optional double offsety = 3;
+}
+
+// The init pose status
+enum MsfInitPoseStatus { 
+    INIT_WAITING = 0;
+    INIT_DOING = 1;
+    INIT_SUCCESSFUL = 2;
+    INIT_FAILED = 3;
+    INIT_TERMINATED = 4;
+}
+
+// The init details
+message MsfInitDetails { 
+    optional MsfInitPoseSource init_pose_source = 1;
+    optional MsfInitPoseStatus local_search_from_integpva_status = 2;
+    optional MsfInitPoseStatus local_search_from_file_status = 3;
+    optional MsfInitPoseStatus local_update_from_file_status = 4;
+    optional MsfInitPoseStatus user_interaction_status = 5;
+    optional int32 gnss_position_type = 6;
+    optional MsfInitPoseStatus local_from_global_lidar_status = 7;
+}
+
+// The initializaiton status of localization module
+enum MSFInitStatus {
+    MSF_INIT = 0;
+    MSF_ALIGNING = 1;
+    MSF_ALIGNED_INIT = 2;
+    MSF_ALIGNED_CONVERGED = 3;
+    MSF_ALIGNED_CONVERGING = 4;
+    MSF_ALIGNED_GOOD = 5;
+    MSF_ALIGNED_VALID = 6;
+}
+
 // The status of msf localization module
 message MsfStatus {
   optional LocalLidarConsistency local_lidar_consistency = 1;
   optional GnssConsistency gnss_consistency = 2;
   optional LocalLidarStatus local_lidar_status = 3;
-  optional LocalLidarQuality local_lidar_quality = 4;
-  optional GnssPositionType gnsspos_position_type = 5;
-  optional MsfRunningStatus msf_running_status = 6;
+  optional GnssPositionType gnsspos_position_type = 4;
+  optional uint32 heading_position_type = 5;
+  optional MSFInitStatus msf_init_status = 6;
+  optional MsfRunningStatus msf_running_status = 7;
+  optional MsfInitDetails msf_init_details = 8;
+  optional LocalLidarQuality local_lidar_quality = 9;
+  optional MsfGnssMapOffset gnss_map_offset = 10;
+  optional bool lidar_alt_from_map = 11;
+  optional double local_lidar_score = 12;
+  optional bool local_reliability_status = 13 [default = false];
 }
diff --git a/modules/common_msgs/map_msgs/BUILD b/modules/common_msgs/map_msgs/BUILD
index 3dc0bb6..f61b8fe 100644
--- a/modules/common_msgs/map_msgs/BUILD
+++ b/modules/common_msgs/map_msgs/BUILD
@@ -96,6 +96,8 @@ proto_library(
         ":map_speed_bump_proto",
         ":map_stop_sign_proto",
         ":map_yield_sign_proto",
+        ":map_area_proto",
+        ":map_barrier_gate_proto",
     ],
 )
 
@@ -162,4 +164,24 @@ proto_library(
     ],
 )
 
+proto_library(
+    name = "map_area_proto",
+    srcs = ["map_area.proto"],
+    deps = [
+        ":map_geometry_proto",
+        ":map_id_proto",
+        "//modules/common_msgs/basic_msgs:geometry_proto",
+    ],
+)
+
+proto_library(
+    name = "map_barrier_gate_proto",
+    srcs = ["map_barrier_gate.proto"],
+    deps = [
+        ":map_geometry_proto",
+        ":map_id_proto",
+        "//modules/common_msgs/basic_msgs:geometry_proto",
+    ],
+)
+
 apollo_package()
diff --git a/modules/common_msgs/map_msgs/map.proto b/modules/common_msgs/map_msgs/map.proto
index 77e6c0d..f303962 100644
--- a/modules/common_msgs/map_msgs/map.proto
+++ b/modules/common_msgs/map_msgs/map.proto
@@ -15,6 +15,8 @@ import "modules/common_msgs/map_msgs/map_signal.proto";
 import "modules/common_msgs/map_msgs/map_speed_bump.proto";
 import "modules/common_msgs/map_msgs/map_stop_sign.proto";
 import "modules/common_msgs/map_msgs/map_yield_sign.proto";
+import "modules/common_msgs/map_msgs/map_area.proto";
+import "modules/common_msgs/map_msgs/map_barrier_gate.proto";
 
 // This message defines how we project the ellipsoidal Earth surface to a plane.
 message Projection {
@@ -55,4 +57,6 @@ message Map {
   repeated ParkingSpace parking_space = 12;
   repeated PNCJunction pnc_junction = 13;
   repeated RSU rsu = 14;
+  repeated Area ad_area = 15;
+  repeated BarrierGate barrier_gate = 16;
 }
diff --git a/modules/common_msgs/map_msgs/map_area.proto b/modules/common_msgs/map_msgs/map_area.proto
new file mode 100644
index 0000000..0087595
--- /dev/null
+++ b/modules/common_msgs/map_msgs/map_area.proto
@@ -0,0 +1,22 @@
+syntax = "proto2";
+
+package apollo.hdmap;
+
+import "modules/common_msgs/map_msgs/map_geometry.proto";
+import "modules/common_msgs/map_msgs/map_id.proto";
+
+message Area {
+  enum Type {
+    Driveable = 1;
+    UnDriveable = 2;
+    Custom1 = 3;
+    Custom2 = 4;
+    Custom3 = 5;
+  };
+
+  required Id id = 1;
+  optional Type type = 2;
+  required Polygon polygon = 3;
+  repeated Id overlap_id = 4;
+  optional string name = 5;
+}
diff --git a/modules/common_msgs/map_msgs/map_barrier_gate.proto b/modules/common_msgs/map_msgs/map_barrier_gate.proto
new file mode 100644
index 0000000..f7a5a0e
--- /dev/null
+++ b/modules/common_msgs/map_msgs/map_barrier_gate.proto
@@ -0,0 +1,22 @@
+syntax = "proto2";
+
+package apollo.hdmap;
+
+import "modules/common_msgs/map_msgs/map_geometry.proto";
+import "modules/common_msgs/map_msgs/map_id.proto";
+
+message BarrierGate {
+  enum BarrierGateType {
+    ROD = 1;
+    FENCE = 2;
+    ADVERTISING = 3;
+    TELESCOPIC = 4;
+    OTHER = 5;
+  };
+  
+  required Id id = 1;
+  optional BarrierGateType type = 2;
+  optional Polygon polygon = 3;
+  repeated Curve stop_line = 4;
+  repeated Id overlap_id = 5;
+}
\ No newline at end of file
diff --git a/modules/common_msgs/map_msgs/map_lane.proto b/modules/common_msgs/map_msgs/map_lane.proto
index a78cd73..01483b1 100644
--- a/modules/common_msgs/map_msgs/map_lane.proto
+++ b/modules/common_msgs/map_msgs/map_lane.proto
@@ -74,6 +74,7 @@ message Lane {
     SIDEWALK = 4;
     PARKING = 5;
     SHOULDER = 6;
+    SHARED = 7;
   };
   optional LaneType type = 12;
 
diff --git a/modules/common_msgs/map_msgs/map_overlap.proto b/modules/common_msgs/map_msgs/map_overlap.proto
index 25509ff..003bb3b 100644
--- a/modules/common_msgs/map_msgs/map_overlap.proto
+++ b/modules/common_msgs/map_msgs/map_overlap.proto
@@ -35,6 +35,10 @@ message PNCJunctionOverlapInfo {}
 
 message RSUOverlapInfo {}
 
+message AreaOverlapInfo {}
+
+message BarrierGateOverlapInfo {}
+
 message RegionOverlapInfo {
   optional Id id = 1;
   repeated Polygon polygon = 2;
@@ -56,6 +60,8 @@ message ObjectOverlapInfo {
     ParkingSpaceOverlapInfo parking_space_overlap_info = 11;
     PNCJunctionOverlapInfo pnc_junction_overlap_info = 12;
     RSUOverlapInfo rsu_overlap_info = 13;
+    AreaOverlapInfo area_overlap_info = 14;
+    BarrierGateOverlapInfo barrier_gate_overlap_info = 15;
   }
 }
 
diff --git a/modules/common_msgs/monitor_msgs/monitor_log.proto b/modules/common_msgs/monitor_msgs/monitor_log.proto
index 6bdf459..8d8a360 100644
--- a/modules/common_msgs/monitor_msgs/monitor_log.proto
+++ b/modules/common_msgs/monitor_msgs/monitor_log.proto
@@ -27,6 +27,7 @@ message MonitorMessageItem {
     DELPHI_ESR = 19;
     STORYTELLING = 20;
     TASK_MANAGER = 21;
+    NANO_RADAR = 22;
   }
 
   optional MessageSource source = 1 [default = UNKNOWN];
diff --git a/modules/common_msgs/perception_msgs/BUILD b/modules/common_msgs/perception_msgs/BUILD
index a5f9d7c..e29f330 100644
--- a/modules/common_msgs/perception_msgs/BUILD
+++ b/modules/common_msgs/perception_msgs/BUILD
@@ -53,4 +53,12 @@ proto_library(
     ],
 )
 
+proto_library(
+    name = "perception_barrier_gate_proto",
+    srcs = ["perception_barrier_gate.proto"],
+    deps = [
+        "//modules/common_msgs/basic_msgs:header_proto",
+    ],
+)
+
 apollo_package()
diff --git a/modules/common_msgs/perception_msgs/perception_barrier_gate.proto b/modules/common_msgs/perception_msgs/perception_barrier_gate.proto
new file mode 100644
index 0000000..7fe0be6
--- /dev/null
+++ b/modules/common_msgs/perception_msgs/perception_barrier_gate.proto
@@ -0,0 +1,33 @@
+syntax = "proto2";
+
+package apollo.perception;
+
+import "modules/common_msgs/basic_msgs/header.proto";
+
+message BarrierGate {
+  enum Status {
+    UNKNOWN = 0;
+    CLOSED = 1;
+    CLOSING = 2;
+    OPENED = 3;
+    OPENING = 4;
+  };
+  optional Status status = 1;
+
+  // Barrier gate string-ID in the map data.
+  optional string id = 2;
+
+  // Barrier gate type in the map data.
+  optional string type = 3;
+
+  // Wheter the barrier recognition is activated.
+  optional bool is_useable = 4 [default = false];
+
+  // Open percentage.
+  optional double open_percent = 5;
+}
+
+message PerceptionBarrierGate {
+  optional apollo.common.Header header = 1;
+  repeated BarrierGate barrier_gates = 2;
+}
diff --git a/modules/common_msgs/perception_msgs/perception_obstacle.proto b/modules/common_msgs/perception_msgs/perception_obstacle.proto
index 3798794..be3067c 100644
--- a/modules/common_msgs/perception_msgs/perception_obstacle.proto
+++ b/modules/common_msgs/perception_msgs/perception_obstacle.proto
@@ -157,6 +157,20 @@ message PerceptionObstacle {
 
   optional Source source = 27 [default = HOST_VEHICLE];
   optional V2XInformation v2x_info = 28;
+
+  enum SemanticType {
+    SM_UNKNOWN = 0;
+    SM_IGNORE = 1;
+    SM_GROUND = 2;
+    SM_OBJECT = 3;
+    SM_CURB = 4;
+    SM_VEGETATION = 5;
+    SM_FENCE = 6;
+    SM_NOISE = 7;
+    SM_WALL = 8;
+    SM_MAX_OBJECT_SEMANTIC_LABEL = 9;
+  };
+  optional SemanticType semantic_type = 29;
 }
 
 message LaneMarker {
@@ -186,10 +200,65 @@ message CIPVInfo {
   repeated int32 potential_cipv_id = 2;
 }
 
+message PerceptionWaste {
+  optional int32 id = 1;
+
+  optional apollo.common.Point3D position = 2;
+  optional double theta = 3;
+  optional apollo.common.Point3D velocity = 4;
+  optional double length = 5;
+  optional double width = 6;
+  optional double height = 7;
+  repeated apollo.common.Point3D polygon_point = 8;
+  optional double tracking_time = 9;
+
+  enum Type {
+    UNKNOWN = 0;
+    CAN = 1;
+    CIGARETTE = 2;
+    CIGARETTE_CASE = 3;  
+    PEEL = 4;
+    PACKAGE = 5;
+    PLASTIC_BAG = 6;
+    BOTTLES = 7;
+    SHELL = 8;
+    LEAF = 9;
+    PAPER_CUP = 10;
+    CUBE = 11;
+    WIRE = 12;
+  };
+  optional Type type = 10;
+
+  optional double timestamp = 11;  
+  optional double confidence = 12;
+  optional BBox2D bbox2d = 13;
+  optional DebugMessage msg = 14;
+}
+
 message PerceptionObstacles {
   repeated PerceptionObstacle perception_obstacle = 1;  // An array of obstacles
   optional apollo.common.Header header = 2;             // Header
   optional apollo.common.ErrorCode error_code = 3 [default = OK];
   optional LaneMarkers lane_marker = 4;
   optional CIPVInfo cipv_info = 5;  // Closest In Path Vehicle (CIPV)
+  repeated PerceptionWaste perception_waste = 6;  // An array of wastes
+}
+
+message PerceptionEdgeInfo {
+  optional apollo.common.Header header = 1;
+  optional bool is_useable = 2 [default = false];
+  repeated apollo.common.Point3D edge_point = 3;
+  repeated apollo.common.Point3D edge_relative_point = 4;
+  optional double delta_s = 5 [default = 0.2];
+  optional double edge_length = 6;
+  optional bool is_smoother_succ = 7 [default = false];
+  optional bool is_cross_localization = 8 [default = false];
 }
+
+message PerceptionAccurateDockInfo {
+  optional apollo.common.Header header = 1;
+  optional bool is_useable = 2 [default = false];
+  optional apollo.common.Point3D relative_position = 3;
+  repeated apollo.common.Point3D relative_path_position = 4;
+  optional double relative_heading = 5;
+}
\ No newline at end of file
diff --git a/modules/common_msgs/perception_msgs/traffic_light_detection.proto b/modules/common_msgs/perception_msgs/traffic_light_detection.proto
index 58b4925..baa0df4 100644
--- a/modules/common_msgs/perception_msgs/traffic_light_detection.proto
+++ b/modules/common_msgs/perception_msgs/traffic_light_detection.proto
@@ -68,4 +68,5 @@ message TrafficLightDetection {
     CAMERA_FRONT_WIDE = 3;
   };
   optional CameraID camera_id = 5;
+  optional string camera_name = 6;
 }
diff --git a/modules/common_msgs/planning_msgs/pad_msg.proto b/modules/common_msgs/planning_msgs/pad_msg.proto
index c5f2374..ac7bd46 100644
--- a/modules/common_msgs/planning_msgs/pad_msg.proto
+++ b/modules/common_msgs/planning_msgs/pad_msg.proto
@@ -16,6 +16,10 @@ message PadMessage {
     STOP = 4;
     RESUME_CRUISE = 5;
     CLEAR_PLANNING = 6;
+    // Enter mission model
+    ENTER_MISSION = 7;
+    // Exit mission model
+    EXIT_MISSION = 8;
   };
 
   // driving action
diff --git a/modules/common_msgs/planning_msgs/planning.proto b/modules/common_msgs/planning_msgs/planning.proto
index 95308a6..c4864a6 100644
--- a/modules/common_msgs/planning_msgs/planning.proto
+++ b/modules/common_msgs/planning_msgs/planning.proto
@@ -11,6 +11,22 @@ import "modules/common_msgs/map_msgs/map_id.proto";
 import "modules/common_msgs/planning_msgs/decision.proto";
 import "modules/common_msgs/planning_msgs/planning_internal.proto";
 
+message Point {
+  optional double x = 1;
+  optional double y = 2; 
+}
+
+message LocationPose {
+  //vehice location pose
+  optional Point vehice_location = 1;
+
+  // left width point of vehice location
+  optional Point left_lane_boundary_point = 2;
+
+  // right width SL point of vehice location
+  optional Point right_lane_boundary_point = 3;
+}
+
 message EStop {
   // is_estop == true when emergency stop is required
   optional bool is_estop = 1;
@@ -107,6 +123,8 @@ message ADCTrajectory {
     SPEED_FALLBACK = 3;
     PATH_REUSED = 4;
     OPEN_SPACE = 5;
+    EDGE_FOLLOW = 6;
+    RELATIVE_CONTROL = 7;
   }
   optional TrajectoryType trajectory_type = 21 [default = UNKNOWN];
 
@@ -118,6 +136,13 @@ message ADCTrajectory {
   // complete dead end flag
   optional bool car_in_dead_end = 24;
 
+  // vehicle location pose
+  optional LocationPose location_pose = 25;
+
+  // in RELATIVE_CONTROL trajectory type, if trajectory is collisioned with obstable
+  optional bool is_collision = 26 [default = false];
+
   // output related to RSS
   optional RSSInfo rss_info = 100;
+
 }
diff --git a/modules/common_msgs/prediction_msgs/prediction_obstacle.proto b/modules/common_msgs/prediction_msgs/prediction_obstacle.proto
index a41cce9..0cd3db0 100644
--- a/modules/common_msgs/prediction_msgs/prediction_obstacle.proto
+++ b/modules/common_msgs/prediction_msgs/prediction_obstacle.proto
@@ -77,4 +77,7 @@ message PredictionObstacles {
 
   // Scenario
   optional Scenario scenario = 7;
+
+  // waste
+  repeated apollo.perception.PerceptionWaste perception_waste = 8;
 }
diff --git a/modules/common_msgs/sensor_msgs/BUILD b/modules/common_msgs/sensor_msgs/BUILD
index 3183f75..fd9be42 100644
--- a/modules/common_msgs/sensor_msgs/BUILD
+++ b/modules/common_msgs/sensor_msgs/BUILD
@@ -60,6 +60,14 @@ proto_library(
     ],
 )
 
+proto_library(
+    name = "nano_radar_proto",
+    srcs = ["nano_radar.proto"],
+    deps = [
+        "//modules/common_msgs/basic_msgs:header_proto",
+    ],
+)
+
 proto_library(
     name = "smartereye_proto",
     srcs = ["smartereye.proto"],
diff --git a/modules/common_msgs/sensor_msgs/nano_radar.proto b/modules/common_msgs/sensor_msgs/nano_radar.proto
new file mode 100755
index 0000000..03f0e8a
--- /dev/null
+++ b/modules/common_msgs/sensor_msgs/nano_radar.proto
@@ -0,0 +1,146 @@
+syntax = "proto2";
+
+package apollo.drivers;
+
+import "modules/common_msgs/basic_msgs/header.proto";
+
+message NanoObjectListStatus_60A {
+  optional int32 nof_objects = 1 [default = 0];
+  optional int32 meas_counter = 2 [default = -1];
+  optional int32 interface_version = 3;
+}
+
+
+
+message NanoRadarState_201 {
+  enum OutputType {
+    OUTPUT_TYPE_NONE = 0;
+    OUTPUT_TYPE_OBJECTS = 1;
+    OUTPUT_TYPE_CLUSTERS = 2;
+    OUTPUT_TYPE_ERROR = 3;
+  }
+  
+  enum RcsThreshold {
+    RCS_THRESHOLD_STANDARD = 0;
+    RCS_THRESHOLD_HIGH_SENSITIVITY = 1;
+    RCS_THRESHOLD_ERROR = 2;
+  }
+  
+  optional uint32 max_distance = 1;
+  optional uint32 radar_power = 2;
+  optional OutputType output_type = 3;
+  optional RcsThreshold rcs_threshold = 4;
+  optional bool send_quality = 5;
+  optional bool send_ext_info = 6;
+}
+
+message NanoSoftwareVersion_700 {
+  optional uint32 soft_major_release = 1;
+  optional uint32 soft_minor_release = 2;
+  optional uint32 soft_patch_level = 3;
+}
+
+message NanoCollisionDetectionRegionState_402 {
+  //                x axis  ^
+  //                        | longitude_dist
+  //     P2(Long2,Lat2)     |
+  //        ----------------------------------
+  //        |               |                |
+  //        |               |                |
+  //        |               |                |
+  //        ----------------------------------
+  //                        |             P1(Long1,Lat1)
+  //                        |
+  //                        |         lateral_dist
+  //                        --------------------->
+  //                                        y axis
+  //        ooooooooooooo   //radar front surface max:50m x 50m
+  optional uint32 region_id = 1;
+  optional uint32 region_max_output_number = 2;
+  optional double point1_longitude = 3;
+  optional double point1_lateral = 4;
+  optional double point2_longitude = 5;
+  optional double point2_lateral = 6;
+  optional bool coordinates_valid = 7;
+  optional bool activation_valid = 8;
+}
+
+message NanoRadarObs {
+  //                x axis  ^
+  //                        | longitude_dist
+  //                        |
+  //                        |
+  //                        |
+  //                        |     lateral_dist
+  //                        |           y axis
+  //                        ----------------->
+  //        ooooooooooooo   //radar front surface 77GHz
+
+  optional apollo.common.Header header = 1;
+  optional bool clusterortrack = 2;  // 0 = track, 1 = cluster
+  optional int32 obstacle_id = 3;    // obstacle Id
+  // longitude distance to the radar; (+) = target far away the radar unit = m
+  optional double longitude_dist = 4;
+  // lateral distance to the radar; (+) = right; unit = m
+  optional double lateral_dist = 5;
+  // longitude velocity to the radar; (+) = forward; unit = m/s
+  optional double longitude_vel = 6;
+  // lateral velocity to the radar; (+) = right; unit = m/s
+  optional double lateral_vel = 7;
+  // obstacle Radar Cross-Section; unit = dBsm
+  optional double rcs = 8;
+  // 0 = moving, 1 = stationary, 2 = oncoming, 3 = stationary candidate
+  // 4 = unknown, 5 = crossing stationary, 6 = crossing moving, 7 = stopped
+  optional int32 dynprop = 9;
+  // longitude distance standard deviation to the radar; (+) = forward; unit = m
+  optional double longitude_dist_rms = 10;
+  // lateral distance standard deviation to the radar; (+) = left; unit = m
+  optional double lateral_dist_rms = 11;
+  // longitude velocity standard deviation to the radar; (+) = forward; unit =
+  // m/s
+  optional double longitude_vel_rms = 12;
+  // lateral velocity standard deviation to the radar; (+) = left; unit = m/s
+  optional double lateral_vel_rms = 13;
+  // obstacle probability of existence
+  optional double probexist = 14;
+
+  // The following is only valid for the track object message
+  // 0 = deleted, 1 = new, 2 = measured, 3 = predicted, 4 = deleted for, 5 = new
+  // from merge
+  optional int32 meas_state = 15;
+  // longitude acceleration to the radar; (+) = forward; unit = m/s2
+  optional double longitude_accel = 16;
+  // lateral acceleration to the radar; (+) = left; unit = m/s2
+  optional double lateral_accel = 17;
+  // orientation angle to the radar; (+) = counterclockwise; unit = degree
+  optional double oritation_angle = 18;
+  // longitude acceleration standard deviation to the radar; (+) = forward; unit
+  // = m/s2
+  optional double longitude_accel_rms = 19;
+  // lateral acceleration standard deviation to the radar; (+) = left; unit =
+  // m/s2
+  optional double lateral_accel_rms = 20;
+  // orientation angle standard deviation to the radar; (+) = counterclockwise;
+  // unit = degree
+  optional double oritation_angle_rms = 21;
+  optional double length = 22;  // obstacle length; unit = m
+  optional double width = 23;   // obstacle width; unit = m
+  // 0: point; 1: car; 2: truck; 3: pedestrian; 4: motorcycle; 5: bicycle; 6:
+  // wide; 7: unknown
+  optional int32 obstacle_class = 24;
+  // Object Range
+  optional double obstacle_range = 25;
+  // Object Velocity
+  optional double obstacle_vel = 26;
+  // Object Angle
+  optional double obstacle_angle = 27;
+}
+
+message NanoRadar {
+  optional apollo.common.Header header = 1;
+  repeated NanoRadarObs contiobs = 2;  // conti radar obstacle array
+  optional NanoRadarState_201 radar_state = 3;
+  optional NanoCollisionDetectionRegionState_402 radar_region_state = 4;
+  optional NanoObjectListStatus_60A object_list_status = 6;
+  optional NanoSoftwareVersion_700 software_version = 7;
+}
diff --git a/modules/common_msgs/simulation_msgs/agent.proto b/modules/common_msgs/simulation_msgs/agent.proto
index e17421f..e461f91 100644
--- a/modules/common_msgs/simulation_msgs/agent.proto
+++ b/modules/common_msgs/simulation_msgs/agent.proto
@@ -57,4 +57,21 @@ message AgentConfig {
   optional bool avoid_rear_end_collision = 17 [default = true];
   optional double rear_end_collision_distance = 18
       [default = 3.0, deprecated = true];
+
+  // When an obstacle approaches the adc at a certain distance,
+  // it needs to decelerate.
+  message NearCar {
+    optional double distance = 1 [default = 20];
+    optional double acceleration = 2 [default = -2];
+    optional bool is_same_lane = 3 [default = false];
+    optional bool only_include_behind = 4 [default = true];
+  }
+  optional NearCar near_car = 19;
+
+  // Need to decelerate when an obstacle meets the crosswalk
+  message NearCrosswalk {
+    optional double distance = 1 [default = 15];
+    optional double acceleration = 2 [default = -1];
+  }
+  optional NearCrosswalk near_crosswalk = 22;
 }

From c34ff749882130fee430e22c39de3c8d3fe38680 Mon Sep 17 00:00:00 2001
From: minhanghuang <job@minhang.me>
Date: Sat, 14 Dec 2024 12:27:52 +0800
Subject: [PATCH 06/14] chore(version): update version

---
 CMakeLists.txt |  2 +-
 README.md      | 22 +++++++++++-----------
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index bbfe81d..3b1c5a1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.5.1)
 
-project(cyber VERSION 9.0.0) # Apollo Version
+project(cyber VERSION 10.0.0) # Apollo Version
 
 set(CMAKE_CXX_STANDARD 14)
 set(TARGET_NAME ${PROJECT_NAME})
diff --git a/README.md b/README.md
index 4536135..252607e 100644
--- a/README.md
+++ b/README.md
@@ -1,18 +1,18 @@
-# Apollo(v9.0.0) CyberRT
+# Apollo(v10.0.0) CyberRT
 
 ![CyberRT](./docs/CyberRT.gif)
 
 | Target        |  CI Status  |
 | ------------- | :-----:|
-| Ubuntu18.04 x86_64   | [![build v9.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu18-v9.0.0-build.yaml/badge.svg?branch=v9.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu18-v9.0.0-build.yaml) |
-| Ubuntu20.04 x86_64  | [![build v9.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu20-v9.0.0-build.yaml/badge.svg?branch=v9.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu20-v9.0.0-build.yaml) |
-| Ubuntu22.04 x86_64  | [![build v9.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu22-v9.0.0-build.yaml/badge.svg?branch=v9.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu22-v9.0.0-build.yaml) |
-| Ubuntu24.04 x86_64  | [![build v9.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu24-v9.0.0-build.yaml/badge.svg?branch=v9.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu24-v9.0.0-build.yaml) |
-| Ubuntu latest x86_64  | [![build v9.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu-latest-v9.0.0-build.yaml/badge.svg?branch=v9.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu-latest-v9.0.0-build.yaml) |
-| Ubuntu18.04 arrch64 | [![build v9.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu18-arrch64-v9.0.0-build.yaml/badge.svg?branch=v9.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu18-arrch64-v9.0.0-build.yaml) |
-| Ubuntu20.04  arrch64 | [![build v9.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu20-arrch64-v9.0.0-build.yaml/badge.svg?branch=v9.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu20-arrch64-v9.0.0-build.yaml) |
-| Ubuntu22.04 arrch64 | [![build v9.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu22-arrch64-v9.0.0-build.yaml/badge.svg?branch=v9.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu22-arrch64-v9.0.0-build.yaml) |
-| Ubuntu latest arrch64 | [![build v9.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu-latest-arrch64-v9.0.0-build.yaml/badge.svg?branch=v9.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu-latest-arrch64-v9.0.0-build.yaml) |
+| Ubuntu18.04 x86_64   | [![build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu18-v10.0.0-build.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu18-v10.0.0-build.yaml) |
+| Ubuntu20.04 x86_64  | [![build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu20-v10.0.0-build.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu20-v10.0.0-build.yaml) |
+| Ubuntu22.04 x86_64  | [![build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu22-v10.0.0-build.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu22-v10.0.0-build.yaml) |
+| Ubuntu24.04 x86_64  | [![build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu24-v10.0.0-build.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu24-v10.0.0-build.yaml) |
+| Ubuntu latest x86_64  | [![build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu-latest-v10.0.0-build.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu-latest-v10.0.0-build.yaml) |
+| Ubuntu18.04 arrch64 | [![build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu18-arrch64-v10.0.0-build.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu18-arrch64-v10.0.0-build.yaml) |
+| Ubuntu20.04  arrch64 | [![build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu20-arrch64-v10.0.0-build.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu20-arrch64-v10.0.0-build.yaml) |
+| Ubuntu22.04 arrch64 | [![build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu22-arrch64-v10.0.0-build.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu22-arrch64-v10.0.0-build.yaml) |
+| Ubuntu latest arrch64 | [![build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu-latest-arrch64-v10.0.0-build.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu-latest-arrch64-v10.0.0-build.yaml) |
 
 ## #1 Env
 
@@ -29,7 +29,7 @@ python3 -m pip install protobuf==3.14.0
 1. clone
 
 ```shell
-git clone --single-branch --branch v9.0.0 https://github.com/minhanghuang/CyberRT.git
+git clone --single-branch --branch v10.0.0 https://github.com/minhanghuang/CyberRT.git
 cd CyberRT
 ```
 

From 30ee0304ef48dab6b66002ec6c5a69fe17f37bb1 Mon Sep 17 00:00:00 2001
From: minhanghuang <job@minhang.me>
Date: Sat, 14 Dec 2024 12:46:23 +0800
Subject: [PATCH 07/14] chore: add v10 diff file

---
 diffs/v10/common_msgs.patch |   934 ++
 diffs/v10/cyber.patch       | 19124 ++++++++++++++++++++++++++++++++++
 2 files changed, 20058 insertions(+)
 create mode 100644 diffs/v10/common_msgs.patch
 create mode 100644 diffs/v10/cyber.patch

diff --git a/diffs/v10/common_msgs.patch b/diffs/v10/common_msgs.patch
new file mode 100644
index 0000000..8648e67
--- /dev/null
+++ b/diffs/v10/common_msgs.patch
@@ -0,0 +1,934 @@
+diff --git a/modules/common_msgs/basic_msgs/pnc_point.proto b/modules/common_msgs/basic_msgs/pnc_point.proto
+index cf948f5..f8cff2c 100644
+--- a/modules/common_msgs/basic_msgs/pnc_point.proto
++++ b/modules/common_msgs/basic_msgs/pnc_point.proto
+@@ -74,6 +74,7 @@ message TrajectoryPoint {
+ 
+   // Gaussian probability information
+   optional GaussianInfo gaussian_info = 7;
++
+ }
+ 
+ message Trajectory {
+diff --git a/modules/common_msgs/chassis_msgs/chassis.proto b/modules/common_msgs/chassis_msgs/chassis.proto
+index 77e9fb7..d4ab806 100644
+--- a/modules/common_msgs/chassis_msgs/chassis.proto
++++ b/modules/common_msgs/chassis_msgs/chassis.proto
+@@ -35,6 +35,7 @@ message Chassis {
+     CHASSIS_ERROR_ON_BRAKE = 7;
+     CHASSIS_ERROR_ON_THROTTLE = 8;
+     CHASSIS_ERROR_ON_GEAR = 9;
++    CHASSIS_CAN_LOST = 10;
+ 
+     MANUAL_INTERVENTION = 3;  // human manual intervention
+ 
+diff --git a/modules/common_msgs/control_msgs/BUILD b/modules/common_msgs/control_msgs/BUILD
+index 2f12fee..e17a1b2 100644
+--- a/modules/common_msgs/control_msgs/BUILD
++++ b/modules/common_msgs/control_msgs/BUILD
+@@ -19,6 +19,14 @@ proto_library(
+     ],
+ )
+ 
++proto_library(
++    name = "control_interactive_msg_proto",
++    srcs = ["control_interactive_msg.proto"],
++    deps = [
++        "//modules/common_msgs/basic_msgs:header_proto",
++    ],
++)
++
+ proto_library(
+     name = "control_pad_msg_proto",
+     srcs = ["pad_msg.proto"],
+diff --git a/modules/common_msgs/control_msgs/control_cmd.proto b/modules/common_msgs/control_msgs/control_cmd.proto
+index 7559675..87c3ce8 100644
+--- a/modules/common_msgs/control_msgs/control_cmd.proto
++++ b/modules/common_msgs/control_msgs/control_cmd.proto
+@@ -38,7 +38,7 @@ message ControlCommand {
+   // target steering angle, in percentage of full scale [-100, 100]
+   optional double steering_target = 7;
+ 
+-  // parking brake engage. true: engaged
++  // parking brake engage. true: engaged epd brake
+   optional bool parking_brake = 8;
+ 
+   // target speed, in m/s
+@@ -171,6 +171,9 @@ message SimpleLateralDebug {
+   // Mrac control status and feedback states for steer control
+   optional MracDebug steer_mrac_debug = 32;
+   optional bool steer_mrac_enable_status = 33;
++
++  // lat acc in ENU, in m/s^2
++  optional double lateral_centripetal_acceleration = 34;
+ }
+ 
+ message SimpleMPCDebug {
+diff --git a/modules/common_msgs/control_msgs/control_interactive_msg.proto b/modules/common_msgs/control_msgs/control_interactive_msg.proto
+new file mode 100644
+index 0000000..159a458
+--- /dev/null
++++ b/modules/common_msgs/control_msgs/control_interactive_msg.proto
+@@ -0,0 +1,17 @@
++syntax = "proto2";
++package apollo.control;
++
++import "modules/common_msgs/basic_msgs/header.proto";
++
++message ControlInteractiveMsg {
++  optional apollo.common.Header header = 1;   // common header
++  optional bool replan_request = 2;   // request replan. true: need replan, false: don't need replan
++  optional ReplanRequestReasonCode replan_req_reason_code = 3; // request replan reason code
++  optional string replan_request_reason = 4; // request replan reason
++}
++
++enum ReplanRequestReasonCode {
++  REPLAN_REQ_ALL_REPLAN = 1;
++  REPLAN_REQ_STATION_REPLAN = 2;
++  REPLAN_REQ_SPEED_REPLAN = 3;
++}
+diff --git a/modules/common_msgs/dreamview_msgs/hmi_config.proto b/modules/common_msgs/dreamview_msgs/hmi_config.proto
+index 9e373d4..44c4b9b 100644
+--- a/modules/common_msgs/dreamview_msgs/hmi_config.proto
++++ b/modules/common_msgs/dreamview_msgs/hmi_config.proto
+@@ -34,6 +34,7 @@ enum HMIAction {
+   LOAD_RTK_RECORDS = 25; // Load all rtk records
+   CHANGE_RTK_RECORD = 26; // change rtk records
+   LOAD_RECORD = 27;     // Load record
++  LOAD_MAPS  = 28;     // Load maps
+ }
+ 
+ message HMIConfig {
+diff --git a/modules/common_msgs/dreamview_msgs/hmi_mode.proto b/modules/common_msgs/dreamview_msgs/hmi_mode.proto
+index aef7cde..09354ba 100644
+--- a/modules/common_msgs/dreamview_msgs/hmi_mode.proto
++++ b/modules/common_msgs/dreamview_msgs/hmi_mode.proto
+@@ -118,6 +118,14 @@ message CyberModule {
+   optional string process_group = 3;
+ }
+ 
++message Layout {
++    optional string type = 1;
++    optional Layout first = 2;
++    optional Layout second = 3;
++    optional string direction = 4;
++    optional double splitPercentage = 5 [default = 50.0];
++}
++
+ message HMIMode {
+   map<string, CyberModule> cyber_modules = 1;
+   map<string, Module> modules = 2;
+@@ -125,6 +133,6 @@ message HMIMode {
+   map<string, ProcessMonitorConfig> other_components = 4;
+   repeated HMIModeOperation operations = 5;
+   optional HMIModeOperation default_operation = 6;
+-  optional string layout = 7;
++  optional Layout layout = 7;
+   map<string, MonitoredComponent> global_components = 8;
+ }
+diff --git a/modules/common_msgs/dreamview_msgs/simulation_world.proto b/modules/common_msgs/dreamview_msgs/simulation_world.proto
+index 089ae9b..a1c8218 100644
+--- a/modules/common_msgs/dreamview_msgs/simulation_world.proto
++++ b/modules/common_msgs/dreamview_msgs/simulation_world.proto
+@@ -197,6 +197,8 @@ message MapElementIds {
+   repeated string parking_space = 10;
+   repeated string speed_bump = 11;
+   repeated string pnc_junction = 12;
++  repeated string ad_area = 13;
++  repeated string barrier_gate = 14;
+ }
+ 
+ message ControlData {
+diff --git a/modules/common_msgs/external_command_msgs/BUILD b/modules/common_msgs/external_command_msgs/BUILD
+index 830d0e8..fab1d33 100644
+--- a/modules/common_msgs/external_command_msgs/BUILD
++++ b/modules/common_msgs/external_command_msgs/BUILD
+@@ -4,6 +4,15 @@ load("//tools:apollo_package.bzl", "apollo_package")
+ 
+ package(default_visibility = ["//visibility:public"])
+ 
++proto_library(
++    name = "precise_parking_command_proto",
++    srcs = ["precise_parking_command.proto"],
++    deps = [
++        ":external_geometry_proto",
++        "//modules/common_msgs/basic_msgs:header_proto",
++    ],
++)
++
+ proto_library(
+     name = "valet_parking_command_proto",
+     srcs = ["valet_parking_command.proto"],
+@@ -60,6 +69,15 @@ proto_library(
+     ],
+ )
+ 
++proto_library(
++    name = "zone_cover_command_proto",
++    srcs = ["zone_cover_command.proto"],
++    deps = [
++        ":external_geometry_proto",
++        "//modules/common_msgs/basic_msgs:header_proto",
++    ],
++)
++
+ proto_library(
+     name = "speed_command_proto",
+     srcs = ["speed_command.proto"],
+diff --git a/modules/common_msgs/external_command_msgs/action_command.proto b/modules/common_msgs/external_command_msgs/action_command.proto
+index 6e52ed8..89bc1f7 100644
+--- a/modules/common_msgs/external_command_msgs/action_command.proto
++++ b/modules/common_msgs/external_command_msgs/action_command.proto
+@@ -25,6 +25,10 @@ enum ActionCommandType {
+   SWITCH_TO_AUTO = 51;
+   // Varify vin code of vehicle.
+   VIN_REQ = 52;
++  // Enter mission model
++  ENTER_MISSION = 53;
++  // Exit mission model
++  EXIT_MISSION = 54;
+ }
+ 
+ message ActionCommand {
+diff --git a/modules/common_msgs/external_command_msgs/precise_parking_command.proto b/modules/common_msgs/external_command_msgs/precise_parking_command.proto
+new file mode 100644
+index 0000000..212dd29
+--- /dev/null
++++ b/modules/common_msgs/external_command_msgs/precise_parking_command.proto
+@@ -0,0 +1,26 @@
++syntax = "proto2";
++
++package apollo.external_command;
++
++import "modules/common_msgs/basic_msgs/header.proto";
++import "modules/common_msgs/external_command_msgs/geometry.proto";
++
++enum PreciseMissionType {
++  CHARGE = 0;
++  DUMP = 1;
++}
++
++message PreciseParkingCommand {
++  optional apollo.common.Header header = 1;
++  // Unique identification for command.
++  optional int64 command_id = 2 [default = -1];
++  // If the start pose is set as the first point of "way_point".
++  optional bool is_start_pose_set = 3 [default = false];
++  // Pose of the parking spot.
++  required Pose parking_spot_pose = 4;
++  // true: parking inwards, false: parking outwards
++  required bool parking_inwards = 5;
++  required PreciseMissionType mission_type = 6;
++  // not given, the default target speed of system will be used.
++  optional double target_speed = 7;
++}
+\ No newline at end of file
+diff --git a/modules/common_msgs/external_command_msgs/zone_cover_command.proto b/modules/common_msgs/external_command_msgs/zone_cover_command.proto
+new file mode 100644
+index 0000000..f206305
+--- /dev/null
++++ b/modules/common_msgs/external_command_msgs/zone_cover_command.proto
+@@ -0,0 +1,16 @@
++syntax = "proto2";
++
++package apollo.external_command;
++
++import "modules/common_msgs/basic_msgs/header.proto";
++import "modules/common_msgs/external_command_msgs/geometry.proto";
++
++message ZoneCoverCommand {
++  optional apollo.common.Header header = 1;
++  // Unique identification for command.
++  optional int64 command_id = 2 [default = -1];
++  required string overlap_id = 3;
++  optional double target_speed = 4;
++  repeated RoiPolygon non_drivable_roi = 5;
++  optional RoiPolygon drivable_roi = 6;
++}
+diff --git a/modules/common_msgs/localization_msgs/localization_status.proto b/modules/common_msgs/localization_msgs/localization_status.proto
+index d852c31..11d3db7 100644
+--- a/modules/common_msgs/localization_msgs/localization_status.proto
++++ b/modules/common_msgs/localization_msgs/localization_status.proto
+@@ -155,6 +155,7 @@ enum MsfRunningStatus {
+   MSF_NOSOL_X_XX = 22;
+   MSF_NOSOL_X_XXX = 23;
+   MSF_RUNNING_INIT = 24;
++  MSF_REINIT_ABNORMALLY = 25;
+ }
+ 
+ // The status of sensor msg
+@@ -164,12 +165,76 @@ message MsfSensorMsgStatus {
+   optional ImuMsgDataStatus imu_data_status = 3;
+ }
+ 
++// The init pose source 
++enum MsfInitPoseSource {
++    UNKNOWN_SOURCE = 0;
++    GNSS_HEADING = 1;
++    LOCAL_SEARCH_FROM_INTEGPVA = 2;
++    LOCAL_SEARCH_FROM_FILE = 3;
++    LOCAL_UPDATE_FROM_FILE = 4;
++    USER_INTERACTION = 5;
++    INSPVA_RECORD = 6;
++    GNSS_VELOCITY = 7;
++    GLOBAL_LIDAR = 8;
++}
++
++// The status of gnss map offset
++enum MsfGnssMapOffsetStatus {
++    MSF_LOCAL_GNSS_MAP_OFFSET_NORMAL = 0;
++    MSF_LOCAL_GNSS_MAP_OFFSET_ABNORMAL = 1;
++}
++
++// The gnss map offset
++message MsfGnssMapOffset {
++    optional MsfGnssMapOffsetStatus status = 1;
++    optional double offsetx = 2;
++    optional double offsety = 3;
++}
++
++// The init pose status
++enum MsfInitPoseStatus { 
++    INIT_WAITING = 0;
++    INIT_DOING = 1;
++    INIT_SUCCESSFUL = 2;
++    INIT_FAILED = 3;
++    INIT_TERMINATED = 4;
++}
++
++// The init details
++message MsfInitDetails { 
++    optional MsfInitPoseSource init_pose_source = 1;
++    optional MsfInitPoseStatus local_search_from_integpva_status = 2;
++    optional MsfInitPoseStatus local_search_from_file_status = 3;
++    optional MsfInitPoseStatus local_update_from_file_status = 4;
++    optional MsfInitPoseStatus user_interaction_status = 5;
++    optional int32 gnss_position_type = 6;
++    optional MsfInitPoseStatus local_from_global_lidar_status = 7;
++}
++
++// The initializaiton status of localization module
++enum MSFInitStatus {
++    MSF_INIT = 0;
++    MSF_ALIGNING = 1;
++    MSF_ALIGNED_INIT = 2;
++    MSF_ALIGNED_CONVERGED = 3;
++    MSF_ALIGNED_CONVERGING = 4;
++    MSF_ALIGNED_GOOD = 5;
++    MSF_ALIGNED_VALID = 6;
++}
++
+ // The status of msf localization module
+ message MsfStatus {
+   optional LocalLidarConsistency local_lidar_consistency = 1;
+   optional GnssConsistency gnss_consistency = 2;
+   optional LocalLidarStatus local_lidar_status = 3;
+-  optional LocalLidarQuality local_lidar_quality = 4;
+-  optional GnssPositionType gnsspos_position_type = 5;
+-  optional MsfRunningStatus msf_running_status = 6;
++  optional GnssPositionType gnsspos_position_type = 4;
++  optional uint32 heading_position_type = 5;
++  optional MSFInitStatus msf_init_status = 6;
++  optional MsfRunningStatus msf_running_status = 7;
++  optional MsfInitDetails msf_init_details = 8;
++  optional LocalLidarQuality local_lidar_quality = 9;
++  optional MsfGnssMapOffset gnss_map_offset = 10;
++  optional bool lidar_alt_from_map = 11;
++  optional double local_lidar_score = 12;
++  optional bool local_reliability_status = 13 [default = false];
+ }
+diff --git a/modules/common_msgs/map_msgs/BUILD b/modules/common_msgs/map_msgs/BUILD
+index 3dc0bb6..f61b8fe 100644
+--- a/modules/common_msgs/map_msgs/BUILD
++++ b/modules/common_msgs/map_msgs/BUILD
+@@ -96,6 +96,8 @@ proto_library(
+         ":map_speed_bump_proto",
+         ":map_stop_sign_proto",
+         ":map_yield_sign_proto",
++        ":map_area_proto",
++        ":map_barrier_gate_proto",
+     ],
+ )
+ 
+@@ -162,4 +164,24 @@ proto_library(
+     ],
+ )
+ 
++proto_library(
++    name = "map_area_proto",
++    srcs = ["map_area.proto"],
++    deps = [
++        ":map_geometry_proto",
++        ":map_id_proto",
++        "//modules/common_msgs/basic_msgs:geometry_proto",
++    ],
++)
++
++proto_library(
++    name = "map_barrier_gate_proto",
++    srcs = ["map_barrier_gate.proto"],
++    deps = [
++        ":map_geometry_proto",
++        ":map_id_proto",
++        "//modules/common_msgs/basic_msgs:geometry_proto",
++    ],
++)
++
+ apollo_package()
+diff --git a/modules/common_msgs/map_msgs/map.proto b/modules/common_msgs/map_msgs/map.proto
+index 77e6c0d..f303962 100644
+--- a/modules/common_msgs/map_msgs/map.proto
++++ b/modules/common_msgs/map_msgs/map.proto
+@@ -15,6 +15,8 @@ import "modules/common_msgs/map_msgs/map_signal.proto";
+ import "modules/common_msgs/map_msgs/map_speed_bump.proto";
+ import "modules/common_msgs/map_msgs/map_stop_sign.proto";
+ import "modules/common_msgs/map_msgs/map_yield_sign.proto";
++import "modules/common_msgs/map_msgs/map_area.proto";
++import "modules/common_msgs/map_msgs/map_barrier_gate.proto";
+ 
+ // This message defines how we project the ellipsoidal Earth surface to a plane.
+ message Projection {
+@@ -55,4 +57,6 @@ message Map {
+   repeated ParkingSpace parking_space = 12;
+   repeated PNCJunction pnc_junction = 13;
+   repeated RSU rsu = 14;
++  repeated Area ad_area = 15;
++  repeated BarrierGate barrier_gate = 16;
+ }
+diff --git a/modules/common_msgs/map_msgs/map_area.proto b/modules/common_msgs/map_msgs/map_area.proto
+new file mode 100644
+index 0000000..0087595
+--- /dev/null
++++ b/modules/common_msgs/map_msgs/map_area.proto
+@@ -0,0 +1,22 @@
++syntax = "proto2";
++
++package apollo.hdmap;
++
++import "modules/common_msgs/map_msgs/map_geometry.proto";
++import "modules/common_msgs/map_msgs/map_id.proto";
++
++message Area {
++  enum Type {
++    Driveable = 1;
++    UnDriveable = 2;
++    Custom1 = 3;
++    Custom2 = 4;
++    Custom3 = 5;
++  };
++
++  required Id id = 1;
++  optional Type type = 2;
++  required Polygon polygon = 3;
++  repeated Id overlap_id = 4;
++  optional string name = 5;
++}
+diff --git a/modules/common_msgs/map_msgs/map_barrier_gate.proto b/modules/common_msgs/map_msgs/map_barrier_gate.proto
+new file mode 100644
+index 0000000..f7a5a0e
+--- /dev/null
++++ b/modules/common_msgs/map_msgs/map_barrier_gate.proto
+@@ -0,0 +1,22 @@
++syntax = "proto2";
++
++package apollo.hdmap;
++
++import "modules/common_msgs/map_msgs/map_geometry.proto";
++import "modules/common_msgs/map_msgs/map_id.proto";
++
++message BarrierGate {
++  enum BarrierGateType {
++    ROD = 1;
++    FENCE = 2;
++    ADVERTISING = 3;
++    TELESCOPIC = 4;
++    OTHER = 5;
++  };
++  
++  required Id id = 1;
++  optional BarrierGateType type = 2;
++  optional Polygon polygon = 3;
++  repeated Curve stop_line = 4;
++  repeated Id overlap_id = 5;
++}
+\ No newline at end of file
+diff --git a/modules/common_msgs/map_msgs/map_lane.proto b/modules/common_msgs/map_msgs/map_lane.proto
+index a78cd73..01483b1 100644
+--- a/modules/common_msgs/map_msgs/map_lane.proto
++++ b/modules/common_msgs/map_msgs/map_lane.proto
+@@ -74,6 +74,7 @@ message Lane {
+     SIDEWALK = 4;
+     PARKING = 5;
+     SHOULDER = 6;
++    SHARED = 7;
+   };
+   optional LaneType type = 12;
+ 
+diff --git a/modules/common_msgs/map_msgs/map_overlap.proto b/modules/common_msgs/map_msgs/map_overlap.proto
+index 25509ff..003bb3b 100644
+--- a/modules/common_msgs/map_msgs/map_overlap.proto
++++ b/modules/common_msgs/map_msgs/map_overlap.proto
+@@ -35,6 +35,10 @@ message PNCJunctionOverlapInfo {}
+ 
+ message RSUOverlapInfo {}
+ 
++message AreaOverlapInfo {}
++
++message BarrierGateOverlapInfo {}
++
+ message RegionOverlapInfo {
+   optional Id id = 1;
+   repeated Polygon polygon = 2;
+@@ -56,6 +60,8 @@ message ObjectOverlapInfo {
+     ParkingSpaceOverlapInfo parking_space_overlap_info = 11;
+     PNCJunctionOverlapInfo pnc_junction_overlap_info = 12;
+     RSUOverlapInfo rsu_overlap_info = 13;
++    AreaOverlapInfo area_overlap_info = 14;
++    BarrierGateOverlapInfo barrier_gate_overlap_info = 15;
+   }
+ }
+ 
+diff --git a/modules/common_msgs/monitor_msgs/monitor_log.proto b/modules/common_msgs/monitor_msgs/monitor_log.proto
+index 6bdf459..8d8a360 100644
+--- a/modules/common_msgs/monitor_msgs/monitor_log.proto
++++ b/modules/common_msgs/monitor_msgs/monitor_log.proto
+@@ -27,6 +27,7 @@ message MonitorMessageItem {
+     DELPHI_ESR = 19;
+     STORYTELLING = 20;
+     TASK_MANAGER = 21;
++    NANO_RADAR = 22;
+   }
+ 
+   optional MessageSource source = 1 [default = UNKNOWN];
+diff --git a/modules/common_msgs/perception_msgs/BUILD b/modules/common_msgs/perception_msgs/BUILD
+index a5f9d7c..e29f330 100644
+--- a/modules/common_msgs/perception_msgs/BUILD
++++ b/modules/common_msgs/perception_msgs/BUILD
+@@ -53,4 +53,12 @@ proto_library(
+     ],
+ )
+ 
++proto_library(
++    name = "perception_barrier_gate_proto",
++    srcs = ["perception_barrier_gate.proto"],
++    deps = [
++        "//modules/common_msgs/basic_msgs:header_proto",
++    ],
++)
++
+ apollo_package()
+diff --git a/modules/common_msgs/perception_msgs/perception_barrier_gate.proto b/modules/common_msgs/perception_msgs/perception_barrier_gate.proto
+new file mode 100644
+index 0000000..7fe0be6
+--- /dev/null
++++ b/modules/common_msgs/perception_msgs/perception_barrier_gate.proto
+@@ -0,0 +1,33 @@
++syntax = "proto2";
++
++package apollo.perception;
++
++import "modules/common_msgs/basic_msgs/header.proto";
++
++message BarrierGate {
++  enum Status {
++    UNKNOWN = 0;
++    CLOSED = 1;
++    CLOSING = 2;
++    OPENED = 3;
++    OPENING = 4;
++  };
++  optional Status status = 1;
++
++  // Barrier gate string-ID in the map data.
++  optional string id = 2;
++
++  // Barrier gate type in the map data.
++  optional string type = 3;
++
++  // Wheter the barrier recognition is activated.
++  optional bool is_useable = 4 [default = false];
++
++  // Open percentage.
++  optional double open_percent = 5;
++}
++
++message PerceptionBarrierGate {
++  optional apollo.common.Header header = 1;
++  repeated BarrierGate barrier_gates = 2;
++}
+diff --git a/modules/common_msgs/perception_msgs/perception_obstacle.proto b/modules/common_msgs/perception_msgs/perception_obstacle.proto
+index 3798794..be3067c 100644
+--- a/modules/common_msgs/perception_msgs/perception_obstacle.proto
++++ b/modules/common_msgs/perception_msgs/perception_obstacle.proto
+@@ -157,6 +157,20 @@ message PerceptionObstacle {
+ 
+   optional Source source = 27 [default = HOST_VEHICLE];
+   optional V2XInformation v2x_info = 28;
++
++  enum SemanticType {
++    SM_UNKNOWN = 0;
++    SM_IGNORE = 1;
++    SM_GROUND = 2;
++    SM_OBJECT = 3;
++    SM_CURB = 4;
++    SM_VEGETATION = 5;
++    SM_FENCE = 6;
++    SM_NOISE = 7;
++    SM_WALL = 8;
++    SM_MAX_OBJECT_SEMANTIC_LABEL = 9;
++  };
++  optional SemanticType semantic_type = 29;
+ }
+ 
+ message LaneMarker {
+@@ -186,10 +200,65 @@ message CIPVInfo {
+   repeated int32 potential_cipv_id = 2;
+ }
+ 
++message PerceptionWaste {
++  optional int32 id = 1;
++
++  optional apollo.common.Point3D position = 2;
++  optional double theta = 3;
++  optional apollo.common.Point3D velocity = 4;
++  optional double length = 5;
++  optional double width = 6;
++  optional double height = 7;
++  repeated apollo.common.Point3D polygon_point = 8;
++  optional double tracking_time = 9;
++
++  enum Type {
++    UNKNOWN = 0;
++    CAN = 1;
++    CIGARETTE = 2;
++    CIGARETTE_CASE = 3;  
++    PEEL = 4;
++    PACKAGE = 5;
++    PLASTIC_BAG = 6;
++    BOTTLES = 7;
++    SHELL = 8;
++    LEAF = 9;
++    PAPER_CUP = 10;
++    CUBE = 11;
++    WIRE = 12;
++  };
++  optional Type type = 10;
++
++  optional double timestamp = 11;  
++  optional double confidence = 12;
++  optional BBox2D bbox2d = 13;
++  optional DebugMessage msg = 14;
++}
++
+ message PerceptionObstacles {
+   repeated PerceptionObstacle perception_obstacle = 1;  // An array of obstacles
+   optional apollo.common.Header header = 2;             // Header
+   optional apollo.common.ErrorCode error_code = 3 [default = OK];
+   optional LaneMarkers lane_marker = 4;
+   optional CIPVInfo cipv_info = 5;  // Closest In Path Vehicle (CIPV)
++  repeated PerceptionWaste perception_waste = 6;  // An array of wastes
++}
++
++message PerceptionEdgeInfo {
++  optional apollo.common.Header header = 1;
++  optional bool is_useable = 2 [default = false];
++  repeated apollo.common.Point3D edge_point = 3;
++  repeated apollo.common.Point3D edge_relative_point = 4;
++  optional double delta_s = 5 [default = 0.2];
++  optional double edge_length = 6;
++  optional bool is_smoother_succ = 7 [default = false];
++  optional bool is_cross_localization = 8 [default = false];
+ }
++
++message PerceptionAccurateDockInfo {
++  optional apollo.common.Header header = 1;
++  optional bool is_useable = 2 [default = false];
++  optional apollo.common.Point3D relative_position = 3;
++  repeated apollo.common.Point3D relative_path_position = 4;
++  optional double relative_heading = 5;
++}
+\ No newline at end of file
+diff --git a/modules/common_msgs/perception_msgs/traffic_light_detection.proto b/modules/common_msgs/perception_msgs/traffic_light_detection.proto
+index 58b4925..baa0df4 100644
+--- a/modules/common_msgs/perception_msgs/traffic_light_detection.proto
++++ b/modules/common_msgs/perception_msgs/traffic_light_detection.proto
+@@ -68,4 +68,5 @@ message TrafficLightDetection {
+     CAMERA_FRONT_WIDE = 3;
+   };
+   optional CameraID camera_id = 5;
++  optional string camera_name = 6;
+ }
+diff --git a/modules/common_msgs/planning_msgs/pad_msg.proto b/modules/common_msgs/planning_msgs/pad_msg.proto
+index c5f2374..ac7bd46 100644
+--- a/modules/common_msgs/planning_msgs/pad_msg.proto
++++ b/modules/common_msgs/planning_msgs/pad_msg.proto
+@@ -16,6 +16,10 @@ message PadMessage {
+     STOP = 4;
+     RESUME_CRUISE = 5;
+     CLEAR_PLANNING = 6;
++    // Enter mission model
++    ENTER_MISSION = 7;
++    // Exit mission model
++    EXIT_MISSION = 8;
+   };
+ 
+   // driving action
+diff --git a/modules/common_msgs/planning_msgs/planning.proto b/modules/common_msgs/planning_msgs/planning.proto
+index 95308a6..c4864a6 100644
+--- a/modules/common_msgs/planning_msgs/planning.proto
++++ b/modules/common_msgs/planning_msgs/planning.proto
+@@ -11,6 +11,22 @@ import "modules/common_msgs/map_msgs/map_id.proto";
+ import "modules/common_msgs/planning_msgs/decision.proto";
+ import "modules/common_msgs/planning_msgs/planning_internal.proto";
+ 
++message Point {
++  optional double x = 1;
++  optional double y = 2; 
++}
++
++message LocationPose {
++  //vehice location pose
++  optional Point vehice_location = 1;
++
++  // left width point of vehice location
++  optional Point left_lane_boundary_point = 2;
++
++  // right width SL point of vehice location
++  optional Point right_lane_boundary_point = 3;
++}
++
+ message EStop {
+   // is_estop == true when emergency stop is required
+   optional bool is_estop = 1;
+@@ -107,6 +123,8 @@ message ADCTrajectory {
+     SPEED_FALLBACK = 3;
+     PATH_REUSED = 4;
+     OPEN_SPACE = 5;
++    EDGE_FOLLOW = 6;
++    RELATIVE_CONTROL = 7;
+   }
+   optional TrajectoryType trajectory_type = 21 [default = UNKNOWN];
+ 
+@@ -118,6 +136,13 @@ message ADCTrajectory {
+   // complete dead end flag
+   optional bool car_in_dead_end = 24;
+ 
++  // vehicle location pose
++  optional LocationPose location_pose = 25;
++
++  // in RELATIVE_CONTROL trajectory type, if trajectory is collisioned with obstable
++  optional bool is_collision = 26 [default = false];
++
+   // output related to RSS
+   optional RSSInfo rss_info = 100;
++
+ }
+diff --git a/modules/common_msgs/prediction_msgs/prediction_obstacle.proto b/modules/common_msgs/prediction_msgs/prediction_obstacle.proto
+index a41cce9..0cd3db0 100644
+--- a/modules/common_msgs/prediction_msgs/prediction_obstacle.proto
++++ b/modules/common_msgs/prediction_msgs/prediction_obstacle.proto
+@@ -77,4 +77,7 @@ message PredictionObstacles {
+ 
+   // Scenario
+   optional Scenario scenario = 7;
++
++  // waste
++  repeated apollo.perception.PerceptionWaste perception_waste = 8;
+ }
+diff --git a/modules/common_msgs/sensor_msgs/BUILD b/modules/common_msgs/sensor_msgs/BUILD
+index 3183f75..fd9be42 100644
+--- a/modules/common_msgs/sensor_msgs/BUILD
++++ b/modules/common_msgs/sensor_msgs/BUILD
+@@ -60,6 +60,14 @@ proto_library(
+     ],
+ )
+ 
++proto_library(
++    name = "nano_radar_proto",
++    srcs = ["nano_radar.proto"],
++    deps = [
++        "//modules/common_msgs/basic_msgs:header_proto",
++    ],
++)
++
+ proto_library(
+     name = "smartereye_proto",
+     srcs = ["smartereye.proto"],
+diff --git a/modules/common_msgs/sensor_msgs/nano_radar.proto b/modules/common_msgs/sensor_msgs/nano_radar.proto
+new file mode 100755
+index 0000000..03f0e8a
+--- /dev/null
++++ b/modules/common_msgs/sensor_msgs/nano_radar.proto
+@@ -0,0 +1,146 @@
++syntax = "proto2";
++
++package apollo.drivers;
++
++import "modules/common_msgs/basic_msgs/header.proto";
++
++message NanoObjectListStatus_60A {
++  optional int32 nof_objects = 1 [default = 0];
++  optional int32 meas_counter = 2 [default = -1];
++  optional int32 interface_version = 3;
++}
++
++
++
++message NanoRadarState_201 {
++  enum OutputType {
++    OUTPUT_TYPE_NONE = 0;
++    OUTPUT_TYPE_OBJECTS = 1;
++    OUTPUT_TYPE_CLUSTERS = 2;
++    OUTPUT_TYPE_ERROR = 3;
++  }
++  
++  enum RcsThreshold {
++    RCS_THRESHOLD_STANDARD = 0;
++    RCS_THRESHOLD_HIGH_SENSITIVITY = 1;
++    RCS_THRESHOLD_ERROR = 2;
++  }
++  
++  optional uint32 max_distance = 1;
++  optional uint32 radar_power = 2;
++  optional OutputType output_type = 3;
++  optional RcsThreshold rcs_threshold = 4;
++  optional bool send_quality = 5;
++  optional bool send_ext_info = 6;
++}
++
++message NanoSoftwareVersion_700 {
++  optional uint32 soft_major_release = 1;
++  optional uint32 soft_minor_release = 2;
++  optional uint32 soft_patch_level = 3;
++}
++
++message NanoCollisionDetectionRegionState_402 {
++  //                x axis  ^
++  //                        | longitude_dist
++  //     P2(Long2,Lat2)     |
++  //        ----------------------------------
++  //        |               |                |
++  //        |               |                |
++  //        |               |                |
++  //        ----------------------------------
++  //                        |             P1(Long1,Lat1)
++  //                        |
++  //                        |         lateral_dist
++  //                        --------------------->
++  //                                        y axis
++  //        ooooooooooooo   //radar front surface max:50m x 50m
++  optional uint32 region_id = 1;
++  optional uint32 region_max_output_number = 2;
++  optional double point1_longitude = 3;
++  optional double point1_lateral = 4;
++  optional double point2_longitude = 5;
++  optional double point2_lateral = 6;
++  optional bool coordinates_valid = 7;
++  optional bool activation_valid = 8;
++}
++
++message NanoRadarObs {
++  //                x axis  ^
++  //                        | longitude_dist
++  //                        |
++  //                        |
++  //                        |
++  //                        |     lateral_dist
++  //                        |           y axis
++  //                        ----------------->
++  //        ooooooooooooo   //radar front surface 77GHz
++
++  optional apollo.common.Header header = 1;
++  optional bool clusterortrack = 2;  // 0 = track, 1 = cluster
++  optional int32 obstacle_id = 3;    // obstacle Id
++  // longitude distance to the radar; (+) = target far away the radar unit = m
++  optional double longitude_dist = 4;
++  // lateral distance to the radar; (+) = right; unit = m
++  optional double lateral_dist = 5;
++  // longitude velocity to the radar; (+) = forward; unit = m/s
++  optional double longitude_vel = 6;
++  // lateral velocity to the radar; (+) = right; unit = m/s
++  optional double lateral_vel = 7;
++  // obstacle Radar Cross-Section; unit = dBsm
++  optional double rcs = 8;
++  // 0 = moving, 1 = stationary, 2 = oncoming, 3 = stationary candidate
++  // 4 = unknown, 5 = crossing stationary, 6 = crossing moving, 7 = stopped
++  optional int32 dynprop = 9;
++  // longitude distance standard deviation to the radar; (+) = forward; unit = m
++  optional double longitude_dist_rms = 10;
++  // lateral distance standard deviation to the radar; (+) = left; unit = m
++  optional double lateral_dist_rms = 11;
++  // longitude velocity standard deviation to the radar; (+) = forward; unit =
++  // m/s
++  optional double longitude_vel_rms = 12;
++  // lateral velocity standard deviation to the radar; (+) = left; unit = m/s
++  optional double lateral_vel_rms = 13;
++  // obstacle probability of existence
++  optional double probexist = 14;
++
++  // The following is only valid for the track object message
++  // 0 = deleted, 1 = new, 2 = measured, 3 = predicted, 4 = deleted for, 5 = new
++  // from merge
++  optional int32 meas_state = 15;
++  // longitude acceleration to the radar; (+) = forward; unit = m/s2
++  optional double longitude_accel = 16;
++  // lateral acceleration to the radar; (+) = left; unit = m/s2
++  optional double lateral_accel = 17;
++  // orientation angle to the radar; (+) = counterclockwise; unit = degree
++  optional double oritation_angle = 18;
++  // longitude acceleration standard deviation to the radar; (+) = forward; unit
++  // = m/s2
++  optional double longitude_accel_rms = 19;
++  // lateral acceleration standard deviation to the radar; (+) = left; unit =
++  // m/s2
++  optional double lateral_accel_rms = 20;
++  // orientation angle standard deviation to the radar; (+) = counterclockwise;
++  // unit = degree
++  optional double oritation_angle_rms = 21;
++  optional double length = 22;  // obstacle length; unit = m
++  optional double width = 23;   // obstacle width; unit = m
++  // 0: point; 1: car; 2: truck; 3: pedestrian; 4: motorcycle; 5: bicycle; 6:
++  // wide; 7: unknown
++  optional int32 obstacle_class = 24;
++  // Object Range
++  optional double obstacle_range = 25;
++  // Object Velocity
++  optional double obstacle_vel = 26;
++  // Object Angle
++  optional double obstacle_angle = 27;
++}
++
++message NanoRadar {
++  optional apollo.common.Header header = 1;
++  repeated NanoRadarObs contiobs = 2;  // conti radar obstacle array
++  optional NanoRadarState_201 radar_state = 3;
++  optional NanoCollisionDetectionRegionState_402 radar_region_state = 4;
++  optional NanoObjectListStatus_60A object_list_status = 6;
++  optional NanoSoftwareVersion_700 software_version = 7;
++}
+diff --git a/modules/common_msgs/simulation_msgs/agent.proto b/modules/common_msgs/simulation_msgs/agent.proto
+index e17421f..e461f91 100644
+--- a/modules/common_msgs/simulation_msgs/agent.proto
++++ b/modules/common_msgs/simulation_msgs/agent.proto
+@@ -57,4 +57,21 @@ message AgentConfig {
+   optional bool avoid_rear_end_collision = 17 [default = true];
+   optional double rear_end_collision_distance = 18
+       [default = 3.0, deprecated = true];
++
++  // When an obstacle approaches the adc at a certain distance,
++  // it needs to decelerate.
++  message NearCar {
++    optional double distance = 1 [default = 20];
++    optional double acceleration = 2 [default = -2];
++    optional bool is_same_lane = 3 [default = false];
++    optional bool only_include_behind = 4 [default = true];
++  }
++  optional NearCar near_car = 19;
++
++  // Need to decelerate when an obstacle meets the crosswalk
++  message NearCrosswalk {
++    optional double distance = 1 [default = 15];
++    optional double acceleration = 2 [default = -1];
++  }
++  optional NearCrosswalk near_crosswalk = 22;
+ }
diff --git a/diffs/v10/cyber.patch b/diffs/v10/cyber.patch
new file mode 100644
index 0000000..b9ec4d8
--- /dev/null
+++ b/diffs/v10/cyber.patch
@@ -0,0 +1,19124 @@
+diff --git a/cyber/BUILD b/cyber/BUILD
+index 7f52f29..85ee119 100755
+--- a/cyber/BUILD
++++ b/cyber/BUILD
+@@ -62,7 +62,7 @@ apollo_cc_library(
+         "//cyber/transport:cyber_transport",
+         "@com_github_google_glog//:glog",
+         "@com_google_protobuf//:protobuf",
+-        "@fastrtps",
++        "@fastdds",
+     ],
+ )
+ 
+diff --git a/cyber/base/BUILD b/cyber/base/BUILD
+index 5d59d8d..d7d163f 100644
+--- a/cyber/base/BUILD
++++ b/cyber/base/BUILD
+@@ -1,11 +1,12 @@
+ load("//tools:cpplint.bzl", "cpplint")
+-load("//tools:apollo_package.bzl", "apollo_package", "apollo_cc_library", "apollo_cc_test")
++load("//tools:apollo_package.bzl", "apollo_cc_library", "apollo_cc_test", "apollo_package")
+ 
+ package(default_visibility = ["//visibility:public"])
+ 
+ apollo_cc_library(
+     name = "cyber_base",
+     hdrs = [
++        "arena_queue.h",
+         "atomic_hash_map.h",
+         "atomic_rw_lock.h",
+         "bounded_queue.h",
+@@ -13,6 +14,7 @@ apollo_cc_library(
+         "for_each.h",
+         "macros.h",
+         "object_pool.h",
++        "pthread_rw_lock.h",
+         "reentrant_rw_lock.h",
+         "rw_lock_guard.h",
+         "signal.h",
+@@ -97,4 +99,5 @@ apollo_cc_test(
+ )
+ 
+ apollo_package()
++
+ cpplint()
+diff --git a/cyber/base/arena_queue.h b/cyber/base/arena_queue.h
+new file mode 100644
+index 0000000..5abdb50
+--- /dev/null
++++ b/cyber/base/arena_queue.h
+@@ -0,0 +1,262 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#ifndef CYBER_BASE_ARENA_QUEUE_H_
++#define CYBER_BASE_ARENA_QUEUE_H_
++
++#include <unistd.h>
++
++#include <algorithm>
++#include <atomic>
++#include <cstdint>
++#include <cstdlib>
++#include <deque>
++#include <iostream>
++#include <memory>
++#include <utility>
++#include <vector>
++
++#include <google/protobuf/arena.h>
++
++#include "cyber/base/macros.h"
++#include "cyber/base/wait_strategy.h"
++
++namespace apollo {
++namespace cyber {
++namespace base {
++
++template <typename T>
++class ArenaQueue {
++ public:
++  using value_type = T;
++  using size_type = uint64_t;
++
++ public:
++  ArenaQueue() {}
++  ArenaQueue& operator=(const ArenaQueue& other) = delete;
++  ArenaQueue(const ArenaQueue& other) = delete;
++  ~ArenaQueue();
++  bool Init(uint64_t size);
++  bool Init(uint64_t size, google::protobuf::Arena* arena);
++
++  T* AddBack();
++  T* PopFront();
++  T* GetBack();
++  T* GetFront();
++
++  uint64_t Size();
++  bool Empty();
++  uint64_t Head() { return head_.load(); }
++  uint64_t Tail() { return tail_.load(); }
++  uint64_t Commit() { return commit_.load(); }
++  bool NextIndex(uint64_t& index) {
++    if (Empty()) {
++      return false;
++    }
++    if (arena_) {
++      if (GetIndex(index) < Tail() - 1) {
++        index = GetIndex(index + 1);
++        return true;
++      }
++      return false;
++    } else {
++      if (index < Size() - 1) {
++        index = index + 1;
++        return true;
++      }
++      return false;
++    }
++  }
++  bool GetHeadIndex(uint64_t& index) {
++    if (Empty()) {
++      return false;
++    }
++    if (arena_) {
++      index = GetIndex(head_ + 1);
++      return true;
++    } else {
++      index = 0;
++      return true;
++    }
++  }
++  bool GetTailIndex(uint64_t& index) {
++    if (Empty()) {
++      return false;
++    }
++    if (arena_) {
++      index = GetIndex(tail_ - 1);
++      return true;
++    } else {
++      index = Size() - 1;
++      return true;
++    }
++  }
++  bool GetEleByIndex(uint64_t i, T*& ptr) {
++    if (Empty()) {
++      return false;
++    }
++    if (arena_) {
++      ptr = pool_[GetIndex(i)];
++      return true;
++    } else {
++      if (i > Size() - 1) {
++        return false;
++      }
++      ptr = &normal_queue[i];
++      return true;
++    }
++  }
++  bool IsArenaEnable() { return arena_; }
++
++ private:
++  uint64_t GetIndex(uint64_t num);
++
++  alignas(CACHELINE_SIZE) std::atomic<uint64_t> head_ = {0};
++  alignas(CACHELINE_SIZE) std::atomic<uint64_t> tail_ = {1};
++  alignas(CACHELINE_SIZE) std::atomic<uint64_t> commit_ = {1};
++
++  uint64_t pool_size_ = 0;
++  std::vector<T*> pool_;
++  bool arena_;
++  std::deque<T> normal_queue;
++};
++
++template <typename T>
++ArenaQueue<T>::~ArenaQueue() {}
++
++template <typename T>
++inline bool ArenaQueue<T>::Init(uint64_t size) {
++  arena_ = false;
++  return true;
++}
++
++template <typename T>
++inline bool ArenaQueue<T>::Init(uint64_t size, google::protobuf::Arena* arena) {
++  pool_size_ = size + 2;
++  if (pool_.size() == pool_size_) {
++    return true;
++  }
++  pool_.clear();
++  for (uint64_t i = 0; i < pool_size_; ++i) {
++    pool_.push_back(google::protobuf::Arena::CreateMessage<T>(arena));
++  }
++  arena_ = true;
++  return true;
++}
++
++template <typename T>
++T* ArenaQueue<T>::GetBack() {
++  if (Empty()) {
++    return nullptr;
++  }
++  if (arena_) {
++    return pool_[GetIndex(tail_ - 1)];
++  } else {
++    return &normal_queue.back();
++  }
++}
++
++template <typename T>
++T* ArenaQueue<T>::GetFront() {
++  if (Empty()) {
++    return nullptr;
++  }
++  if (arena_) {
++    return pool_[GetIndex(head_ + 1)];
++  } else {
++    return &normal_queue.front();
++  }
++}
++
++template <typename T>
++T* ArenaQueue<T>::AddBack() {
++  if (arena_) {
++    uint64_t new_tail = 0;
++    uint64_t old_commit = 0;
++    uint64_t old_tail = tail_.load(std::memory_order_acquire);
++    do {
++      new_tail = old_tail + 1;
++      if (GetIndex(new_tail) ==
++          GetIndex(head_.load(std::memory_order_acquire))) {
++        return nullptr;
++      }
++    } while (!tail_.compare_exchange_weak(old_tail, new_tail,
++                                          std::memory_order_acq_rel,
++                                          std::memory_order_relaxed));
++    do {
++      old_commit = old_tail;
++    } while (cyber_unlikely(!commit_.compare_exchange_weak(
++        old_commit, new_tail, std::memory_order_acq_rel,
++        std::memory_order_relaxed)));
++    return pool_[GetIndex(old_tail)];
++  } else {
++    T instance;
++    normal_queue.push_back(instance);
++    return &normal_queue.back();
++  }
++}
++
++template <typename T>
++T* ArenaQueue<T>::PopFront() {
++  if (Empty()) {
++    return nullptr;
++  }
++  if (arena_) {
++    uint64_t new_head = 0;
++    uint64_t old_head = head_.load(std::memory_order_acquire);
++    do {
++      new_head = old_head + 1;
++      if (new_head == commit_.load(std::memory_order_acquire)) {
++        return nullptr;
++      }
++    } while (!head_.compare_exchange_weak(old_head, new_head,
++                                          std::memory_order_acq_rel,
++                                          std::memory_order_relaxed));
++    return pool_[GetIndex(new_head)];
++  } else {
++    normal_queue.pop_front();
++    return nullptr;
++  }
++}
++
++template <typename T>
++inline uint64_t ArenaQueue<T>::Size() {
++  if (arena_) {
++    return tail_ - head_ - 1;
++  } else {
++    return normal_queue.size();
++  }
++}
++
++template <typename T>
++inline bool ArenaQueue<T>::Empty() {
++  if (arena_) {
++    return Size() == 0;
++  } else {
++    return normal_queue.empty();
++  }
++}
++
++template <typename T>
++inline uint64_t ArenaQueue<T>::GetIndex(uint64_t num) {
++  return num - (num / pool_size_) * pool_size_;  // faster than %
++}
++
++}  // namespace base
++}  // namespace cyber
++}  // namespace apollo
++
++#endif  // CYBER_BASE_ARENA_QUEUE_H_
+diff --git a/cyber/base/macros.h b/cyber/base/macros.h
+index 7a58b94..96442a3 100644
+--- a/cyber/base/macros.h
++++ b/cyber/base/macros.h
+@@ -20,6 +20,8 @@
+ #include <cstdlib>
+ #include <new>
+ 
++#define eprosima eprosima_wrap
++
+ #if __GNUC__ >= 3
+ #define cyber_likely(x) (__builtin_expect((x), 1))
+ #define cyber_unlikely(x) (__builtin_expect((x), 0))
+diff --git a/cyber/base/pthread_rw_lock.h b/cyber/base/pthread_rw_lock.h
+new file mode 100644
+index 0000000..bb2c6b0
+--- /dev/null
++++ b/cyber/base/pthread_rw_lock.h
+@@ -0,0 +1,73 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++#ifndef CYBER_BASE_PTHREAD_RW_LOCK_H_
++#define CYBER_BASE_PTHREAD_RW_LOCK_H_
++
++#include <thread>
++
++#include "cyber/base/rw_lock_guard.h"
++
++namespace apollo {
++namespace cyber {
++namespace base {
++
++class PthreadRWLock {
++  friend class ReadLockGuard<PthreadRWLock>;
++  friend class WriteLockGuard<PthreadRWLock>;
++
++ public:
++  explicit PthreadRWLock(bool writer) {
++    pthread_rwlockattr_init(&rwlock_attr_);
++    if (writer) {
++      pthread_rwlockattr_setkind_np(
++          &rwlock_attr_, PTHREAD_RWLOCK_PREFER_WRITER_NONRECURSIVE_NP);
++    }
++    pthread_rwlockattr_setpshared(&rwlock_attr_, PTHREAD_PROCESS_SHARED);
++    pthread_rwlock_init(&rwlock_, &rwlock_attr_);
++  }
++  PthreadRWLock() : PthreadRWLock(true) {}
++
++  ~PthreadRWLock() {
++    pthread_rwlock_destroy(&rwlock_);
++    pthread_rwlockattr_destroy(&rwlock_attr_);
++  }
++
++  void ReadLock();
++  void ReadUnlock();
++
++  void WriteLock();
++  void WriteUnlock();
++
++ private:
++  PthreadRWLock(const PthreadRWLock& other) = delete;
++  PthreadRWLock& operator=(const PthreadRWLock& other) = delete;
++  pthread_rwlock_t rwlock_;
++  pthread_rwlockattr_t rwlock_attr_;
++};
++
++inline void PthreadRWLock::ReadLock() { pthread_rwlock_rdlock(&rwlock_); }
++
++inline void PthreadRWLock::ReadUnlock() { pthread_rwlock_unlock(&rwlock_); }
++
++inline void PthreadRWLock::WriteLock() { pthread_rwlock_wrlock(&rwlock_); }
++
++inline void PthreadRWLock::WriteUnlock() { pthread_rwlock_unlock(&rwlock_); }
++
++}  // namespace base
++}  // namespace cyber
++}  // namespace apollo
++
++#endif
+diff --git a/cyber/benchmark/BUILD b/cyber/benchmark/BUILD
+new file mode 100644
+index 0000000..5090dc6
+--- /dev/null
++++ b/cyber/benchmark/BUILD
+@@ -0,0 +1,51 @@
++load("//tools:cpplint.bzl", "cpplint")
++load("//tools/proto:proto.bzl", "proto_library", "apollo_py_binary")
++load("//tools:apollo_package.bzl", "apollo_package", "apollo_cc_binary")
++
++package(default_visibility = ["//visibility:public"])
++
++apollo_py_binary(
++    name = "cyber_benchmark",
++    srcs = ["cyber_benchmark.py"],
++)
++
++apollo_cc_binary(
++    name = "cyber_benchmark_reader",
++    srcs = [
++        "cyber_benchmark_reader.cc",
++    ],
++    linkopts = [
++        "-pthread",
++        "-lprofiler",
++        "-ltcmalloc",
++    ],
++    deps = [
++        "//cyber",
++        ":benchmark_msg_proto",
++    ],
++)
++
++apollo_cc_binary(
++    name = "cyber_benchmark_writer",
++    srcs = [
++        "cyber_benchmark_writer.cc",
++    ],
++    linkopts = [
++        "-pthread",
++        "-lprofiler",
++        "-ltcmalloc",
++    ],
++    deps = [
++        "//cyber",
++        "//cyber/time:cyber_time",
++        ":benchmark_msg_proto",
++    ],
++)
++
++proto_library(
++    name = "benchmark_msg_proto",
++    srcs = ["benchmark_msg.proto"],
++)
++
++apollo_package()
++cpplint()
+\ No newline at end of file
+diff --git a/cyber/benchmark/benchmark_msg.proto b/cyber/benchmark/benchmark_msg.proto
+new file mode 100644
+index 0000000..6757684
+--- /dev/null
++++ b/cyber/benchmark/benchmark_msg.proto
+@@ -0,0 +1,8 @@
++syntax = "proto2";
++
++package apollo.cyber.benchmark;
++
++message BenchmarkMsg {
++  repeated uint32 data = 1;
++  optional bytes data_bytes = 2;
++}
+\ No newline at end of file
+diff --git a/cyber/benchmark/cyber_benchmark.py b/cyber/benchmark/cyber_benchmark.py
+new file mode 100644
+index 0000000..7f676d3
+--- /dev/null
++++ b/cyber/benchmark/cyber_benchmark.py
+@@ -0,0 +1,337 @@
++"""
++cyber benchmark
++"""
++#!/usr/bin/env python3
++# ****************************************************************************
++# Copyright 2024 The Apollo Authors. All Rights Reserved.
++#
++# Licensed under the Apache License, Version 2.0 (the "License");
++# you may not use this file except in compliance with the License.
++#  You may obtain a copy of the License at
++#
++# http://www.apache.org/licenses/LICENSE-2.0
++#
++# Unless required by applicable law or agreed to in writing, software
++# distributed under the License is distributed on an "AS IS" BASIS,
++# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++# See the License for the specific language governing permissions and
++# limitations under the License.
++# ****************************************************************************
++
++import os
++import re
++import sys
++import json
++import time
++import numpy as np
++import argparse
++import atexit
++import signal
++import logging
++import itertools
++import subprocess
++import threading
++from watchdog.observers import Observer
++from watchdog.events import FileSystemEventHandler
++
++
++"""
++colorful logging
++"""
++BLACK, RED, GREEN, YELLOW, BLUE, MAGENTA, CYAN, WHITE = list(range(8))
++RESET_SEQ = "\033[0m"
++COLOR_SEQ = "\033[1;%dm"
++BOLD_SEQ = "\033[1m"
++
++COLORS = {
++    'INFO': GREEN,
++    'WARNING': YELLOW,
++    'DEBUG': BLUE,
++    'ERROR': RED,
++    'CRITICAL': YELLOW
++}
++
++logger = logging.Logger(__name__)
++reader_nums = -1
++
++class Benchmark(FileSystemEventHandler):
++    """
++    benchmark class definition
++    """
++    def __init__(self, params):
++        self.params = params
++        self.directory_to_watch = os.path.join(os.environ['APOLLO_ENV_WORKROOT'], "dumps")
++        self.preformance_to_write = os.path.join(os.environ['APOLLO_ENV_WORKROOT'], "data")
++        self.performances = {}
++        self.performance_key = None
++        self.debounce_period = 1
++        self.last_sample_time = 0
++        self.base_key = {
++            "cyber_benchmark_cpu_usage_latency": "cpu_usage",
++            "cyber_benchmark_mem_resident_usage_latency": "mem_usage",
++        }
++        self.latency_key = {}
++        self.data_fd = open(
++            "transport_performance_{}".format(int(time.time())), "w+")
++
++    def on_any_event(self, event):
++        """
++        monitor the files associated with performance
++        """
++        if event.is_directory:
++            return None
++
++        elif event.event_type == 'created' or event.event_type == 'modified':
++            if "cyber_benchmark_reader" not in event.src_path.split('/')[-1] or \
++                    not event.src_path.split('/')[-1].endswith("latency.data"):
++                return None
++            if self.performance_key is None:
++                return None
++
++            current = time.time()
++            if current - self.last_sample_time < 1:
++                return None
++
++            self.last_sample_time = current
++            
++            latancy_data_path = event.src_path
++            try:
++                with open(latancy_data_path, "r") as f:
++                    for l in f.readlines():
++                        k, v = l.strip().split(" : ")[0], l.strip().split(" : ")[1]
++                        if k in self.latency_key:
++                            if self.latency_key[k] not in self.performances[self.performance_key]:
++                                self.performances[self.performance_key][self.latency_key[k]] = []  
++                            self.performances[
++                                self.performance_key][self.latency_key[k]].append(int(v))
++            except:
++                return None
++    
++    def parse_result(self):
++        """
++        get the final results of performance
++        """
++        global reader_nums
++        for i in range(reader_nums):
++            data_path = os.path.join(
++                self.directory_to_watch, f"cyber_benchmark_reader_{i}.data")
++            recv_total = -1
++            send_total = -1
++            with open(data_path, "r") as f:
++                for l in f.readlines():
++                    k, v = l.strip().strip().split(" : ")[0], l.strip().split(" : ")[1]
++                    if k == f"cyber_benchmark_cyber_benchmark_reader_{i}_apollo_cyber_benchmark_recv_msgs_nums":
++                        if i == 0:
++                            recv_total = int(v)
++                        else:
++                            recv_total += int(v)
++                    elif k == f"cyber_benchmark_cyber_benchmark_reader_{i}_apollo_cyber_benchmark_total_msgs_nums":
++                        if i == 0:
++                            send_total = int(v)
++                        else:
++                            send_total += int(v)
++            if recv_total == -1 or send_total == -1:
++                logger.error("parse cyber_benchmark_reader.data result failed")
++                sys.exit(3)
++        
++        writer_data_path = os.path.join(
++            self.directory_to_watch, "cyber_benchmark_writer.data")
++        test_time = -1
++        test_message_size = -1
++        with open(writer_data_path, "r") as f:
++            for l in f.readlines():
++                k, v = l.strip().strip().split(" : ")[0], l.strip().split(" : ")[1]
++                if k == "cyber_benchmark_cyber_benchmark_writer_test_time":
++                    test_time = float(v)
++                elif k == "cyber_benchmark_cyber_benchmark_writer_message_size":
++                    test_message_size = int(v)
++        if test_time == -1 or test_message_size == -1:
++            logger.error("parse cyber_benchmark_writer.data result failed")
++            sys.exit(3)
++
++        test_message_size = test_message_size / 1024 / 1024 # in MB
++
++        msg_lose_rate = round((send_total - recv_total) / send_total * 100, 2)
++        bandwidth = round(recv_total * test_message_size / test_time * 8, 2) # mbps
++
++        ret_str = f"{self.performance_key}:\n"
++        for k in self.performances[self.performance_key]:
++            self.performances[self.performance_key][k].remove(
++                max(self.performances[self.performance_key][k])) 
++            self.performances[self.performance_key][k].remove(
++                min(self.performances[self.performance_key][k]))
++            self.performances[self.performance_key][k] = list(
++                filter(lambda x: x != 0, self.performances[self.performance_key][k]))
++            if "cpu" in k:
++                self.performances[self.performance_key][k] = list(
++                    filter(lambda x: x < 120, self.performances[self.performance_key][k])) 
++            pavg = round(np.mean(self.performances[self.performance_key][k]), 2)
++            p99 = round(np.percentile(self.performances[self.performance_key][k], 99), 2)
++            p95 = round(np.percentile(self.performances[self.performance_key][k], 95), 2)
++            p50 = round(np.percentile(self.performances[self.performance_key][k], 50), 2)
++            pmin = round(np.min(self.performances[self.performance_key][k]), 2)
++            pmax = round(np.max(self.performances[self.performance_key][k]), 2)
++            ret_str += f"{k}: \n"
++            ret_str += f"  avg: {pavg}, pmin: {pmin}, pmax: {pmax}, p50: {p50}, p95: {p95}, p99: {p99}\n"
++
++        ret_str += f"bandwidth: {bandwidth} mbps\n"
++        ret_str += f"msg_lose_rate: {msg_lose_rate}%"
++        print(ret_str)
++        self.performances[self.performance_key]["test_message_size"] = test_message_size
++        self.performances[self.performance_key]["test_time"] = test_time
++
++    def save_data(self):
++        """
++        record all performance data
++        """
++        self.data_fd.write(
++            json.dumps(self.performances[self.performance_key]))
++        self.data_fd.flush()
++
++    def run(self):
++        """
++        run the performance test
++        """
++        global reader_nums
++        transport_data_type = []
++        if self.params.transport_type == 0 or \
++                self.params.transport_type == 1:
++            transport_data_type = [self.params.transport_type]
++        else:
++            transport_data_type = [0, 1]
++
++        cartesian_product = list(itertools.product(self.params.data_size,
++            self.params.reader_nums, self.params.frequency, transport_data_type))
++
++        for item in cartesian_product:
++            ds = item[0]
++            rn = item[1]
++            f = item[2]
++            dt = item[3]
++
++            reader_nums = rn
++
++            for k in self.base_key:
++                self.latency_key[k] = self.base_key[k]
++            for i in range(rn):
++                self.latency_key[
++                    f"cyber_benchmark_cyber_benchmark_reader_{i}_apollo_cyber_benchmark_cyber_latency"
++                ] = "cyber_latency"
++                self.latency_key[
++                    f"cyber_benchmark_cyber_benchmark_reader_{i}_apollo_cyber_benchmark_tran_latency"
++                ] = "cyber_tran_latency" 
++
++            if self.params.best_effords:
++                qos = 1
++            else:
++                qos = 0
++            self.performance_key = \
++                f"data-size:{ds}/reader-nums:{rn}/frequency:{f}/data_type:{dt}/qos:{qos}"
++            self.performances[self.performance_key] = {}
++            print(f"\nrunning test with {self.performance_key}")
++            self.readers = []
++            for i in range(rn):
++                try:
++                    reader_args_list = [
++                        "cyber_benchmark_reader", 
++                        "-n", f"{i}"]
++                    reader = subprocess.Popen(reader_args_list, stdout=subprocess.DEVNULL,
++                                                        stderr=subprocess.DEVNULL)
++                except Exception as err:
++                    logger.error('Subprocess Popen exception: ' + str(err))
++                    sys.exit(2)
++                else:
++                    if reader.pid == 0 or reader.returncode is not None:
++                        logger.error('Start process cyber_benchmark_reader failed.')
++                        sys.exit(2)
++                    self.readers.append(reader)
++            time.sleep(3)
++            try:
++                writer_args_list = [
++                    "cyber_benchmark_writer", "-s", f"{ds}",
++                    "-t", f"{f}", "-T", f"{self.params.time}",
++                    "-d", f"{dt}", "-q", f"{qos}"]
++                ret = subprocess.run(writer_args_list, stdout=subprocess.DEVNULL,
++                                        stderr=subprocess.DEVNULL)
++            except Exception as err:
++                logger.error('Subprocess run writer exception: ' + str(err))
++                sys.exit(2)
++            else:
++                if ret.returncode != 0:
++                    logger.error('Run process cyber_benchmark_writer failed.')
++                    sys.exit(2)
++            time.sleep(3)
++            for reader in self.readers:
++                reader.kill()
++            self.parse_result()
++            self.save_data()
++
++
++def param_parse(params):
++    """
++    parse user parameters
++    """
++    pattern = re.compile(r'^\d+(\.\d+)?[kKmMbB]$')
++    for i in range(len(params.data_size)):
++        param = params.data_size[i]
++        if not pattern.match(param):
++            logger.error(f"data size {param} is invalid")
++        params.data_size[i] = \
++            param[: len(params.data_size[i]) - 1] + param[-1].upper()
++    for i in range(len(params.reader_nums)):
++        try:
++            param = int(params.reader_nums[i])
++        except:
++            logger.error(
++                f"reader nums {params.reader_nums[i]} is invalid")
++        params.reader_nums[i] = param
++    for i in range(len(params.frequency)):
++        try:
++            param = int(params.frequency[i])
++        except:
++            logger.error(
++                f"frequency {params.frequency[i]} is invalid")
++        params.frequency[i] = param 
++    return params
++        
++
++def main():
++    """
++    entry
++    """
++    parser = argparse.ArgumentParser(description='cyber benchmark')
++    parser.add_argument(
++        '-s', '--data_size', nargs='*', metavar='*',
++        default=['16B', '1K', '64K', '256K', '1M', '5M', '10M'],
++        type=str.lstrip, help="transport data size, default is 16B - 10M"
++    )
++    parser.add_argument(
++        '-T', '--transport_type', type=int, default=0,
++        help='transport data type, 0 means bytes, 1 means repeted field, while others mean both'
++    )
++    parser.add_argument(
++        '-b', '--best_effords', action='store_true', default=False,
++        help='test the performance using qos policy best effords'
++    )
++    parser.add_argument(
++        '-r', '--reader_nums', nargs='*', metavar='*', default=[1, 2, 5, 10],
++        help='desribe how many readers receive the message'
++    )
++    parser.add_argument(
++        '-f', '--frequency', nargs='*', metavar='*', default=[10, 20, 50, 100, -1],
++        help='desribe the frequency of message sended, e.g. 10 means 10 hz'
++    )
++    parser.add_argument(
++        '-t', '--time', type=int, default=60,
++        help='desribe the time of performance test, default is 60s'
++    )
++    params = param_parse(parser.parse_args(sys.argv[1:]))
++    benchmark = Benchmark(params)
++    observer = Observer()
++    
++    observer.schedule(benchmark, benchmark.directory_to_watch)
++    observer.start()
++    benchmark.run()
++
++if __name__ == "__main__":
++    main()
+\ No newline at end of file
+diff --git a/cyber/benchmark/cyber_benchmark_reader.cc b/cyber/benchmark/cyber_benchmark_reader.cc
+new file mode 100644
+index 0000000..a23fb2f
+--- /dev/null
++++ b/cyber/benchmark/cyber_benchmark_reader.cc
+@@ -0,0 +1,179 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#include <getopt.h>
++#include <libgen.h>
++#include <string>
++#include <vector>
++
++#include "cyber/benchmark/benchmark_msg.pb.h"
++#include "cyber/cyber.h"
++
++#if __has_include("gperftools/profiler.h")
++#include "gperftools/heap-profiler.h"
++#include "gperftools/malloc_extension.h"
++#include "gperftools/profiler.h"
++#endif
++
++using apollo::cyber::benchmark::BenchmarkMsg;
++
++std::string BINARY_NAME = "cyber_benchmark_reader";  // NOLINT
++
++int nums_of_reader = 1;
++bool enable_cpuprofile = false;
++bool enable_heapprofile = false;
++std::string profile_filename = "cyber_benchmark_reader_cpu.prof";      // NOLINT
++std::string heapprofile_filename = "cyber_benchmark_reader_mem.prof";  // NOLINT
++
++void DisplayUsage() {
++  AINFO << "Usage: \n    " << BINARY_NAME << " [OPTION]...\n"
++        << "Description: \n"
++        << "    -h, --help: help information \n"
++        << "    -n, --nums_of_reader=nums_of_reader: numbers of reader, "
++           "default value is 1\n"
++        << "    -c, --cpuprofile: enable gperftools cpu profile\n"
++        << "    -o, --profile_filename=filename: the filename to dump the "
++           "profile to, default value is cyber_benchmark_writer_cpu.prof.  "
++           "Only work with -c option\n"
++        << "    -H, --heapprofile: enable gperftools heap profile\n"
++        << "    -O, --heapprofile_filename=filename: the filename "
++           " to dump the profile to, default value is "
++           "cyber_benchmark_writer_mem.prof. Only work with -H option\n"
++        << "Example:\n"
++        << "    " << BINARY_NAME << " -h\n"
++        << "    " << BINARY_NAME << " -n 1\n"
++        << "    " << BINARY_NAME << " -n 10 -c -H ";
++}
++
++void GetOptions(const int argc, char* const argv[]) {
++  opterr = 0;  // extern int opterr
++  int long_index = 0;
++  const std::string short_opts = "hn:co:HO:";
++  static const struct option long_opts[] = {
++      {"help", no_argument, nullptr, 'h'},
++      {"nums_of_reader", required_argument, nullptr, 'n'},
++      {"cpuprofile", no_argument, nullptr, 'c'},
++      {"profile_filename", required_argument, nullptr, 'o'},
++      {"heapprofile", no_argument, nullptr, 'H'},
++      {"heapprofile_filename", required_argument, nullptr, 'O'},
++      {NULL, no_argument, nullptr, 0}};
++
++  // log command for info
++  std::string cmd("");
++  for (int i = 0; i < argc; ++i) {
++    cmd += argv[i];
++    cmd += " ";
++  }
++  AINFO << "command: " << cmd;
++
++  if (1 == argc) {
++    DisplayUsage();
++    exit(0);
++  }
++
++  do {
++    int opt =
++        getopt_long(argc, argv, short_opts.c_str(), long_opts, &long_index);
++    if (opt == -1) {
++      break;
++    }
++    switch (opt) {
++      case 'n':
++        nums_of_reader = std::stoi(std::string(optarg));
++        if (nums_of_reader < 0) {
++          AERROR << "Invalid numbers of reader. It should be grater than 0";
++          exit(-1);
++        }
++        break;
++      case 'c':
++#ifndef BASE_PROFILER_H_
++        AWARN << "gperftools not installed, ignore perf parameters";
++#endif
++        enable_cpuprofile = true;
++        break;
++      case 'o':
++        profile_filename = std::string(optarg);
++        break;
++      case 'H':
++#ifndef BASE_PROFILER_H_
++        AWARN << "gperftools not installed, ignore perf parameters";
++#endif
++        enable_heapprofile = true;
++        break;
++      case 'O':
++        heapprofile_filename = std::string(optarg);
++        break;
++      case 'h':
++        DisplayUsage();
++        exit(0);
++      default:
++        break;
++    }
++  } while (true);
++
++  if (optind < argc) {
++    AINFO << "Found non-option ARGV-element \"" << argv[optind++] << "\"";
++    DisplayUsage();
++    exit(1);
++  }
++}
++
++int main(int argc, char** argv) {
++  GetOptions(argc, argv);
++  google::SetCommandLineOption("bvar_dump_interval", "1");
++  apollo::cyber::Init(argv[0],
++                      BINARY_NAME + "_" + std::to_string(nums_of_reader));
++
++  apollo::cyber::ReaderConfig reader_config;
++  reader_config.channel_name = "/apollo/cyber/benchmark";
++  reader_config.qos_profile.set_depth(10);
++
++  std::vector<std::shared_ptr<apollo::cyber::Reader<BenchmarkMsg>>> vec;
++
++  // for (int i = 0; i < nums_of_reader; i++) {
++  std::string node_name = BINARY_NAME + "-" + std::to_string(nums_of_reader);
++  auto node = apollo::cyber::CreateNode(node_name);
++  vec.push_back(std::move(node->CreateReader<BenchmarkMsg>(
++      reader_config, [](const std::shared_ptr<BenchmarkMsg> m) {})));
++  // }
++
++#ifndef NO_TCMALLOC
++#ifdef BASE_PROFILER_H_
++  if (enable_cpuprofile) {
++    ProfilerStart(profile_filename.c_str());
++  }
++  if (enable_heapprofile) {
++    HeapProfilerStart(heapprofile_filename.c_str());
++  }
++#endif
++#endif
++
++  apollo::cyber::WaitForShutdown();
++
++#ifndef NO_TCMALLOC
++#ifdef BASE_PROFILER_H_
++  if (enable_cpuprofile) {
++    ProfilerStop();
++  }
++  if (enable_heapprofile) {
++    HeapProfilerDump("Befor shutdown");
++    HeapProfilerStop();
++  }
++#endif
++#endif
++
++  return 0;
++}
+diff --git a/cyber/benchmark/cyber_benchmark_writer.cc b/cyber/benchmark/cyber_benchmark_writer.cc
+new file mode 100644
+index 0000000..78b19ca
+--- /dev/null
++++ b/cyber/benchmark/cyber_benchmark_writer.cc
+@@ -0,0 +1,362 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#include <getopt.h>
++#include <libgen.h>
++#include <memory>
++#include <string>
++#include <vector>
++
++#include "cyber/benchmark/benchmark_msg.pb.h"
++#include "cyber/cyber.h"
++#include "cyber/time/duration.h"
++#include "cyber/time/time.h"
++
++#if __has_include("gperftools/profiler.h")
++#include "gperftools/heap-profiler.h"
++#include "gperftools/malloc_extension.h"
++#include "gperftools/profiler.h"
++#endif
++
++std::string BINARY_NAME = "cyber_benchmark_writer";  // NOLINT
++
++int message_size = -1;
++int transport_freq = -1;
++int qos_policy = 0;
++int data_type = 0;
++int running_time = 10;
++bool enable_cpuprofile = false;
++bool enable_heapprofile = false;
++std::string profile_filename = "cyber_benchmark_writer_cpu.prof";      // NOLINT
++std::string heapprofile_filename = "cyber_benchmark_writer_mem.prof";  // NOLINT
++
++void DisplayUsage() {
++  AINFO << "Usage: \n    " << BINARY_NAME << " [OPTION]...\n"
++        << "Description: \n"
++        << "    -h, --help: help information \n"
++        << "    -s, --message_size=message_size: transport message size\n"
++        << "    -t, --transport_freq=transmission_frequency: transmission "
++           "frequency\n"  // NOLINT
++        << "    -q, --qos_policy=qos_reliable_policy: set qos reliable policy, "
++           "0 is Reliable, 1 is Best effort, default value is 0\n"
++        << "    -d, --data_type=data_type: transport data type, "
++           "0 is bytes, 1 is repeated field, default value is 0\n"
++        << "    -T, --time=time: running time, default value is 10 seconds\n"
++        << "    -c, --cpuprofile: enable gperftools cpu profile\n"
++        << "    -o, --profile_filename=filename: the filename to dump the "
++           "profile to, default value is cyber_benchmark_writer_cpu.prof. Only "
++           "work "  // NOLINT
++           "with -c option\n"
++        << "    -H, --heapprofile: enable gperftools heap profile\n"
++        << "    -O, --heapprofile_filename=filename: the filename to dump the "
++           "profile to, default value is cyber_benchmark_writer_mem.prof. Only "
++           "work "  // NOLINT
++           "with -H option\n"
++        << "Example:\n"
++        << "    " << BINARY_NAME << " -h\n"
++        << "    " << BINARY_NAME << " -s 64K -t 10\n"
++        << "    " << BINARY_NAME << " -s 64K -t 10 -c -H ";
++}
++
++void GetOptions(const int argc, char* const argv[]) {
++  opterr = 0;  // extern int opterr
++  int long_index = 0;
++  const std::string short_opts = "hs:t:q:d:T:co:HO:";
++  static const struct option long_opts[] = {
++      {"help", no_argument, nullptr, 'h'},
++      {"message_size", required_argument, nullptr, 's'},
++      {"transport_freq", required_argument, nullptr, 't'},
++      {"qos_policy", required_argument, nullptr, 'q'},
++      {"data_type", required_argument, nullptr, 'd'},
++      {"time", required_argument, nullptr, 'T'},
++      {"cpuprofile", no_argument, nullptr, 'c'},
++      {"profile_filename", required_argument, nullptr, 'o'},
++      {"heapprofile", no_argument, nullptr, 'H'},
++      {"heapprofile_filename", required_argument, nullptr, 'O'},
++      {NULL, no_argument, nullptr, 0}};
++
++  // log command for info
++  std::string cmd("");
++  for (int i = 0; i < argc; ++i) {
++    cmd += argv[i];
++    cmd += " ";
++  }
++  AINFO << "command: " << cmd;
++
++  if (1 == argc) {
++    DisplayUsage();
++    exit(0);
++  }
++
++  do {
++    int opt =
++        getopt_long(argc, argv, short_opts.c_str(), long_opts, &long_index);
++    if (opt == -1) {
++      break;
++    }
++    int base_size = 1;
++    std::string arg;
++    switch (opt) {
++      case 's':
++        arg = std::string(optarg);
++        switch (arg[arg.length() - 1]) {
++          case 'B':
++            base_size = 1;
++            break;
++          case 'K':
++            base_size = 1024;
++            break;
++          case 'M':
++            base_size = 1024 * 1024;
++            break;
++          default:
++            AERROR << "Invalid identifier. It should be 'K' or 'M' or 'B'";
++            exit(-1);
++        }
++        message_size = std::stoi(arg.substr(0, arg.length() - 1)) * base_size;
++        if (message_size < 0 || message_size % 4 != 0) {
++          AERROR << "Invalid message size.";
++          exit(-1);
++        }
++        break;
++      case 't':
++        transport_freq = std::stoi(std::string(optarg));
++        break;
++      case 'T':
++        running_time = std::stoi(std::string(optarg));
++        if (running_time < 0) {
++          AERROR << "Invalid running time. It should greater than 0";
++          exit(-1);
++        }
++        break;
++      case 'q':
++        qos_policy = std::stoi(std::string(optarg));
++        if (qos_policy != 0 && qos_policy != 1) {
++          AERROR << "Invalid qos_policy. It should be 0 or 1";
++          exit(-1);
++        }
++        break;
++      case 'd':
++        data_type = std::stoi(std::string(optarg));
++        if (data_type != 0 && data_type != 1) {
++          AERROR << "Invalid data_type. It should be 0 or 1";
++          exit(-1);
++        }
++        break;
++      case 'c':
++#ifndef BASE_PROFILER_H_
++        AWARN << "gperftools not installed, ignore perf parameters";
++#endif
++        enable_cpuprofile = true;
++        break;
++      case 'o':
++        profile_filename = std::string(optarg);
++        break;
++      case 'H':
++#ifndef BASE_PROFILER_H_
++        AWARN << "gperftools not installed, ignore perf parameters";
++#endif
++        enable_heapprofile = true;
++        break;
++      case 'O':
++        heapprofile_filename = std::string(optarg);
++        break;
++      case 'h':
++        DisplayUsage();
++        exit(0);
++      default:
++        break;
++    }
++  } while (true);
++
++  if (optind < argc) {
++    AINFO << "Found non-option ARGV-element \"" << argv[optind++] << "\"";
++    DisplayUsage();
++    exit(1);
++  }
++
++  if (message_size == -1) {
++    AINFO << "-s parameters must be specified";
++    DisplayUsage();
++    exit(1);
++  }
++}
++
++int main(int argc, char** argv) {
++  GetOptions(argc, argv);
++  google::SetCommandLineOption("bvar_dump_interval", "1");
++
++  apollo::cyber::Init(argv[0], BINARY_NAME);
++
++  auto node = apollo::cyber::CreateNode(BINARY_NAME);
++  auto test_time =
++      std::make_shared<::bvar::Status<double>>(BINARY_NAME + "-test-time", 0);
++  auto test_message_size = std::make_shared<::bvar::Status<uint64_t>>(
++      BINARY_NAME + "-message-size", 0);
++  apollo::cyber::proto::RoleAttributes attrs;
++  attrs.set_channel_name("/apollo/cyber/benchmark");
++  auto qos = attrs.mutable_qos_profile();
++  qos->set_depth(10);
++
++  if (qos_policy == 1) {
++    qos->set_reliability(
++        apollo::cyber::proto::QosReliabilityPolicy::RELIABILITY_BEST_EFFORT);
++  } else {
++    qos->set_reliability(
++        apollo::cyber::proto::QosReliabilityPolicy::RELIABILITY_RELIABLE);
++  }
++  auto writer =
++      node->CreateWriter<apollo::cyber::benchmark::BenchmarkMsg>(attrs);
++
++  // sleep a while for initialization, aboout 2 seconds
++  apollo::cyber::Rate rate_init(0.5);
++
++  apollo::cyber::Rate rate_ctl(static_cast<float>(transport_freq));
++
++  rate_init.Sleep();
++
++  uint64_t send_msg_total = transport_freq * running_time;
++
++  // std::vector<uint32_t> trans_vec;
++  // int num_of_instance = message_size / 4;
++  // for (int i = 0; i < num_of_instance; i++) {
++  //   trans_vec.push_back(rand());
++  // }
++
++  // char* data = (char*)malloc(message_size);
++  // for (int i = 0; i < num_of_instance; i++) {
++  //   *(uint32_t*)(data + i * 4) = rand();
++  // }
++
++  // if (data_type == 0) {
++  //   trans_unit->set_data_bytes(data, message_size);
++  // } else {
++  //   for (int i = 0; i < num_of_instance; i++) {
++  //     trans_unit->add_data(trans_vec[i]);
++  //   }
++  // }
++  // free(data);
++
++  int send_msg = 0;
++
++#ifndef NO_TCMALLOC
++#ifdef BASE_PROFILER_H_
++  if (enable_cpuprofile) {
++    ProfilerStart(profile_filename.c_str());
++  }
++  if (enable_heapprofile) {
++    HeapProfilerStart(heapprofile_filename.c_str());
++  }
++#endif
++#endif
++
++  std::vector<uint32_t> trans_vec;
++  int num_of_instance = message_size / 4;
++  for (int i = 0; i < num_of_instance; i++) {
++    trans_vec.push_back(rand());  // NOLINT
++  }
++
++  char* data = (char*)malloc(message_size);  // NOLINT
++
++  if (transport_freq > 0) {
++    auto start_time = apollo::cyber::Time::Now();
++    while (send_msg < send_msg_total) {
++      auto trans_unit = writer->AcquireMessage();
++      int base = rand();  // NOLINT
++
++      for (int i = 0; i < num_of_instance; i++) {
++        trans_vec[i] = base * i;
++      }
++
++      for (int i = 0; i < num_of_instance; i++) {
++        *(uint32_t*)(data + i * 4) = base * i;  // NOLINT
++      }
++
++      if (data_type == 0) {
++        trans_unit->set_data_bytes(data, message_size);
++      } else {
++        for (int i = 0; i < num_of_instance; i++) {
++          trans_unit->add_data(trans_vec[i]);
++        }
++      }
++
++      writer->Write(trans_unit);
++      ++send_msg;
++
++      rate_ctl.Sleep();
++    }
++    auto end_time = apollo::cyber::Time::Now();
++    test_time->set_value((end_time - start_time).ToSecond());
++  } else {
++    auto start_time = apollo::cyber::Time::Now();
++    auto current = start_time;
++    auto endtime = apollo::cyber::Time::Now() +
++                   apollo::cyber::Duration(static_cast<double>(running_time));
++    while (current < endtime) {
++      auto trans_unit = writer->AcquireMessage();
++      int base = rand();  // NOLINT
++
++      for (int i = 0; i < num_of_instance; i++) {
++        trans_vec[i] = base * i;
++      }
++
++      for (int i = 0; i < num_of_instance; i++) {
++        *(uint32_t*)(data + i * 4) = base * i;  // NOLINT
++      }
++
++      if (data_type == 0) {
++        trans_unit->set_data_bytes(data, message_size);
++      } else {
++        for (int i = 0; i < num_of_instance; i++) {
++          trans_unit->add_data(trans_vec[i]);
++        }
++      }
++
++      writer->Write(trans_unit);
++      ++send_msg;
++      current = apollo::cyber::Time::Now();
++    }
++    test_time->set_value((current - start_time).ToSecond());
++  }
++
++  auto m = writer->AcquireMessage();
++  if (data_type == 0) {
++    m->set_data_bytes(data, message_size);
++  } else {
++    for (int i = 0; i < num_of_instance; i++) {
++      m->add_data(trans_vec[i]);
++    }
++  }
++  test_message_size->set_value(m->ByteSizeLong());
++
++  free(data);
++
++#ifndef NO_TCMALLOC
++#ifdef BASE_PROFILER_H_
++  if (enable_cpuprofile) {
++    ProfilerStop();
++  }
++  if (enable_heapprofile) {
++    HeapProfilerDump("Befor shutdown");
++    HeapProfilerStop();
++  }
++#endif
++#endif
++  std::this_thread::sleep_for(std::chrono::milliseconds(1200));
++  apollo::cyber::Clear();
++
++  return 0;
++}
+diff --git a/cyber/common/BUILD b/cyber/common/BUILD
+index 5d9031d..386fc8e 100644
+--- a/cyber/common/BUILD
++++ b/cyber/common/BUILD
+@@ -1,16 +1,13 @@
+ load("//tools:cpplint.bzl", "cpplint")
+-load("//tools:apollo_package.bzl", "apollo_cc_library", "apollo_package", "apollo_cc_test")
++load("//tools:apollo_package.bzl", "apollo_cc_library", "apollo_cc_test", "apollo_package")
+ 
+ package(default_visibility = ["//visibility:public"])
+ 
+ apollo_cc_library(
+     name = "cyber_common",
+     srcs = [
+-        "global_data.cc",
+         "file.cc",
+-    ],
+-    data = [
+-        "//cyber:cyber_conf",
++        "global_data.cc",
+     ],
+     hdrs = [
+         "environment.h",
+@@ -22,13 +19,17 @@ apollo_cc_library(
+         "types.h",
+         "util.h",
+     ],
++    data = [
++        "//cyber:cyber_conf",
++    ],
+     deps = [
+         "//cyber:cyber_binary",
+         "//cyber/base:cyber_base",
+         "//cyber/proto:cyber_conf_cc_proto",
++        "//cyber/proto:transport_conf_cc_proto",
++        "@com_github_google_glog//:glog",
+         "@com_github_nlohmann_json//:json",
+         "@com_google_protobuf//:protobuf",
+-        "@com_github_google_glog//:glog",
+     ],
+ )
+ 
+diff --git a/cyber/common/file.cc b/cyber/common/file.cc
+index 29b1930..44a61ef 100644
+--- a/cyber/common/file.cc
++++ b/cyber/common/file.cc
+@@ -66,6 +66,26 @@ bool SetProtoToASCIIFile(const google::protobuf::Message &message,
+   return SetProtoToASCIIFile(message, fd);
+ }
+ 
++bool SetStringToASCIIFile(const std::string &content,
++                          const std::string &file_name) {
++  int fd = open(file_name.c_str(), O_WRONLY | O_CREAT | O_TRUNC, S_IRWXU);
++  if (fd < 0) {
++    AERROR << "Unable to open file " << file_name << " to write.";
++    return false;
++  }
++  // Write the string data to the file
++  ssize_t bytes_written = write(fd, content.c_str(), content.size());
++  if (bytes_written < 0) {
++    AERROR << "Failed to write to file.";
++    close(fd);  // Ensure the file descriptor is closed even on error
++    return false;
++  }
++
++  close(fd);  // Close the file descriptor
++
++  return true;
++}
++
+ bool GetProtoFromASCIIFile(const std::string &file_name,
+                            google::protobuf::Message *message) {
+   using google::protobuf::TextFormat;
+@@ -227,12 +247,26 @@ bool CopyFile(const std::string &from, const std::string &to) {
+   return true;
+ }
+ 
++bool IsValidPath(const std::string &path) {
++  const std::string illegal_chars = "\0<>:\"|?*;";
++  for (char ch : path) {
++    if (illegal_chars.find(ch) != std::string::npos) {
++      return false;
++    }
++  }
++  return true;
++}
++
+ bool CopyDir(const std::string &from, const std::string &to) {
+   DIR *directory = opendir(from.c_str());
+   if (directory == nullptr) {
+     AERROR << "Cannot open directory " << from;
+     return false;
+   }
++  if (!IsValidPath(from) || !IsValidPath(to)) {
++    AERROR << "invalid path format: " << from << " to " << to;
++    return false;
++  }
+ 
+   bool ret = true;
+   if (EnsureDirectory(to)) {
+diff --git a/cyber/common/file.h b/cyber/common/file.h
+index eee9a97..ec3dd88 100644
+--- a/cyber/common/file.h
++++ b/cyber/common/file.h
+@@ -60,6 +60,16 @@ bool SetProtoToASCIIFile(const google::protobuf::Message &message,
+ bool SetProtoToASCIIFile(const google::protobuf::Message &message,
+                          const std::string &file_name);
+ 
++/**
++ * @brief Sets the content of the file specified by the file_name to be the
++ *        ascii representation of the input string.
++ * @param content The string to output to the specified file.
++ * @param file_name The name of the target file to set the content.
++ * @return If the action is successful.
++ */
++bool SetStringToASCIIFile(const std::string &content,
++                          const std::string &file_name);
++
+ /**
+  * @brief Parses the content of the file specified by the file_name as ascii
+  *        representation of protobufs, and merges the parsed content to the
+diff --git a/cyber/common/file_test.cc b/cyber/common/file_test.cc
+index addd677..853daad 100644
+--- a/cyber/common/file_test.cc
++++ b/cyber/common/file_test.cc
+@@ -120,9 +120,9 @@ TEST(FileTest, Glob) {
+   EXPECT_THAT(
+       Glob("/apol?o/modules/p*"),
+       testing::AllOf(
+-          testing::Contains(std::string("/apollo/modules/perception")),
+-          testing::Contains(std::string("/apollo/modules/planning")),
+-          testing::Contains(std::string("/apollo/modules/prediction"))));
++          testing::Contains(std::string("modules/perception")),
++          testing::Contains(std::string("modules/planning")),
++          testing::Contains(std::string("modules/prediction"))));
+ }
+ 
+ TEST(FileTest, GetAbsolutePath) {
+diff --git a/cyber/common/global_data.cc b/cyber/common/global_data.cc
+index 7d94f1b..4a54063 100644
+--- a/cyber/common/global_data.cc
++++ b/cyber/common/global_data.cc
+@@ -103,6 +103,51 @@ bool GlobalData::IsMockTimeMode() const {
+   return clock_mode_ == ClockMode::MODE_MOCK;
+ }
+ 
++bool GlobalData::IsChannelEnableArenaShm(std::string channel_name) const {
++  if (!config_.has_transport_conf() ||
++      !config_.transport_conf().has_shm_conf() ||
++      !config_.transport_conf().shm_conf().has_arena_shm_conf()) {
++    return false;
++  }
++  bool found = false;
++  for (auto arena_channel_conf : config_.transport_conf()
++                                     .shm_conf()
++                                     .arena_shm_conf()
++                                     .arena_channel_conf()) {
++    if (channel_name == arena_channel_conf.channel_name()) {
++      found = true;
++      break;
++    }
++  }
++  return found;
++}
++
++bool GlobalData::IsChannelEnableArenaShm(uint64_t channel_id) const {
++  auto channel_name =
++      cyber::common::GlobalData::Instance()->GetChannelById(channel_id);
++  return IsChannelEnableArenaShm(channel_name);
++}
++
++apollo::cyber::proto::ArenaChannelConf GlobalData::GetChannelArenaConf(
++    std::string channel_name) const& {
++  for (auto arena_channel_conf : config_.transport_conf()
++                                     .shm_conf()
++                                     .arena_shm_conf()
++                                     .arena_channel_conf()) {
++    if (channel_name == arena_channel_conf.channel_name()) {
++      return arena_channel_conf;
++    }
++  }
++  return apollo::cyber::proto::ArenaChannelConf();
++}
++
++apollo::cyber::proto::ArenaChannelConf GlobalData::GetChannelArenaConf(
++    uint64_t channel_id) const& {
++  auto channel_name =
++      cyber::common::GlobalData::Instance()->GetChannelById(channel_id);
++  return GetChannelArenaConf(channel_name);
++}
++
+ void GlobalData::InitHostInfo() {
+   char host_name[1024];
+   gethostname(host_name, sizeof(host_name));
+diff --git a/cyber/common/global_data.h b/cyber/common/global_data.h
+index 2e3a194..d3ce39b 100644
+--- a/cyber/common/global_data.h
++++ b/cyber/common/global_data.h
+@@ -21,6 +21,7 @@
+ #include <unordered_map>
+ 
+ #include "cyber/proto/cyber_conf.pb.h"
++#include "cyber/proto/transport_conf.pb.h"
+ 
+ #include "cyber/base/atomic_hash_map.h"
+ #include "cyber/base/atomic_rw_lock.h"
+@@ -64,6 +65,13 @@ class GlobalData {
+   bool IsRealityMode() const;
+   bool IsMockTimeMode() const;
+ 
++  bool IsChannelEnableArenaShm(std::string channel_name) const;
++  bool IsChannelEnableArenaShm(uint64_t channel_id) const;
++  apollo::cyber::proto::ArenaChannelConf GetChannelArenaConf(
++      std::string channel_name) const&;
++  apollo::cyber::proto::ArenaChannelConf GetChannelArenaConf(
++      uint64_t channel_id) const&;
++
+   static uint64_t GenerateHashId(const std::string& name) {
+     return common::Hash(name);
+   }
+diff --git a/cyber/component/component.h b/cyber/component/component.h
+index 4b36fd7..b1700b6 100644
+--- a/cyber/component/component.h
++++ b/cyber/component/component.h
+@@ -30,6 +30,8 @@
+ #include "cyber/croutine/routine_factory.h"
+ #include "cyber/data/data_visitor.h"
+ #include "cyber/scheduler/scheduler.h"
++#include "cyber/statistics/statistics.h"
++#include "cyber/time/time.h"
+ 
+ namespace apollo {
+ namespace cyber {
+@@ -181,15 +183,31 @@ bool Component<M0, NullType, NullType, NullType>::Initialize(
+   reader_cfg.qos_profile.CopyFrom(config.readers(0).qos_profile());
+   reader_cfg.pending_queue_size = config.readers(0).pending_queue_size();
+ 
++  auto role_attr = std::make_shared<proto::RoleAttributes>();
++  role_attr->set_node_name(config.name());
++  role_attr->set_channel_name(config.readers(0).channel());
++
+   std::weak_ptr<Component<M0>> self =
+       std::dynamic_pointer_cast<Component<M0>>(shared_from_this());
+-  auto func = [self](const std::shared_ptr<M0>& msg) {
++  auto func = [self, role_attr](const std::shared_ptr<M0>& msg) {
++    auto start_time = Time::Now().ToMicrosecond();
+     auto ptr = self.lock();
+     if (ptr) {
+       ptr->Process(msg);
+     } else {
+       AERROR << "Component object has been destroyed.";
+     }
++    auto end_time = Time::Now().ToMicrosecond();
++    // sampling proc latency and cyber latency in microsecond
++    uint64_t process_start_time;
++    statistics::Statistics::Instance()->SamplingProcLatency<uint64_t>(
++        *role_attr, end_time - start_time);
++    if (statistics::Statistics::Instance()->GetProcStatus(
++            *role_attr, &process_start_time) &&
++        (start_time - process_start_time) > 0) {
++      statistics::Statistics::Instance()->SamplingCyberLatency(
++          *role_attr, start_time - process_start_time);
++    }
+   };
+ 
+   std::shared_ptr<Reader<M0>> reader = nullptr;
+@@ -257,6 +275,10 @@ bool Component<M0, M1, NullType, NullType>::Initialize(
+   reader_cfg.qos_profile.CopyFrom(config.readers(0).qos_profile());
+   reader_cfg.pending_queue_size = config.readers(0).pending_queue_size();
+ 
++  auto role_attr = std::make_shared<proto::RoleAttributes>();
++  role_attr->set_node_name(config.name());
++  role_attr->set_channel_name(config.readers(0).channel());
++
+   std::shared_ptr<Reader<M0>> reader0 = nullptr;
+   if (cyber_likely(is_reality_mode)) {
+     reader0 = node_->template CreateReader<M0>(reader_cfg);
+@@ -267,12 +289,24 @@ bool Component<M0, M1, NullType, NullType>::Initialize(
+     auto blocker1 = blocker::BlockerManager::Instance()->GetBlocker<M1>(
+         config.readers(1).channel());
+ 
+-    auto func = [self, blocker1](const std::shared_ptr<M0>& msg0) {
++    auto func = [self, blocker1, role_attr](const std::shared_ptr<M0>& msg0) {
++      auto start_time = Time::Now().ToMicrosecond();
+       auto ptr = self.lock();
+       if (ptr) {
+         if (!blocker1->IsPublishedEmpty()) {
+           auto msg1 = blocker1->GetLatestPublishedPtr();
+           ptr->Process(msg0, msg1);
++          auto end_time = Time::Now().ToMicrosecond();
++          // sampling proc latency and cyber latency in microsecond
++          uint64_t process_start_time;
++          statistics::Statistics::Instance()->SamplingProcLatency<uint64_t>(
++              *role_attr, end_time - start_time);
++          if (statistics::Statistics::Instance()->GetProcStatus(
++                  *role_attr, &process_start_time) &&
++              (start_time - process_start_time) > 0) {
++            statistics::Statistics::Instance()->SamplingCyberLatency(
++                *role_attr, start_time - process_start_time);
++          }
+         }
+       } else {
+         AERROR << "Component object has been destroyed.";
+@@ -295,11 +329,23 @@ bool Component<M0, M1, NullType, NullType>::Initialize(
+   auto sched = scheduler::Instance();
+   std::weak_ptr<Component<M0, M1>> self =
+       std::dynamic_pointer_cast<Component<M0, M1>>(shared_from_this());
+-  auto func = [self](const std::shared_ptr<M0>& msg0,
+-                     const std::shared_ptr<M1>& msg1) {
++  auto func = [self, role_attr](const std::shared_ptr<M0>& msg0,
++                                const std::shared_ptr<M1>& msg1) {
++    auto start_time = Time::Now().ToMicrosecond();
+     auto ptr = self.lock();
+     if (ptr) {
+       ptr->Process(msg0, msg1);
++      auto end_time = Time::Now().ToMicrosecond();
++      // sampling proc latency and cyber latency in microsecond
++      uint64_t process_start_time;
++      statistics::Statistics::Instance()->SamplingProcLatency<uint64_t>(
++          *role_attr, end_time - start_time);
++      if (statistics::Statistics::Instance()->GetProcStatus(
++              *role_attr, &process_start_time) &&
++          (start_time - process_start_time) > 0) {
++        statistics::Statistics::Instance()->SamplingCyberLatency(
++            *role_attr, start_time - process_start_time);
++      }
+     } else {
+       AERROR << "Component object has been destroyed.";
+     }
+@@ -359,6 +405,11 @@ bool Component<M0, M1, M2, NullType>::Initialize(
+   reader_cfg.channel_name = config.readers(0).channel();
+   reader_cfg.qos_profile.CopyFrom(config.readers(0).qos_profile());
+   reader_cfg.pending_queue_size = config.readers(0).pending_queue_size();
++
++  auto role_attr = std::make_shared<proto::RoleAttributes>();
++  role_attr->set_node_name(config.name());
++  role_attr->set_channel_name(config.readers(0).channel());
++
+   std::shared_ptr<Reader<M0>> reader0 = nullptr;
+   if (cyber_likely(is_reality_mode)) {
+     reader0 = node_->template CreateReader<M0>(reader_cfg);
+@@ -372,13 +423,26 @@ bool Component<M0, M1, M2, NullType>::Initialize(
+     auto blocker2 = blocker::BlockerManager::Instance()->GetBlocker<M2>(
+         config.readers(2).channel());
+ 
+-    auto func = [self, blocker1, blocker2](const std::shared_ptr<M0>& msg0) {
++    auto func = [self, blocker1, blocker2,
++                 role_attr](const std::shared_ptr<M0>& msg0) {
++      auto start_time = Time::Now().ToMicrosecond();
+       auto ptr = self.lock();
+       if (ptr) {
+         if (!blocker1->IsPublishedEmpty() && !blocker2->IsPublishedEmpty()) {
+           auto msg1 = blocker1->GetLatestPublishedPtr();
+           auto msg2 = blocker2->GetLatestPublishedPtr();
+           ptr->Process(msg0, msg1, msg2);
++          auto end_time = Time::Now().ToMicrosecond();
++          // sampling proc latency and cyber latency in microsecond
++          uint64_t process_start_time;
++          statistics::Statistics::Instance()->SamplingProcLatency<uint64_t>(
++              *role_attr, end_time - start_time);
++          if (statistics::Statistics::Instance()->GetProcStatus(
++                  *role_attr, &process_start_time) &&
++              (start_time - process_start_time) > 0) {
++            statistics::Statistics::Instance()->SamplingCyberLatency(
++                *role_attr, start_time - process_start_time);
++          }
+         }
+       } else {
+         AERROR << "Component object has been destroyed.";
+@@ -404,12 +468,24 @@ bool Component<M0, M1, M2, NullType>::Initialize(
+   std::weak_ptr<Component<M0, M1, M2, NullType>> self =
+       std::dynamic_pointer_cast<Component<M0, M1, M2, NullType>>(
+           shared_from_this());
+-  auto func = [self](const std::shared_ptr<M0>& msg0,
+-                     const std::shared_ptr<M1>& msg1,
+-                     const std::shared_ptr<M2>& msg2) {
++  auto func = [self, role_attr](const std::shared_ptr<M0>& msg0,
++                                const std::shared_ptr<M1>& msg1,
++                                const std::shared_ptr<M2>& msg2) {
++    auto start_time = Time::Now().ToMicrosecond();
+     auto ptr = self.lock();
+     if (ptr) {
+       ptr->Process(msg0, msg1, msg2);
++      auto end_time = Time::Now().ToMicrosecond();
++      // sampling proc latency and cyber latency in microsecond
++      uint64_t process_start_time;
++      statistics::Statistics::Instance()->SamplingProcLatency<uint64_t>(
++          *role_attr, end_time - start_time);
++      if (statistics::Statistics::Instance()->GetProcStatus(
++              *role_attr, &process_start_time) &&
++          (start_time - process_start_time) > 0) {
++        statistics::Statistics::Instance()->SamplingCyberLatency(
++            *role_attr, start_time - process_start_time);
++      }
+     } else {
+       AERROR << "Component object has been destroyed.";
+     }
+@@ -476,6 +552,10 @@ bool Component<M0, M1, M2, M3>::Initialize(const ComponentConfig& config) {
+   reader_cfg.qos_profile.CopyFrom(config.readers(0).qos_profile());
+   reader_cfg.pending_queue_size = config.readers(0).pending_queue_size();
+ 
++  auto role_attr = std::make_shared<proto::RoleAttributes>();
++  role_attr->set_node_name(config.name());
++  role_attr->set_channel_name(config.readers(0).channel());
++
+   std::shared_ptr<Reader<M0>> reader0 = nullptr;
+   if (cyber_likely(is_reality_mode)) {
+     reader0 = node_->template CreateReader<M0>(reader_cfg);
+@@ -491,8 +571,9 @@ bool Component<M0, M1, M2, M3>::Initialize(const ComponentConfig& config) {
+     auto blocker3 = blocker::BlockerManager::Instance()->GetBlocker<M3>(
+         config.readers(3).channel());
+ 
+-    auto func = [self, blocker1, blocker2,
+-                 blocker3](const std::shared_ptr<M0>& msg0) {
++    auto func = [self, blocker1, blocker2, blocker3,
++                 role_attr](const std::shared_ptr<M0>& msg0) {
++      auto start_time = Time::Now().ToMicrosecond();
+       auto ptr = self.lock();
+       if (ptr) {
+         if (!blocker1->IsPublishedEmpty() && !blocker2->IsPublishedEmpty() &&
+@@ -501,6 +582,17 @@ bool Component<M0, M1, M2, M3>::Initialize(const ComponentConfig& config) {
+           auto msg2 = blocker2->GetLatestPublishedPtr();
+           auto msg3 = blocker3->GetLatestPublishedPtr();
+           ptr->Process(msg0, msg1, msg2, msg3);
++          auto end_time = Time::Now().ToMicrosecond();
++          // sampling proc latency and cyber latency in microsecond
++          uint64_t process_start_time;
++          statistics::Statistics::Instance()->SamplingProcLatency<uint64_t>(
++              *role_attr, end_time - start_time);
++          if (statistics::Statistics::Instance()->GetProcStatus(
++                  *role_attr, &process_start_time) &&
++              (start_time - process_start_time) > 0) {
++            statistics::Statistics::Instance()->SamplingCyberLatency(
++                *role_attr, start_time - process_start_time);
++          }
+         }
+       } else {
+         AERROR << "Component object has been destroyed.";
+@@ -527,16 +619,29 @@ bool Component<M0, M1, M2, M3>::Initialize(const ComponentConfig& config) {
+   auto sched = scheduler::Instance();
+   std::weak_ptr<Component<M0, M1, M2, M3>> self =
+       std::dynamic_pointer_cast<Component<M0, M1, M2, M3>>(shared_from_this());
+-  auto func =
+-      [self](const std::shared_ptr<M0>& msg0, const std::shared_ptr<M1>& msg1,
+-             const std::shared_ptr<M2>& msg2, const std::shared_ptr<M3>& msg3) {
+-        auto ptr = self.lock();
+-        if (ptr) {
+-          ptr->Process(msg0, msg1, msg2, msg3);
+-        } else {
+-          AERROR << "Component object has been destroyed." << std::endl;
+-        }
+-      };
++  auto func = [self, role_attr](const std::shared_ptr<M0>& msg0,
++                                const std::shared_ptr<M1>& msg1,
++                                const std::shared_ptr<M2>& msg2,
++                                const std::shared_ptr<M3>& msg3) {
++    auto start_time = Time::Now().ToMicrosecond();
++    auto ptr = self.lock();
++    if (ptr) {
++      ptr->Process(msg0, msg1, msg2, msg3);
++      auto end_time = Time::Now().ToMicrosecond();
++      // sampling proc latency and cyber latency in microsecond
++      uint64_t process_start_time;
++      statistics::Statistics::Instance()->SamplingProcLatency<uint64_t>(
++          *role_attr, end_time - start_time);
++      if (statistics::Statistics::Instance()->GetProcStatus(
++              *role_attr, &process_start_time) &&
++          (start_time - process_start_time) > 0) {
++        statistics::Statistics::Instance()->SamplingCyberLatency(
++            *role_attr, start_time - process_start_time);
++      }
++    } else {
++      AERROR << "Component object has been destroyed." << std::endl;
++    }
++  };
+ 
+   std::vector<data::VisitorConfig> config_list;
+   for (auto& reader : readers_) {
+diff --git a/cyber/component/timer_component.cc b/cyber/component/timer_component.cc
+index 3248708..6cf96e0 100644
+--- a/cyber/component/timer_component.cc
++++ b/cyber/component/timer_component.cc
+@@ -16,6 +16,7 @@
+ 
+ #include "cyber/component/timer_component.h"
+ 
++#include "cyber/statistics/statistics.h"
+ #include "cyber/timer/timer.h"
+ 
+ namespace apollo {
+@@ -44,9 +45,21 @@ bool TimerComponent::Initialize(const TimerComponentConfig& config) {
+   }
+   interval_ = config.interval();
+ 
++  auto role_attr = std::make_shared<proto::RoleAttributes>();
++  role_attr->set_node_name(config.name());
++  role_attr->set_channel_name(statistics::TIMER_COMPONENT_CHAN_NAME);
++  statistics::Statistics::Instance()->RegisterChanVar(*role_attr);
++
+   std::shared_ptr<TimerComponent> self =
+       std::dynamic_pointer_cast<TimerComponent>(shared_from_this());
+-  auto func = [self]() { self->Process(); };
++  auto func = [self, role_attr]() {
++    auto start_time = Time::Now().ToNanosecond();
++    self->Process();
++    auto end_time = Time::Now().ToNanosecond();
++    // sampling proc latency in microsecond
++    statistics::Statistics::Instance()->SamplingProcLatency<
++                  uint64_t>(*role_attr, (end_time-start_time)/1000);
++  };
+   timer_.reset(new Timer(config.interval(), func, false));
+   timer_->Start();
+   return true;
+diff --git a/cyber/conf/cyber.pb.conf b/cyber/conf/cyber.pb.conf
+index 2ce5045..8cbf0f4 100644
+--- a/cyber/conf/cyber.pb.conf
++++ b/cyber/conf/cyber.pb.conf
+@@ -24,6 +24,29 @@
+ #         max_history_depth: 1000
+ #     }
+ # }
++#
++transport_conf {
++  communication_mode {
++    same_proc: INTRA
++    diff_proc: SHM
++    diff_host: RTPS
++  }
++  participant_attr {
++    lease_duration: 12
++    announcement_period: 3
++    domain_id_gain: 250
++    port_base: 7400
++  }
++  shm_conf {
++    arena_shm_conf {
++      arena_channel_conf {
++        channel_name: "/apollo/msg"
++        max_msg_size: 33554432
++        max_pool_size: 32
++      }
++    }
++  }
++}
+ 
+ run_mode_conf {
+     run_mode: MODE_REALITY
+diff --git a/cyber/context/BUILD b/cyber/context/BUILD
+index 8628958..3dffa88 100644
+--- a/cyber/context/BUILD
++++ b/cyber/context/BUILD
+@@ -19,6 +19,7 @@ apollo_cc_test(
+     size = "small",
+     srcs = ["context_test.cc"],
+     linkstatic = True,
++    linkopts = ["-lm"],
+     deps = [
+         ":cyber_context",
+         "@com_google_googletest//:gtest_main",
+diff --git a/cyber/cyberfile.xml b/cyber/cyberfile.xml
+index 3f0195d..5601e16 100644
+--- a/cyber/cyberfile.xml
++++ b/cyber/cyberfile.xml
+@@ -16,7 +16,7 @@
+   <src_path url="https://github.com/ApolloAuto/apollo">//cyber</src_path>
+ 
+   <depend so_names="ncurses" repo_name="ncurses5">libncurses5-dev</depend>
+-  <depend so_names="uuid" repo_name="uuid">libuuid1</depend>
++  <depend so_names="uuid" repo_name="uuid">uuid-dev</depend>
+ 
+   <depend expose="False">3rd-rules-python</depend>
+   <depend expose="False">3rd-grpc</depend>
+@@ -26,7 +26,10 @@
+   <depend expose="False">3rd-bazel-skylib</depend>
+ 
+   <depend repo_name="com_google_protobuf" lib_names="protobuf">3rd-protobuf</depend>
+-  <depend repo_name="fastrtps">3rd-fastrtps</depend>
++  <!-- <depend repo_name="fastdds">3rd-fastdds</depend> -->
++  <depend repo_name="fastdds" lib_names="fastdds">3rd-fastdds-wrap</depend>
++  <depend repo_name="proj">3rd-proj</depend>
++  <depend repo_name="eigen">3rd-eigen3</depend>
+   <depend repo_name="com_github_google_glog" lib_names="glog">3rd-glog</depend>
+   <depend repo_name="com_github_gflags_gflags" lib_names="gflags">3rd-gflags</depend>
+   <depend type="binary" repo_name="common-msgs" lib_names="common-msgs">common-msgs</depend>
+@@ -36,4 +39,10 @@
+   <depend repo_name="tinyxml2" lib_names="tinyxml2">libtinyxml2-dev</depend>
+   <depend>bazel-extend-tools</depend>
+ 
++  <depend>libunwind-dev</depend>
++  <depend>nethogs</depend>
++  <depend>sysstat</depend>
++  <depend>gperftools</depend>
++  <depend>bvar</depend>
++
+ </package>
+diff --git a/cyber/examples/common_component_example/common.launch b/cyber/examples/common_component_example/common.launch
+index 2dd31bf..f32358e 100644
+--- a/cyber/examples/common_component_example/common.launch
++++ b/cyber/examples/common_component_example/common.launch
+@@ -2,6 +2,8 @@
+     <module>
+         <name>common</name>
+         <dag_conf>/apollo/cyber/examples/common_component_example/common.dag</dag_conf>
++        <cpuprofile>/apollo/example_cpu.prof</cpuprofile>
++        <memprofile>/apollo/example_mem.prof</memprofile>
+         <process_name>common</process_name>
+     </module>
+ </cyber>
+diff --git a/cyber/examples/service.cc b/cyber/examples/service.cc
+index babe651..8aaf561 100644
+--- a/cyber/examples/service.cc
++++ b/cyber/examples/service.cc
+@@ -40,7 +40,7 @@ int main(int argc, char* argv[]) {
+   while (apollo::cyber::OK()) {
+     auto res = client->SendRequest(driver_msg);
+     if (res != nullptr) {
+-      AINFO << "client: responese: " << res->ShortDebugString();
++      AINFO << "client: response: " << res->ShortDebugString();
+     } else {
+       AINFO << "client: service may not ready.";
+     }
+diff --git a/cyber/init.cc b/cyber/init.cc
+index 86cd48b..a53cb22 100644
+--- a/cyber/init.cc
++++ b/cyber/init.cc
+@@ -22,10 +22,14 @@
+ 
+ #include <csignal>
+ #include <cstdio>
++#include <cstdlib>
+ #include <ctime>
++#include <filesystem>
+ #include <memory>
+ #include <string>
+ 
++#include "gflags/gflags.h"
++
+ #include "cyber/proto/clock.pb.h"
+ 
+ #include "cyber/binary.h"
+@@ -36,6 +40,7 @@
+ #include "cyber/node/node.h"
+ #include "cyber/scheduler/scheduler.h"
+ #include "cyber/service_discovery/topology_manager.h"
++#include "cyber/statistics/statistics.h"
+ #include "cyber/sysmo/sysmo.h"
+ #include "cyber/task/task.h"
+ #include "cyber/time/clock.h"
+@@ -45,9 +50,6 @@
+ namespace apollo {
+ namespace cyber {
+ 
+-using apollo::cyber::scheduler::Scheduler;
+-using apollo::cyber::service_discovery::TopologyManager;
+-
+ namespace {
+ 
+ const std::string& kClockChannel = "/clock";
+@@ -93,7 +95,15 @@ void OnShutdown(int sig) {
+ 
+ void ExitHandle() { Clear(); }
+ 
+-bool Init(const char* binary_name) {
++bool Init(const char* binary_name, const std::string& dag_info) {
++  const char* apollo_runtime_path = std::getenv("APOLLO_RUNTIME_PATH");
++  if (apollo_runtime_path != nullptr) {
++    if (std::filesystem::is_directory(
++            std::filesystem::status(apollo_runtime_path))) {
++      std::filesystem::current_path(apollo_runtime_path);
++    }
++  }
++
+   std::lock_guard<std::mutex> lg(g_mutex);
+   if (GetState() != STATE_UNINITIALIZED) {
+     return false;
+@@ -127,6 +137,24 @@ bool Init(const char* binary_name) {
+         };
+     clock_node->CreateReader<apollo::cyber::proto::Clock>(kClockChannel, cb);
+   }
++
++  if (dag_info != "") {
++    std::string dump_path;
++    if (dag_info.length() > 200) {
++      std::string truncated = dag_info.substr(0, 200);
++      dump_path = common::GetEnv("APOLLO_ENV_WORKROOT", "/apollo") + "/dumps/" +
++                  truncated;
++    } else {
++      dump_path = common::GetEnv("APOLLO_ENV_WORKROOT", "/apollo") + "/dumps/" +
++                  dag_info;
++    }
++    google::SetCommandLineOption("bvar_dump_file", dump_path.c_str());
++  } else {
++    statistics::Statistics::Instance()->DisableChanVar();
++  }
++  google::SetCommandLineOption("bvar_dump_exclude", "*qps");
++  google::SetCommandLineOption("bvar_dump", "true");
++
+   return true;
+ }
+ 
+diff --git a/cyber/init.h b/cyber/init.h
+index d28c8dc..bac78a6 100644
+--- a/cyber/init.h
++++ b/cyber/init.h
+@@ -17,14 +17,17 @@
+ #ifndef CYBER_INIT_H_
+ #define CYBER_INIT_H_
+ 
++#include <string>
++
+ #include "cyber/common/log.h"
+ #include "cyber/state.h"
+ 
+ namespace apollo {
+ namespace cyber {
+ 
+-bool Init(const char* binary_name);
++bool Init(const char* binary_name, const std::string& dag_info = "");
+ void Clear();
++void OnShutdown(int sig);
+ 
+ }  // namespace cyber
+ }  // namespace apollo
+diff --git a/cyber/mainboard/BUILD b/cyber/mainboard/BUILD
+index 7ae3f85..05feac4 100644
+--- a/cyber/mainboard/BUILD
++++ b/cyber/mainboard/BUILD
+@@ -12,9 +12,14 @@ apollo_cc_binary(
+         "module_controller.cc",
+         "module_controller.h",
+     ],
+-    linkopts = ["-pthread"],
++    linkopts = [
++        "-pthread",
++        "-lprofiler",
++        "-ltcmalloc",
++    ],
+     deps = [
+         "//cyber",
++        "//cyber/common:cyber_common",
+         "//cyber/plugin_manager:cyber_plugin_manager",
+         "//cyber/proto:dag_conf_cc_proto",
+     ],
+diff --git a/cyber/mainboard/mainboard.cc b/cyber/mainboard/mainboard.cc
+index b518e08..1abe162 100644
+--- a/cyber/mainboard/mainboard.cc
++++ b/cyber/mainboard/mainboard.cc
+@@ -14,6 +14,11 @@
+  * limitations under the License.
+  *****************************************************************************/
+ 
++#include <string.h>
++
++#include <list>
++#include <string>
++
+ #include "cyber/common/global_data.h"
+ #include "cyber/common/log.h"
+ #include "cyber/init.h"
+@@ -21,6 +26,10 @@
+ #include "cyber/mainboard/module_controller.h"
+ #include "cyber/state.h"
+ 
++#include "gperftools/profiler.h"
++#include "gperftools/heap-profiler.h"
++#include "gperftools/malloc_extension.h"
++
+ using apollo::cyber::mainboard::ModuleArgument;
+ using apollo::cyber::mainboard::ModuleController;
+ 
+@@ -29,8 +38,50 @@ int main(int argc, char** argv) {
+   ModuleArgument module_args;
+   module_args.ParseArgument(argc, argv);
+ 
++  auto dag_list = module_args.GetDAGConfList();
++
++  std::string dag_info;
++  for (auto&& i = dag_list.begin(); i != dag_list.end(); i++) {
++    size_t pos = 0;
++    for (size_t j = 0; j < (*i).length(); j++) {
++      pos = ((*i)[j] == '/') ? j: pos;
++    }
++    if (i != dag_list.begin()) dag_info += "_";
++
++    if (pos == 0) {
++      dag_info += *i;
++    } else {
++      dag_info +=
++        (pos == (*i).length()-1) ? (*i).substr(pos): (*i).substr(pos+1);
++    }
++  }
++
++  if (module_args.GetProcessGroup() !=
++        apollo::cyber::mainboard::DEFAULT_process_group_) {
++    dag_info = module_args.GetProcessGroup();
++  }
++
+   // initialize cyber
+-  apollo::cyber::Init(argv[0]);
++  apollo::cyber::Init(argv[0], dag_info);
++
++  static bool enable_cpu_profile = module_args.GetEnableCpuprofile();
++  static bool enable_mem_profile = module_args.GetEnableHeapprofile();
++  std::signal(SIGTERM, [](int sig){
++    apollo::cyber::OnShutdown(sig);
++    if (enable_cpu_profile) {
++      ProfilerStop();
++    }
++
++    if (enable_mem_profile) {
++      HeapProfilerDump("Befor shutdown");
++      HeapProfilerStop();
++    }
++  });
++
++  if (module_args.GetEnableHeapprofile()) {
++    auto profile_filename = module_args.GetHeapProfileFilename();
++    HeapProfilerStart(profile_filename.c_str());
++  }
+ 
+   // start module
+   ModuleController controller(module_args);
+@@ -40,7 +91,22 @@ int main(int argc, char** argv) {
+     return -1;
+   }
+ 
++  if (module_args.GetEnableCpuprofile()) {
++    auto profile_filename = module_args.GetProfileFilename();
++    ProfilerStart(profile_filename.c_str());
++  }
++
+   apollo::cyber::WaitForShutdown();
++
++  if (module_args.GetEnableCpuprofile()) {
++    ProfilerStop();
++  }
++
++  if (module_args.GetEnableHeapprofile()) {
++    HeapProfilerDump("Befor shutdown");
++    HeapProfilerStop();
++  }
++
+   controller.Clear();
+   AINFO << "exit mainboard.";
+ 
+diff --git a/cyber/mainboard/module_argument.cc b/cyber/mainboard/module_argument.cc
+index f169583..7e59cea 100644
+--- a/cyber/mainboard/module_argument.cc
++++ b/cyber/mainboard/module_argument.cc
+@@ -16,9 +16,15 @@
+ 
+ #include "cyber/mainboard/module_argument.h"
+ 
++#include "cyber/common/environment.h"
++
+ #include <getopt.h>
+ #include <libgen.h>
+ 
++#if __has_include("gperftools/profiler.h")
++#include "gperftools/profiler.h"
++#endif
++
+ using apollo::cyber::common::GlobalData;
+ 
+ namespace apollo {
+@@ -38,6 +44,14 @@ void ModuleArgument::DisplayUsage() {
+            "plugin\n"
+         << "    --disable_plugin_autoload : default enable autoload "
+            "mode of plugins, use disable_plugin_autoload to ingore autoload\n"
++        << "    -c, --cpuprofile: enable gperftools cpu profile\n"
++        << "    -o, --profile_filename=filename: the filename to dump the "
++           "profile to, default value is ${process_group}_cpu.prof. Only work "
++           "with -c option\n"
++        << "    -H, --heapprofile: enable gperftools heap profile\n"
++        << "    -O, --heapprofile_filename=filename: the filename to dump the "
++           "profile to, default value is ${process_group}_mem.prof. Only work "
++           "with -c option\n"
+         << "Example:\n"
+         << "    " << binary_name_ << " -h\n"
+         << "    " << binary_name_ << " -d dag_conf_file1 -d dag_conf_file2 "
+@@ -57,6 +71,27 @@ void ModuleArgument::ParseArgument(const int argc, char* const argv[]) {
+     sched_name_ = DEFAULT_sched_name_;
+   }
+ 
++  if (enable_cpuprofile_ && profile_filename_.empty()) {
++    auto pwd = common::GetEnv("PWD");
++    profile_filename_ = pwd + "/" + process_group_ + std::string("_cpu.prof");
++  }
++
++  if (profile_filename_[0] != '/') {
++    auto pwd = common::GetEnv("PWD");
++    profile_filename_ = pwd + "/" + profile_filename_;
++  }
++
++  if (enable_heapprofile_ && heapprofile_filename_.empty()) {
++    auto pwd = common::GetEnv("PWD");
++    heapprofile_filename_ =
++        pwd + "/" + process_group_ + std::string("_mem.prof");
++  }
++
++  if (heapprofile_filename_[0] != '/') {
++    auto pwd = common::GetEnv("PWD");
++    heapprofile_filename_ = pwd + "/" + heapprofile_filename_;
++  }
++
+   GlobalData::Instance()->SetProcessGroup(process_group_);
+   GlobalData::Instance()->SetSchedName(sched_name_);
+   AINFO << "binary_name_ is " << binary_name_ << ", process_group_ is "
+@@ -69,7 +104,7 @@ void ModuleArgument::ParseArgument(const int argc, char* const argv[]) {
+ void ModuleArgument::GetOptions(const int argc, char* const argv[]) {
+   opterr = 0;  // extern int opterr
+   int long_index = 0;
+-  const std::string short_opts = "hd:p:s:";
++  const std::string short_opts = "hd:p:s:co:HO:";
+   static const struct option long_opts[] = {
+       {"help", no_argument, nullptr, 'h'},
+       {"dag_conf", required_argument, nullptr, 'd'},
+@@ -78,6 +113,10 @@ void ModuleArgument::GetOptions(const int argc, char* const argv[]) {
+       {"plugin", required_argument, nullptr, ARGS_OPT_CODE_PLUGIN},
+       {"disable_plugin_autoload", no_argument, nullptr,
+        ARGS_OPT_CODE_DISABLE_PLUGIN_AUTOLOAD},
++      {"cpuprofile", no_argument, nullptr, 'c'},
++      {"profile_filename", required_argument, nullptr, 'o'},
++      {"heapprofile", no_argument, nullptr, 'H'},
++      {"heapprofile_filename", required_argument, nullptr, 'O'},
+       {NULL, no_argument, nullptr, 0}};
+ 
+   // log command for info
+@@ -120,7 +159,25 @@ void ModuleArgument::GetOptions(const int argc, char* const argv[]) {
+         plugin_description_list_.emplace_back(std::string(optarg));
+         break;
+       case ARGS_OPT_CODE_DISABLE_PLUGIN_AUTOLOAD:
+-          disable_plugin_autoload_ = true;
++        disable_plugin_autoload_ = true;
++        break;
++      case 'c':
++#ifndef BASE_PROFILER_H_
++        AWARN << "gperftools not installed, ignore perf parameters";
++#endif
++        enable_cpuprofile_ = true;
++        break;
++      case 'o':
++        profile_filename_ = std::string(optarg);
++        break;
++      case 'H':
++#ifndef BASE_PROFILER_H_
++        AWARN << "gperftools not installed, ignore perf parameters";
++#endif
++        enable_heapprofile_ = true;
++        break;
++      case 'O':
++        heapprofile_filename_ = std::string(optarg);
+         break;
+       case 'h':
+         DisplayUsage();
+diff --git a/cyber/mainboard/module_argument.h b/cyber/mainboard/module_argument.h
+index 5f2ed9f..ddc1dfa 100644
+--- a/cyber/mainboard/module_argument.h
++++ b/cyber/mainboard/module_argument.h
+@@ -47,6 +47,12 @@ class ModuleArgument {
+   const std::string& GetSchedName() const;
+   const std::list<std::string>& GetDAGConfList() const;
+   const std::list<std::string>& GetPluginDescriptionList() const;
++  const bool GetEnableCpuprofile() const { return enable_cpuprofile_; }
++  const std::string GetProfileFilename() const { return profile_filename_; }
++  const bool GetEnableHeapprofile() const { return enable_heapprofile_; }
++  const std::string GetHeapProfileFilename() const {
++    return heapprofile_filename_;
++  }
+   const bool& GetDisablePluginsAutoLoad() const;
+ 
+  private:
+@@ -55,6 +61,10 @@ class ModuleArgument {
+   std::string binary_name_;
+   std::string process_group_;
+   std::string sched_name_;
++  bool enable_cpuprofile_ = false;
++  std::string profile_filename_;
++  bool enable_heapprofile_ = false;
++  std::string heapprofile_filename_;
+   bool disable_plugin_autoload_ = false;
+ };
+ 
+diff --git a/cyber/message/BUILD b/cyber/message/BUILD
+index e12d060..f0b690e 100644
+--- a/cyber/message/BUILD
++++ b/cyber/message/BUILD
+@@ -1,5 +1,5 @@
+ load("//tools:cpplint.bzl", "cpplint")
+-load("//tools:apollo_package.bzl", "apollo_package", "apollo_cc_library", "apollo_cc_test", "apollo_cc_binary")
++load("//tools:apollo_package.bzl", "apollo_cc_binary", "apollo_cc_library", "apollo_cc_test", "apollo_package")
+ 
+ package(default_visibility = ["//visibility:public"])
+ 
+@@ -15,7 +15,12 @@ apollo_cc_test(
+ 
+ apollo_cc_library(
+     name = "cyber_message",
++    srcs = [
++        "protobuf_factory.cc",
++    ],
+     hdrs = [
++        "arena_manager_base.h",
++        "arena_message_wrapper.h",
+         "message_header.h",
+         "message_traits.h",
+         "protobuf_factory.h",
+@@ -25,9 +30,6 @@ apollo_cc_library(
+         "raw_message.h",
+         "raw_message_traits.h",
+     ],
+-    srcs = [
+-        "protobuf_factory.cc",
+-    ],
+     deps = [
+         "//cyber/common:cyber_common",
+         "//cyber/proto:proto_desc_cc_proto",
+@@ -67,4 +69,5 @@ apollo_cc_test(
+ )
+ 
+ apollo_package()
++
+ cpplint()
+diff --git a/cyber/message/arena_manager_base.h b/cyber/message/arena_manager_base.h
+new file mode 100644
+index 0000000..aa8209a
+--- /dev/null
++++ b/cyber/message/arena_manager_base.h
+@@ -0,0 +1,62 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++#ifndef CYBER_MESSAGE_ARENA_MANAGER_BASE_H_
++#define CYBER_MESSAGE_ARENA_MANAGER_BASE_H_
++
++#include <cstdint>
++#include <memory>
++
++namespace apollo {
++namespace cyber {
++namespace message {
++
++class ArenaMessageWrapper;
++
++class ArenaManagerBase {
++ public:
++  ArenaManagerBase() {}
++  virtual ~ArenaManagerBase() {}
++
++  virtual uint64_t GetBaseAddress(const ArenaMessageWrapper* wrapper) {
++    return 0;
++  }
++
++  virtual void* SetMessage(ArenaMessageWrapper* wrapper,
++                           const void* message) = 0;
++  virtual void* GetMessage(ArenaMessageWrapper* wrapper) = 0;
++
++  std::shared_ptr<message::ArenaMessageWrapper> CreateMessageWrapper() {
++    return std::make_shared<message::ArenaMessageWrapper>(this);
++  }
++
++  template <typename MessageT>
++  MessageT* SetMessage(ArenaMessageWrapper* wrapper, const MessageT& message) {
++    void* msg = SetMessage(wrapper, reinterpret_cast<const void*>(&message));
++    return reinterpret_cast<MessageT*>(msg);
++  }
++
++  template <typename MessageT>
++  MessageT* GetMessage(ArenaMessageWrapper* wrapper) {
++    void* msg = GetMessage(wrapper);
++    return reinterpret_cast<MessageT*>(msg);
++  }
++};
++
++}  // namespace message
++}  // namespace cyber
++}  // namespace apollo
++
++#endif
+diff --git a/cyber/message/arena_message_wrapper.h b/cyber/message/arena_message_wrapper.h
+new file mode 100644
+index 0000000..92e573a
+--- /dev/null
++++ b/cyber/message/arena_message_wrapper.h
+@@ -0,0 +1,145 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++#ifndef CYBER_MESSAGE_ARENA_MESSAGE_WRAPPER_H_
++#define CYBER_MESSAGE_ARENA_MESSAGE_WRAPPER_H_
++
++#include <cstdint>
++#include <cstring>
++#include <memory>
++
++#include "cyber/message/arena_manager_base.h"
++
++namespace apollo {
++namespace cyber {
++namespace message {
++
++union ArenaMessageWrapperMeta {
++  struct {
++    uint64_t version_;
++    uint64_t addr_offset_;
++  } struct_;
++  uint8_t bytes_[128];
++};
++
++union ArenaMessageWrapperExtended {
++  uint8_t bytes_[256];
++};
++
++union ArenaMessageWrapperDataStruct {
++  struct {
++    union ArenaMessageWrapperMeta meta_;
++    union ArenaMessageWrapperExtended extended_;
++  } struct_;
++  uint8_t bytes_[1024];
++};
++
++class ArenaMessageWrapper {
++ public:
++  static const uint64_t kDefaultVersion = 1L;
++
++  ArenaMessageWrapper() : arena_manager_(nullptr) {
++    data_.struct_.meta_.struct_.version_ = kDefaultVersion;
++    data_.struct_.meta_.struct_.addr_offset_ = 0;
++  }
++
++  explicit ArenaMessageWrapper(ArenaManagerBase* arena_manager)
++      : arena_manager_(arena_manager) {
++    data_.struct_.meta_.struct_.version_ = kDefaultVersion;
++    data_.struct_.meta_.struct_.addr_offset_ = 0;
++  }
++
++  virtual ~ArenaMessageWrapper() {}
++
++  void SetVersion(uint64_t version) {
++    data_.struct_.meta_.struct_.version_ = version;
++  }
++  uint64_t GetVersion() const { return data_.struct_.meta_.struct_.version_; }
++
++  uint64_t GetMessageAddress() const {
++    return arena_manager_->GetBaseAddress(this) +
++           data_.struct_.meta_.struct_.addr_offset_;
++  }
++
++  void* GetData() { return reinterpret_cast<void*>(data_.bytes_); }
++
++  bool FillMeta(void* meta, uint64_t size) {
++    if (size > 128) {
++      return false;
++    }
++    memcpy(&data_.struct_.meta_, meta, size);
++    return true;
++  }
++
++  ArenaMessageWrapperMeta* GetMeta() {
++    return reinterpret_cast<ArenaMessageWrapperMeta*>(
++        data_.struct_.meta_.bytes_);
++  }
++
++  bool FillExtended(void* extended, uint64_t size) {
++    if (size > 256) {
++      return false;
++    }
++    memcpy(&data_.struct_.extended_, extended, size);
++    return true;
++  }
++
++  template <typename T>
++  T* GetExtended() {
++    return reinterpret_cast<T*>(data_.struct_.extended_.bytes_);
++  }
++
++  template <typename MessageT>
++  MessageT* GetMessage() {
++    // uint64_t base_address =
++    //     reinterpret_cast<uint64_t>(arena_manager_->GetBaseAddress());
++    // uint64_t message_address = base_address + data_.struct_.addr_offset_;
++    // return std::shared_ptr<MessageT>(
++    //     reinterpret_cast<MessageT*>(GetMessageAddress()));
++    auto msg_ptr = arena_manager_->GetMessage<MessageT>(this);
++    return msg_ptr;
++  }
++
++  template <typename MessageT>
++  MessageT* SetMessage(const MessageT& message) {
++    auto msg_ptr = arena_manager_->SetMessage(this, message);
++    return msg_ptr;
++  }
++
++ private:
++  // union {
++  //   struct {
++  //     union {
++  //       uint64_t version_;
++  //       uint64_t addr_offset_;
++  //       uint8_t bytes_[128];
++  //     } meta_;
++  //     union {
++  //       uint8_t bytes_[256];
++  //     } extended_;
++  //   } struct_;
++  //   uint8_t bytes_[1024];
++  // } data_;
++  ArenaMessageWrapperDataStruct data_;
++  // message holder
++  std::shared_ptr<void*> message_;
++  ArenaManagerBase* arena_manager_;
++};
++
++}  // namespace message
++}  // namespace cyber
++}  // namespace apollo
++
++#endif
+diff --git a/cyber/message/message_traits.h b/cyber/message/message_traits.h
+index 506203b..d5edc2f 100644
+--- a/cyber/message/message_traits.h
++++ b/cyber/message/message_traits.h
+@@ -18,9 +18,11 @@
+ #define CYBER_MESSAGE_MESSAGE_TRAITS_H_
+ 
+ #include <string>
++#include <typeinfo>
+ 
+ #include "cyber/base/macros.h"
+ #include "cyber/common/log.h"
++#include "cyber/message/arena_message_wrapper.h"
+ #include "cyber/message/message_header.h"
+ #include "cyber/message/protobuf_traits.h"
+ #include "cyber/message/py_message_traits.h"
+@@ -40,6 +42,9 @@ DEFINE_TYPE_TRAIT(HasSerializeToString, SerializeToString)
+ DEFINE_TYPE_TRAIT(HasParseFromString, ParseFromString)
+ DEFINE_TYPE_TRAIT(HasSerializeToArray, SerializeToArray)
+ DEFINE_TYPE_TRAIT(HasParseFromArray, ParseFromArray)
++DEFINE_TYPE_TRAIT(HasSerializeToArenaMessageWrapper,
++                  SerializeToArenaMessageWrapper)
++DEFINE_TYPE_TRAIT(HasParseFromArenaMessageWrapper, ParseFromArenaMessageWrapper)
+ 
+ template <typename T>
+ class HasSerializer {
+@@ -141,6 +146,26 @@ int FullByteSize(const T& message) {
+   return content_size + static_cast<int>(sizeof(MessageHeader));
+ }
+ 
++template <typename T>
++typename std::enable_if<HasParseFromArenaMessageWrapper<T>::value, bool>::type
++ParseFromArenaMessageWrapper(ArenaMessageWrapper* wrapper, T* message,
++                             T** message_ptr) {
++  return message->ParseFromArenaMessageWrapper(wrapper, message_ptr);
++}
++
++template <typename T,
++          typename std::enable_if<
++              !HasParseFromArenaMessageWrapper<T>::value &&
++                  !std::is_base_of<google::protobuf::Message, T>::value,
++              bool>::type = 0>
++bool ParseFromArenaMessageWrapper(ArenaMessageWrapper* wrapper, T* message,
++                                  T** message_ptr) {
++  (void)wrapper;
++  (void)message;
++  (void)message_ptr;
++  return false;
++}
++
+ template <typename T>
+ typename std::enable_if<HasParseFromArray<T>::value, bool>::type ParseFromArray(
+     const void* data, int size, T* message) {
+@@ -184,6 +209,27 @@ typename std::enable_if<!HasParseFromArray<T>::value, bool>::type ParseFromHC(
+   return false;
+ }
+ 
++template <typename T>
++typename std::enable_if<HasSerializeToArenaMessageWrapper<T>::value, bool>::type
++SerializeToArenaMessageWrapper(const T& message, ArenaMessageWrapper* wrapper,
++                               T** message_ptr) {
++  return message->SerializeToArenaMessageWrapper(wrapper, message_ptr);
++}
++
++template <typename T,
++          typename std::enable_if<
++              !HasSerializeToArenaMessageWrapper<T>::value &&
++                  !std::is_base_of<google::protobuf::Message, T>::value,
++              bool>::type = 0>
++bool SerializeToArenaMessageWrapper(const T& message,
++                                    ArenaMessageWrapper* wrapper,
++                                    T** message_ptr) {
++  (void)message;
++  (void)wrapper;
++  (void)message_ptr;
++  return false;
++}
++
+ template <typename T>
+ typename std::enable_if<HasSerializeToArray<T>::value, bool>::type
+ SerializeToArray(const T& message, void* data, int size) {
+diff --git a/cyber/message/protobuf_traits.h b/cyber/message/protobuf_traits.h
+index 0a4317a..a03f690 100644
+--- a/cyber/message/protobuf_traits.h
++++ b/cyber/message/protobuf_traits.h
+@@ -21,6 +21,7 @@
+ #include <memory>
+ #include <string>
+ 
++#include "cyber/message/arena_message_wrapper.h"
+ #include "cyber/message/protobuf_factory.h"
+ 
+ namespace apollo {
+@@ -69,6 +70,28 @@ bool RegisterMessage(const MessageT& message) {
+   return ProtobufFactory::Instance()->RegisterMessage(message);
+ }
+ 
++template <typename MessageT,
++          typename std::enable_if<
++              std::is_base_of<google::protobuf::Message, MessageT>::value,
++              bool>::type = true>
++bool SerializeToArenaMessageWrapper(const MessageT& message,
++                                    ArenaMessageWrapper* wrapper,
++                                    MessageT** message_ptr) {
++  *message_ptr = wrapper->SetMessage(message);
++  return true;
++}
++
++template <typename MessageT,
++          typename std::enable_if<
++              std::is_base_of<google::protobuf::Message, MessageT>::value,
++              bool>::type = true>
++bool ParseFromArenaMessageWrapper(ArenaMessageWrapper* wrapper,
++                                  MessageT* message, MessageT** message_ptr) {
++  *message_ptr = wrapper->GetMessage<MessageT>();
++  // message->CopyFrom(*message_ptr);
++  return true;
++}
++
+ }  // namespace message
+ }  // namespace cyber
+ }  // namespace apollo
+diff --git a/cyber/message/raw_message.h b/cyber/message/raw_message.h
+index 85accc7..bc94866 100644
+--- a/cyber/message/raw_message.h
++++ b/cyber/message/raw_message.h
+@@ -22,6 +22,7 @@
+ #include <memory>
+ #include <string>
+ 
++#include "cyber/message/arena_message_wrapper.h"
+ #include "cyber/message/protobuf_factory.h"
+ 
+ namespace apollo {
+@@ -82,6 +83,10 @@ struct RawMessage {
+     return true;
+   }
+ 
++  // bool SerializeToArenaMessageWrapper(ArenaMessageWrapper *wrapper) const {
++  //   return true;
++  // }
++
+   bool ParseFromArray(const void *data, int size) {
+     if (data == nullptr || size <= 0) {
+       return false;
+@@ -96,6 +101,10 @@ struct RawMessage {
+     return true;
+   }
+ 
++  // bool ParseFromArenaMessageWrapper(const ArenaMessageWrapper &wrapper) {
++  //   return true;
++  // }
++
+   int ByteSize() const { return static_cast<int>(message.size()); }
+ 
+   static std::string TypeName() { return "apollo.cyber.message.RawMessage"; }
+diff --git a/cyber/message/raw_message_traits.h b/cyber/message/raw_message_traits.h
+index 70e868f..5d4b21f 100644
+--- a/cyber/message/raw_message_traits.h
++++ b/cyber/message/raw_message_traits.h
+@@ -21,6 +21,7 @@
+ #include <memory>
+ #include <string>
+ 
++#include "cyber/message/arena_message_wrapper.h"
+ #include "cyber/message/raw_message.h"
+ 
+ namespace apollo {
+@@ -38,6 +39,16 @@ inline bool ParseFromArray(const void* data, int size, RawMessage* message) {
+ 
+ inline int ByteSize(const RawMessage& message) { return message.ByteSize(); }
+ 
++inline bool SerializeToArenaMessageWrapper(const RawMessage& message,
++                                           ArenaMessageWrapper* wrapper) {
++  return false;
++}
++
++inline bool ParseFromArenaMessageWrapper(ArenaMessageWrapper* wrapper,
++                                         RawMessage* message) {
++  return false;
++}
++
+ }  // namespace message
+ }  // namespace cyber
+ }  // namespace apollo
+diff --git a/cyber/node/BUILD b/cyber/node/BUILD
+index 366d6b0..3d7bffc 100644
+--- a/cyber/node/BUILD
++++ b/cyber/node/BUILD
+@@ -17,6 +17,7 @@ apollo_cc_library(
+         "writer.h",
+         "writer_base.h",
+     ],
++    linkopts = ["-lbvar"],
+     deps = [
+         "//cyber/blocker:cyber_blocker",
+         "//cyber/common:cyber_common",
+@@ -32,6 +33,7 @@ apollo_cc_library(
+         "//cyber/transport:cyber_transport",
+         "//cyber/event:cyber_event",
+         "//cyber/proto:role_attributes_cc_proto",
++        # "//cyber/statistics:apollo_statistics",
+     ],
+ )
+ 
+diff --git a/cyber/node/node.cc b/cyber/node/node.cc
+index b524121..0c974ca 100644
+--- a/cyber/node/node.cc
++++ b/cyber/node/node.cc
+@@ -16,14 +16,9 @@
+ 
+ #include "cyber/node/node.h"
+ 
+-#include "cyber/common/global_data.h"
+-#include "cyber/time/time.h"
+-
+ namespace apollo {
+ namespace cyber {
+ 
+-using proto::RoleType;
+-
+ Node::Node(const std::string& node_name, const std::string& name_space)
+     : node_name_(node_name), name_space_(name_space) {
+   node_channel_impl_.reset(new NodeChannelImpl(node_name));
+diff --git a/cyber/node/node.h b/cyber/node/node.h
+index 87a3def..b03844b 100644
+--- a/cyber/node/node.h
++++ b/cyber/node/node.h
+@@ -39,14 +39,14 @@ class TimerComponent;
+  * A module can have different types of communication by defining
+  * read/write and/or service/client in a node.
+  * @warning Duplicate name is not allowed in topo objects, such as node,
+- * reader/writer, service/clinet in the topo.
++ * reader/writer, service/client in the topo.
+  */
+ class Node {
+  public:
+   template <typename M0, typename M1, typename M2, typename M3>
+   friend class Component;
+   friend class TimerComponent;
+-  friend bool Init(const char*);
++  friend bool Init(const char*, const std::string&);
+   friend std::unique_ptr<Node> CreateNode(const std::string&,
+                                           const std::string&);
+   virtual ~Node();
+diff --git a/cyber/node/reader.h b/cyber/node/reader.h
+index 83f4fb5..5c098d0 100644
+--- a/cyber/node/reader.h
++++ b/cyber/node/reader.h
+@@ -35,6 +35,7 @@
+ #include "cyber/node/reader_base.h"
+ #include "cyber/scheduler/scheduler_factory.h"
+ #include "cyber/service_discovery/topology_manager.h"
++#include "cyber/statistics/statistics.h"
+ #include "cyber/time/time.h"
+ #include "cyber/transport/transport.h"
+ 
+@@ -259,11 +260,34 @@ bool Reader<MessageT>::Init() {
+   if (init_.exchange(true)) {
+     return true;
+   }
++  auto statistics_center = statistics::Statistics::Instance();
++  if (!statistics_center->RegisterChanVar(role_attr_)) {
++    AWARN << "Failed to register reader var!";
++  }
+   std::function<void(const std::shared_ptr<MessageT>&)> func;
+   if (reader_func_ != nullptr) {
+     func = [this](const std::shared_ptr<MessageT>& msg) {
++      uint64_t process_start_time;
++      uint64_t proc_done_time;
++      uint64_t proc_start_time;
++
+       this->Enqueue(msg);
+       this->reader_func_(msg);
++      // sampling proc latency in microsecond
++      proc_done_time = Time::Now().ToMicrosecond();
++      proc_start_time =
++          static_cast<uint64_t>(latest_recv_time_sec_ * 1000000UL);
++
++      statistics::Statistics::Instance()->SamplingProcLatency<uint64_t>(
++          this->role_attr_, (proc_done_time - proc_start_time));
++      if (statistics::Statistics::Instance()->GetProcStatus(
++              this->role_attr_, &process_start_time)) {
++        auto cyber_latency = proc_start_time - process_start_time;
++        if (process_start_time > 0 && cyber_latency > 0) {
++          statistics::Statistics::Instance()->SamplingCyberLatency(
++              this->role_attr_, cyber_latency);
++        }
++      }
+     };
+   } else {
+     func = [this](const std::shared_ptr<MessageT>& msg) { this->Enqueue(msg); };
+diff --git a/cyber/node/reader_base.h b/cyber/node/reader_base.h
+index 57e393f..ae5caaf 100644
+--- a/cyber/node/reader_base.h
++++ b/cyber/node/reader_base.h
+@@ -158,7 +158,7 @@ class ReaderBase {
+ /**
+  * @brief One Channel is related to one Receiver.
+  * ReceiverManager is in charge of attaching one Receiver to its responding
+- * Channel. We pass a DataDispatche's callback func to this Receiver so when a
++ * Channel. We pass a DataDispatcher's callback func to this Receiver so when a
+  * message is received, it will be push to the `ChannelBuffer`, and
+  * `DataVisitor` will `Fetch` data and pass to `Reader`'s callback func
+  *
+diff --git a/cyber/node/writer.h b/cyber/node/writer.h
+index b4a7a69..aad5f25 100644
+--- a/cyber/node/writer.h
++++ b/cyber/node/writer.h
+@@ -100,6 +100,12 @@ class Writer : public WriterBase {
+    */
+   void GetReaders(std::vector<proto::RoleAttributes>* readers) override;
+ 
++  /**
++   * @brief Acquire message instance to send
++   *
++   */ 
++  std::shared_ptr<MessageT> AcquireMessage();
++
+  private:
+   void JoinTheTopology();
+   void LeaveTheTopology();
+@@ -231,6 +237,23 @@ void Writer<MessageT>::GetReaders(std::vector<proto::RoleAttributes>* readers) {
+   channel_manager_->GetReadersOfChannel(role_attr_.channel_name(), readers);
+ }
+ 
++template <typename MessageT>
++std::shared_ptr<MessageT> Writer<MessageT>::AcquireMessage() {
++  if (!WriterBase::IsInit()) {
++    AERROR << "Please Acquire message after init writer!";
++    auto m = std::make_shared<MessageT>();
++    return m;
++  }
++
++  std::shared_ptr<MessageT> m(nullptr);
++  if (transmitter_->AcquireMessage(m)) {
++    return m;
++  } else {
++    m = std::make_shared<MessageT>();
++    return m;
++  }
++}
++
+ }  // namespace cyber
+ }  // namespace apollo
+ 
+diff --git a/cyber/node/writer_base.h b/cyber/node/writer_base.h
+index 6e2fa22..389cb82 100644
+--- a/cyber/node/writer_base.h
++++ b/cyber/node/writer_base.h
+@@ -83,6 +83,13 @@ class WriterBase {
+     return role_attr_.channel_name();
+   }
+ 
++  /**
++   * @brief Get Writer's Channel id
++   *
++   * @return const uint64_t& const reference to the channel id
++   */
++  const uint64_t GetChannelId() const { return role_attr_.channel_id(); }
++
+   /**
+    * @brief Is Writer initialized?
+    *
+diff --git a/cyber/parameter/BUILD b/cyber/parameter/BUILD
+index d4868ac..8639b90 100644
+--- a/cyber/parameter/BUILD
++++ b/cyber/parameter/BUILD
+@@ -21,7 +21,7 @@ apollo_cc_library(
+         "//cyber/proto:parameter_cc_proto",
+         "//cyber/node:cyber_node",
+         "//cyber/service:cyber_service",
+-        "@fastrtps",
++        "@fastdds",
+     ],
+ )
+ 
+diff --git a/cyber/parameter/parameter_client.h b/cyber/parameter/parameter_client.h
+index c0345f3..5c29701 100644
+--- a/cyber/parameter/parameter_client.h
++++ b/cyber/parameter/parameter_client.h
+@@ -69,7 +69,7 @@ class ParameterClient {
+    * @brief Set the Parameter object
+    *
+    * @param parameter parameter to be set
+-   * @return true set parameter succues
++   * @return true set parameter success
+    * @return false 1. call service timeout
+    *               2. parameter not exists
+    *               The corresponding log will be recorded at the same time
+diff --git a/cyber/proto/BUILD b/cyber/proto/BUILD
+index 118fb16..346e690 100644
+--- a/cyber/proto/BUILD
++++ b/cyber/proto/BUILD
+@@ -47,10 +47,10 @@ proto_library(
+     name = "cyber_conf_proto",
+     srcs = ["cyber_conf.proto"],
+     deps = [
++        ":perf_conf_proto",
++        ":run_mode_conf_proto",
+         ":scheduler_conf_proto",
+         ":transport_conf_proto",
+-        ":run_mode_conf_proto",
+-        ":perf_conf_proto",
+     ],
+ )
+ 
+@@ -74,12 +74,17 @@ proto_library(
+     srcs = ["unit_test.proto"],
+ )
+ 
++proto_library(
++    name = "simple_proto",
++    srcs = ["simple.proto"],
++)
++
+ proto_library(
+     name = "scheduler_conf_proto",
+     srcs = ["scheduler_conf.proto"],
+     deps = [
+-        ":classic_conf_proto",
+         ":choreography_conf_proto",
++        ":classic_conf_proto",
+     ],
+ )
+ 
+diff --git a/cyber/proto/simple.proto b/cyber/proto/simple.proto
+new file mode 100644
+index 0000000..5cd64a0
+--- /dev/null
++++ b/cyber/proto/simple.proto
+@@ -0,0 +1,12 @@
++syntax = "proto2";
++
++package apollo.cyber.proto;
++
++message SimpleMessage {
++  optional int32 integer = 1;
++  optional string text = 2;
++}
++
++message SimpleRepeatedMessage {
++  repeated SimpleMessage message = 1;
++}
+diff --git a/cyber/proto/transport_conf.proto b/cyber/proto/transport_conf.proto
+index f7f34b2..b6db252 100644
+--- a/cyber/proto/transport_conf.proto
++++ b/cyber/proto/transport_conf.proto
+@@ -14,10 +14,25 @@ message ShmMulticastLocator {
+   optional uint32 port = 2;
+ };
+ 
++message ArenaChannelConf {
++  optional string channel_name = 1;
++  // the acutal arena segment size is equal with max_msg_size * max_pool_size + meta,
++  // so max_msg_size * max_pool_size should be less than the limit of ArenaAddressAllocator:
++  // 2^31 - 128 * 1024 * 1024, which is hardcode in the underlying implementation
++  optional uint64 max_msg_size = 2 [default = 33554432];
++  optional uint64 max_pool_size = 3 [default = 32];
++  optional uint64 shared_buffer_size = 4 [default = 0];
++};
++
++message ArenaShmConf {
++  repeated ArenaChannelConf arena_channel_conf = 1;
++};
++
+ message ShmConf {
+   optional string notifier_type = 1;
+   optional string shm_type = 2;
+   optional ShmMulticastLocator shm_locator = 3;
++  optional ArenaShmConf arena_shm_conf = 4;
+ };
+ 
+ message RtpsParticipantAttr {
+diff --git a/cyber/python/cyber_py3/cyber.py b/cyber/python/cyber_py3/cyber.py
+index 67912c2..466e414 100644
+--- a/cyber/python/cyber_py3/cyber.py
++++ b/cyber/python/cyber_py3/cyber.py
+@@ -35,7 +35,7 @@ PY_CALLBACK_TYPE_T = ctypes.CFUNCTYPE(ctypes.c_int, ctypes.c_char_p)
+ APOLLO_DISTRIBUTION_HOME = os.environ.get(
+     'APOLLO_DISTRIBUTION_HOME', '/opt/apollo/neo')
+ 
+-if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo'):
++if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo') or APOLLO_DISTRIBUTION_HOME.startswith('/home'):
+     wrapper_lib_path = os.path.join(
+         APOLLO_DISTRIBUTION_HOME, "lib", "cyber/python/internal")
+ 
+diff --git a/cyber/python/cyber_py3/cyber_time.py b/cyber/python/cyber_py3/cyber_time.py
+index 303fb02..ba0f93c 100644
+--- a/cyber/python/cyber_py3/cyber_time.py
++++ b/cyber/python/cyber_py3/cyber_time.py
+@@ -25,7 +25,7 @@ import sys
+ APOLLO_DISTRIBUTION_HOME = os.environ.get(
+     'APOLLO_DISTRIBUTION_HOME', '/opt/apollo/neo')
+ 
+-if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo'):
++if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo') or APOLLO_DISTRIBUTION_HOME.startswith('/home'):
+     wrapper_lib_path = os.path.join(
+         APOLLO_DISTRIBUTION_HOME, "lib", "cyber/python/internal")
+ 
+diff --git a/cyber/python/cyber_py3/cyber_timer.py b/cyber/python/cyber_py3/cyber_timer.py
+index 5c1911a..3123843 100644
+--- a/cyber/python/cyber_py3/cyber_timer.py
++++ b/cyber/python/cyber_py3/cyber_timer.py
+@@ -30,7 +30,7 @@ APOLLO_DISTRIBUTION_HOME = os.environ.get(
+     'APOLLO_DISTRIBUTION_HOME', '/opt/apollo/neo')
+ 
+ # init vars
+-if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo'):
++if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo') or APOLLO_DISTRIBUTION_HOME.startswith('/home'):
+     wrapper_lib_path = os.path.join(
+         APOLLO_DISTRIBUTION_HOME, "lib", "cyber/python/internal")
+         
+diff --git a/cyber/python/cyber_py3/parameter.py b/cyber/python/cyber_py3/parameter.py
+index 03a91bc..60ef028 100644
+--- a/cyber/python/cyber_py3/parameter.py
++++ b/cyber/python/cyber_py3/parameter.py
+@@ -29,7 +29,7 @@ CYBER_DIR = os.path.split(CYBER_PATH)[0]
+ APOLLO_DISTRIBUTION_HOME = os.environ.get(
+     'APOLLO_DISTRIBUTION_HOME', '/opt/apollo/neo')
+ 
+-if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo'):
++if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo') or APOLLO_DISTRIBUTION_HOME.startswith('/home'):
+     wrapper_lib_path = os.path.join(
+         APOLLO_DISTRIBUTION_HOME, "lib", "cyber/python/internal")
+ 
+diff --git a/cyber/python/cyber_py3/record.py b/cyber/python/cyber_py3/record.py
+index de5cd42..31d820e 100644
+--- a/cyber/python/cyber_py3/record.py
++++ b/cyber/python/cyber_py3/record.py
+@@ -30,7 +30,7 @@ from google.protobuf.descriptor_pb2 import FileDescriptorProto
+ APOLLO_DISTRIBUTION_HOME = os.environ.get(
+     'APOLLO_DISTRIBUTION_HOME', '/opt/apollo/neo')
+ 
+-if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo'):
++if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo') or APOLLO_DISTRIBUTION_HOME.startswith('/home'):
+     wrapper_lib_path = os.path.join(
+         APOLLO_DISTRIBUTION_HOME, "lib", "cyber/python/internal")
+ 
+diff --git a/cyber/python/cyber_py3/test/BUILD b/cyber/python/cyber_py3/test/BUILD
+index 22a15f1..f519a52 100644
+--- a/cyber/python/cyber_py3/test/BUILD
++++ b/cyber/python/cyber_py3/test/BUILD
+@@ -16,20 +16,26 @@ py_test(
+     name = "init_test",
+     timeout = "short",
+     srcs = ["init_test.py"],
++    imports = [
++        "../../internal",
++    ],
+     deps = [
+         "//cyber/python/cyber_py3:cyber",
+     ],
+ )
+ 
+-# py_test(
+-#     name = "cyber_test",
+-#     timeout = "short",
+-#     srcs = ["cyber_test.py"],
+-#     deps = [
+-#         "//cyber/python/cyber_py3:cyber",
+-#         "//cyber/proto:simple_py_pb2",
+-#     ],
+-# )
++py_test(
++    name = "cyber_test",
++    timeout = "short",
++    srcs = ["cyber_test.py"],
++    imports = [
++        "../../internal",
++    ],
++    deps = [
++        "//cyber/proto:simple_py_pb2",
++        "//cyber/python/cyber_py3:cyber",
++    ],
++)
+ # FIXME(all): parameter_test seems to run forever
+ # py_test(
+ #    name = "parameter_test",
+@@ -45,6 +51,9 @@ py_test(
+     name = "cyber_time_test",
+     timeout = "short",
+     srcs = ["cyber_time_test.py"],
++    imports = [
++        "../../internal",
++    ],
+     deps = [
+         "//cyber/python/cyber_py3:cyber",
+         "//cyber/python/cyber_py3:cyber_time",
+@@ -62,4 +71,4 @@ py_test(
+ #    ],
+ #)
+ 
+-apollo_package()
+\ No newline at end of file
++apollo_package()
+diff --git a/cyber/python/internal/BUILD b/cyber/python/internal/BUILD
+index e5ee8e0..6b95e3b 100644
+--- a/cyber/python/internal/BUILD
++++ b/cyber/python/internal/BUILD
+@@ -86,7 +86,7 @@ apollo_cc_library(
+     hdrs = ["py_time.h"],
+     deps = [
+         "//cyber",
+-        "@fastrtps",
++        "@fastdds",
+         "@local_config_python//:python_headers",
+         "@local_config_python//:python_lib",
+     ],
+diff --git a/cyber/python/internal/py_cyber.cc b/cyber/python/internal/py_cyber.cc
+index a8dca54..3b0982c 100644
+--- a/cyber/python/internal/py_cyber.cc
++++ b/cyber/python/internal/py_cyber.cc
+@@ -89,7 +89,8 @@ template <typename T>
+ T PyObjectToPtr(PyObject *pyobj, const std::string &type_ptr) {
+   T obj_ptr = (T)PyCapsule_GetPointer(pyobj, type_ptr.c_str());
+   if (obj_ptr == nullptr) {
+-    AERROR << "PyObjectToPtr failed,type->" << type_ptr << "pyobj: " << pyobj;
++    AERROR << "PyObjectToPtr failed,type->" << type_ptr << " "
++           << "pyobj: " << pyobj;
+   }
+   return obj_ptr;
+ }
+@@ -139,11 +140,12 @@ PyObject *cyber_delete_PyWriter(PyObject *self, PyObject *args) {
+ 
+ PyObject *cyber_PyWriter_write(PyObject *self, PyObject *args) {
+   PyObject *pyobj_writer = nullptr;
+-  char *data = nullptr;
+-  Py_ssize_t len = 0;
+-  if (!PyArg_ParseTuple(args, const_cast<char *>("Os#:cyber_PyWriter_write"),
+-                        &pyobj_writer, &data, &len)) {
++  Py_buffer buffer;
++  // Py_ssize_t len = 0;
++  if (!PyArg_ParseTuple(args, const_cast<char *>("Oy*:cyber_PyWriter_write"),
++                        &pyobj_writer, &buffer)) {
+     AERROR << "cyber_PyWriter_write:cyber_PyWriter_write failed!";
++    PyBuffer_Release(&buffer);
+     return PyInt_FromLong(1);
+   }
+ 
+@@ -152,11 +154,14 @@ PyObject *cyber_PyWriter_write(PyObject *self, PyObject *args) {
+ 
+   if (nullptr == writer) {
+     AERROR << "cyber_PyWriter_write:writer ptr is null!";
++    PyBuffer_Release(&buffer);
+     return PyInt_FromLong(1);
+   }
+ 
+-  std::string data_str(data, len);
++  std::string data_str(
++      const_cast<const char *>(static_cast<char *>(buffer.buf)), buffer.len);
+   int ret = writer->write(data_str);
++  PyBuffer_Release(&buffer);
+   return PyInt_FromLong(ret);
+ }
+ 
+@@ -297,11 +302,12 @@ PyObject *cyber_delete_PyClient(PyObject *self, PyObject *args) {
+ 
+ PyObject *cyber_PyClient_send_request(PyObject *self, PyObject *args) {
+   PyObject *pyobj_client = nullptr;
+-  char *data = nullptr;
+-  Py_ssize_t len = 0;
+-  if (!PyArg_ParseTuple(args, const_cast<char *>("Os#:PyClient_send_request"),
+-                        &pyobj_client, &data, &len)) {
++  Py_buffer buffer;
++  // Py_ssize_t len = 0;
++  if (!PyArg_ParseTuple(args, const_cast<char *>("Oy*:PyClient_send_request"),
++                        &pyobj_client, &buffer)) {
+     AERROR << "cyber_PyClient_send_request:PyArg_ParseTuple failed!";
++    PyBuffer_Release(&buffer);
+     return PYOBJECT_NULL_STRING;
+   }
+ 
+@@ -310,14 +316,17 @@ PyObject *cyber_PyClient_send_request(PyObject *self, PyObject *args) {
+ 
+   if (nullptr == client) {
+     AERROR << "cyber_PyClient_send_request:client ptr is null!";
++    PyBuffer_Release(&buffer);
+     return PYOBJECT_NULL_STRING;
+   }
+ 
+-  std::string data_str(data, len);
++  std::string data_str(
++      const_cast<const char *>(static_cast<char *>(buffer.buf)), buffer.len);
+   ADEBUG << "c++:PyClient_send_request data->[ " << data_str << "]";
+   const std::string response_str =
+       client->send_request((std::string const &)data_str);
+   ADEBUG << "c++:response data->[ " << response_str << "]";
++  PyBuffer_Release(&buffer);
+   return C_STR_TO_PY_BYTES(response_str);
+ }
+ 
+@@ -406,11 +415,12 @@ PyObject *cyber_PyService_read(PyObject *self, PyObject *args) {
+ 
+ PyObject *cyber_PyService_write(PyObject *self, PyObject *args) {
+   PyObject *pyobj_service = nullptr;
+-  char *data = nullptr;
+-  Py_ssize_t len = 0;
+-  if (!PyArg_ParseTuple(args, const_cast<char *>("Os#:cyber_PyService_write"),
+-                        &pyobj_service, &data, &len)) {
++  Py_buffer buffer;
++  // Py_ssize_t len = 0;
++  if (!PyArg_ParseTuple(args, const_cast<char *>("Oy*:cyber_PyService_write"),
++                        &pyobj_service, &buffer)) {
+     AERROR << "cyber_PyService_write:PyArg_ParseTuple failed!";
++    PyBuffer_Release(&buffer);
+     return PyInt_FromLong(1);
+   }
+ 
+@@ -419,12 +429,15 @@ PyObject *cyber_PyService_write(PyObject *self, PyObject *args) {
+ 
+   if (nullptr == service) {
+     AERROR << "cyber_PyService_write:writer ptr is null!";
++    PyBuffer_Release(&buffer);
+     return PyInt_FromLong(1);
+   }
+ 
+-  std::string data_str(data, len);
++  std::string data_str(
++      const_cast<const char *>(static_cast<char *>(buffer.buf)), buffer.len);
+   ADEBUG << "c++:PyService_write data->[ " << data_str << "]";
+   int ret = service->write((std::string const &)data_str);
++  PyBuffer_Release(&buffer);
+   return PyInt_FromLong(ret);
+ }
+ 
+@@ -594,24 +607,29 @@ PyObject *cyber_PyNode_shutdown(PyObject *self, PyObject *args) {
+ 
+ PyObject *cyber_PyNode_register_message(PyObject *self, PyObject *args) {
+   PyObject *pyobj_node = nullptr;
+-  char *desc = nullptr;
+-  int len = 0;
++  Py_buffer buffer;
++  // int len = 0;
+   if (!PyArg_ParseTuple(args,
+-                        const_cast<char *>("Os#:cyber_PyNode_register_message"),
+-                        &pyobj_node, &desc, &len)) {
++                        const_cast<char *>("Oy*:cyber_PyNode_register_message"),
++                        &pyobj_node, &buffer)) {
+     AERROR << "cyber_PyNode_register_message: failed!";
+     Py_INCREF(Py_None);
++    PyBuffer_Release(&buffer);
+     return Py_None;
+   }
++  std::string desc_str(
++      const_cast<const char *>(static_cast<char *>(buffer.buf)), buffer.len);
+   PyNode *node = PyObjectToPtr<PyNode *>(pyobj_node, "apollo_cyber_pynode");
+   if (nullptr == node) {
+-    AERROR << "cyber_PyNode_register_message:node ptr is null! desc->" << desc;
++    AERROR << "cyber_PyNode_register_message:node ptr is null! desc->"
++           << desc_str;
+     Py_INCREF(Py_None);
++    PyBuffer_Release(&buffer);
+     return Py_None;
+   }
+-  std::string desc_str(desc, len);
+   node->register_message((std::string const &)desc_str);
+   Py_INCREF(Py_None);
++  PyBuffer_Release(&buffer);
+   return Py_None;
+ }
+ 
+diff --git a/cyber/python/internal/py_cyber.h b/cyber/python/internal/py_cyber.h
+index 3f0d750..b1cca07 100644
+--- a/cyber/python/internal/py_cyber.h
++++ b/cyber/python/internal/py_cyber.h
+@@ -16,6 +16,7 @@
+ 
+ #ifndef CYBER_PYTHON_INTERNAL_PY_CYBER_H_
+ #define CYBER_PYTHON_INTERNAL_PY_CYBER_H_
++#define PY_SSIZE_T_CLEAN
+ 
+ #include <unistd.h>
+ 
+diff --git a/cyber/record/file/record_file_writer.cc b/cyber/record/file/record_file_writer.cc
+index 1f0d80d..3f53273 100644
+--- a/cyber/record/file/record_file_writer.cc
++++ b/cyber/record/file/record_file_writer.cc
+@@ -222,7 +222,7 @@ bool RecordFileWriter::WriteMessage(const proto::SingleMessage& message) {
+           header_.chunk_interval()) {
+     need_flush = true;
+   }
+-  if (header_.chunk_raw_size() > 0 &&
++  if (!in_writing_ && header_.chunk_raw_size() > 0 &&
+       chunk_active_->header_.raw_size() > header_.chunk_raw_size()) {
+     need_flush = true;
+   }
+@@ -248,9 +248,11 @@ void RecordFileWriter::Flush() {
+     if (chunk_flush_->empty()) {
+       continue;
+     }
++    in_writing_ = true;
+     if (!WriteChunk(chunk_flush_->header_, *(chunk_flush_->body_.get()))) {
+       AERROR << "Write chunk fail.";
+     }
++    in_writing_ = false;
+     chunk_flush_->clear();
+   }
+ }
+diff --git a/cyber/record/file/record_file_writer.h b/cyber/record/file/record_file_writer.h
+index 0a9481c..2f95f91 100644
+--- a/cyber/record/file/record_file_writer.h
++++ b/cyber/record/file/record_file_writer.h
+@@ -93,6 +93,7 @@ class RecordFileWriter : public RecordFileBase {
+   bool WriteIndex();
+   void Flush();
+   std::atomic_bool is_writing_;
++  std::atomic_bool in_writing_{false};
+   std::unique_ptr<Chunk> chunk_active_ = nullptr;
+   std::unique_ptr<Chunk> chunk_flush_ = nullptr;
+   std::shared_ptr<std::thread> flush_thread_ = nullptr;
+diff --git a/cyber/record/header_builder.h b/cyber/record/header_builder.h
+index 6a38350..3b89cfe 100644
+--- a/cyber/record/header_builder.h
++++ b/cyber/record/header_builder.h
+@@ -66,7 +66,7 @@ class HeaderBuilder {
+       proto::CompressType::COMPRESS_NONE;
+   static const uint64_t CHUNK_INTERVAL_ = 20 * 1000 * 1000 * 1000ULL;    // 20s
+   static const uint64_t SEGMENT_INTERVAL_ = 60 * 1000 * 1000 * 1000ULL;  // 60s
+-  static const uint64_t CHUNK_RAW_SIZE_ = 1 * 1024 * 1024ULL;            // 1MB
++  static const uint64_t CHUNK_RAW_SIZE_ = 16 * 1024 * 1024ULL;           // 16MB
+   static const uint64_t SEGMENT_RAW_SIZE_ = 2048 * 1024 * 1024ULL;       // 2GB
+ };
+ 
+diff --git a/cyber/ros_bridge/BUILD b/cyber/ros_bridge/BUILD
+new file mode 100644
+index 0000000..3378128
+--- /dev/null
++++ b/cyber/ros_bridge/BUILD
+@@ -0,0 +1,59 @@
++load("//tools:cpplint.bzl", "cpplint")
++load("//tools:apollo_package.bzl", "apollo_cc_library", "apollo_cc_binary", "apollo_package")
++
++package(default_visibility = ["//visibility:public"])
++
++filegroup(
++    name = "runtime_data",
++    srcs = glob([
++        "conf/**",
++    ]),
++)
++
++apollo_cc_library(
++    name = "converter_base",
++    hdrs = [
++        "converter_base/message_converter.h",
++        "converter_base/converter_base.h", 
++        "converter_base/convert_ros_quadruple.h",
++        "converter_base/convert_ros_triple.h",
++        "converter_base/convert_ros_double.h",
++        "converter_base/convert_ros_single.h",
++        "converter_base/convert_apollo_quadruple.h",
++        "converter_base/convert_apollo_triple.h",
++        "converter_base/convert_apollo_double.h",
++        "converter_base/convert_apollo_single.h",
++	    "converter_base/converter_interface.h",
++
++        "common/bridge_argument.h",
++        "common/ros_bridge_gflags.h",
++        "common/utils.h",
++        "common/macros.h",
++    ],
++    srcs = [
++        "common/ros_bridge_gflags.cc",
++        "common/bridge_argument.cc",
++    ],
++    deps = [
++        "//cyber",
++        "//cyber/ros_bridge/proto:converter_conf_proto",
++        "@com_github_gflags_gflags//:gflags",
++        "@ros",
++    ],
++)
++
++apollo_cc_binary(
++    name = "ros_bridge",
++    srcs = ["ros_bridge.cc"],
++    linkopts = [
++        "-ltcmalloc",
++        "-lprofiler",
++    ],
++    deps = [
++        ":converter_base",
++        "//cyber/ros_bridge/proto:ros_bridge_conf_proto",
++    ]
++)
++
++apollo_package()
++cpplint()
+diff --git a/cyber/ros_bridge/common/bridge_argument.cc b/cyber/ros_bridge/common/bridge_argument.cc
+new file mode 100644
+index 0000000..75c35fa
+--- /dev/null
++++ b/cyber/ros_bridge/common/bridge_argument.cc
+@@ -0,0 +1,112 @@
++/******************************************************************************
++ * Copyright 2018 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#include "cyber/ros_bridge/common/bridge_argument.h"
++
++#include <getopt.h>
++#include <libgen.h>
++
++namespace apollo {
++namespace cyber {
++
++void BridgeArgument::DisplayUsage() {
++  AINFO << "Usage: \n    " << binary_name_ << " [OPTION]...\n"
++        << "Description: \n"
++        << "    -h, --help: help information \n"
++        << "    -c, --cpuprofile: enable gperftools cpu profile\n"
++        << "    -o, --profile_filename=filename: the filename to dump the "
++            "profile to, default value is ${binary_name}_cpu.prof. Only work "
++            "with -c option\n"
++        << "    -H, --heapprofile: enable gperftools heap profile\n"
++        << "    -O, --heapprofile_filename=filename: the filename to dump the "
++            "profile to, default value is ${binary_name}_mem.prof. Only work "
++            "with -H option\n"
++        << "Example:\n"
++        << "    " << binary_name_ << " -h\n"
++        << "    " << binary_name_ << " -c -H ";
++}
++
++void BridgeArgument::ParseArgument(const int argc, char* const argv[]) {
++  binary_name_ = std::string(basename(argv[0]));
++  GetOptions(argc, argv);
++
++  if (enable_cpuprofile_ && profile_filename_.empty()) {
++    profile_filename_ = binary_name_ + std::string("_cpu.prof");
++  }
++
++  if (enable_heapprofile_ && heapprofile_filename_.empty()) {
++    heapprofile_filename_ = binary_name_ + std::string("_mem.prof");
++  }
++
++  AINFO << "binary_name_ is " << binary_name_;
++}
++
++void BridgeArgument::GetOptions(const int argc, char* const argv[]) {
++  opterr = 0;  // extern int opterr
++  int long_index = 0;
++  const std::string short_opts = "hco:HO:";
++  static const struct option long_opts[] = {
++      {"help", no_argument, nullptr, 'h'},
++      {"cpuprofile", no_argument, nullptr, 'c'},
++      {"profile_filename", required_argument, nullptr, 'o'},
++      {"heapprofile", no_argument, nullptr, 'H'},
++      {"heapprofile_filename", required_argument, nullptr, 'O'},
++      {NULL, no_argument, nullptr, 0}};
++
++  // log command for info
++  std::string cmd("");
++  for (int i = 0; i < argc; ++i) {
++    cmd += argv[i];
++    cmd += " ";
++  }
++  AINFO << "command: " << cmd;
++
++  do {
++    int opt =
++        getopt_long(argc, argv, short_opts.c_str(), long_opts, &long_index);
++    if (opt == -1) {
++      break;
++    }
++    switch (opt) {
++      case 'c':
++        enable_cpuprofile_ = true;
++        break;
++      case 'o':
++        profile_filename_ = std::string(optarg);
++        break;
++      case 'H':
++        enable_heapprofile_ = true;
++        break;
++      case 'O':
++        heapprofile_filename_ = std::string(optarg);
++        break;
++      case 'h':
++        DisplayUsage();
++        exit(0);
++      default:
++        break;
++    }
++  } while (true);
++
++  if (optind < argc) {
++    AINFO << "Found non-option ARGV-element \"" << argv[optind++] << "\"";
++    DisplayUsage();
++    exit(1);
++  }
++}
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/common/bridge_argument.h b/cyber/ros_bridge/common/bridge_argument.h
+new file mode 100644
+index 0000000..482a812
+--- /dev/null
++++ b/cyber/ros_bridge/common/bridge_argument.h
+@@ -0,0 +1,57 @@
++/******************************************************************************
++ * Copyright 2018 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#pragma once
++
++#include <list>
++#include <string>
++
++#include "cyber/common/global_data.h"
++#include "cyber/common/log.h"
++#include "cyber/common/types.h"
++
++namespace apollo {
++namespace cyber {
++
++class BridgeArgument {
++ public:
++  BridgeArgument() = default;
++  virtual ~BridgeArgument() = default;
++  void DisplayUsage();
++  void ParseArgument(int argc, char* const argv[]);
++  void GetOptions(const int argc, char* const argv[]);
++  const std::string& GetBinaryName() const;
++  const bool GetEnableCpuprofile() const { return enable_cpuprofile_; }
++  const std::string GetProfileFilename() const { return profile_filename_; }
++  const bool GetEnableHeapprofile() const { return enable_heapprofile_; }
++  const std::string GetHeapProfileFilename() const {
++    return heapprofile_filename_;
++  }
++
++ private:
++  std::string binary_name_;
++  bool enable_cpuprofile_ = false;
++  std::string profile_filename_;
++  bool enable_heapprofile_ = false;
++  std::string heapprofile_filename_;
++};
++
++inline const std::string& BridgeArgument::GetBinaryName() const {
++  return binary_name_;
++}
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/common/macros.h b/cyber/ros_bridge/common/macros.h
+new file mode 100644
+index 0000000..feccf11
+--- /dev/null
++++ b/cyber/ros_bridge/common/macros.h
+@@ -0,0 +1,26 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#ifndef ROS_BRIDGE_MACROS_H_
++#define ROS_BRIDGE_MACROS_H_
++
++// replacement macro for eprosima namespace to eprosima_wrap
++// for adapting different version fastdds on a single process
++#ifndef eprosima
++#define eprosima eprosima_wrap
++#endif
++
++#endif  // ROS_BRIDGE_MACROS_H_
+diff --git a/cyber/ros_bridge/common/ros_bridge_gflags.cc b/cyber/ros_bridge/common/ros_bridge_gflags.cc
+new file mode 100644
+index 0000000..aeb32e7
+--- /dev/null
++++ b/cyber/ros_bridge/common/ros_bridge_gflags.cc
+@@ -0,0 +1,32 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++/**
++ * @file ros_bridge_gflags.h
++ * @brief The gflags used by ros bridge binary
++ */
++
++#include "cyber/ros_bridge/common/ros_bridge_gflags.h"
++
++namespace apollo {
++namespace cyber {
++
++// config path
++DEFINE_string(bridge_conf_path,
++  "ros_bridge/conf/ros_bridge_conf.pb.txt", "ros config file path");
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/common/ros_bridge_gflags.h b/cyber/ros_bridge/common/ros_bridge_gflags.h
+new file mode 100644
+index 0000000..6efd55f
+--- /dev/null
++++ b/cyber/ros_bridge/common/ros_bridge_gflags.h
+@@ -0,0 +1,33 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++/**
++ * @file ros_bridge_gflags.h
++ * @brief The gflags used by ros bridge binary
++ */
++
++#pragma once
++
++#include "gflags/gflags.h"
++
++namespace apollo {
++namespace cyber {
++
++// config path
++DECLARE_string(bridge_conf_path);
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/common/utils.h b/cyber/ros_bridge/common/utils.h
+new file mode 100644
+index 0000000..5ee9df8
+--- /dev/null
++++ b/cyber/ros_bridge/common/utils.h
+@@ -0,0 +1,34 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#pragma once
++
++#include <string>
++
++namespace apollo {
++namespace cyber {
++
++std::string GetFullConverterClassName(const std::string& class_name) {
++  static const std::string kNameSpace = "apollo::cyber::";
++  // If the class name already has namespace in it, do nothing.
++  if (class_name.find("::") != std::string::npos) {
++    return class_name;
++  }
++  return kNameSpace + class_name;
++}
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/conf/ros_bridge_conf.pb.txt b/cyber/ros_bridge/conf/ros_bridge_conf.pb.txt
+new file mode 100644
+index 0000000..3c1ae1d
+--- /dev/null
++++ b/cyber/ros_bridge/conf/ros_bridge_conf.pb.txt
+@@ -0,0 +1,19 @@
++converter {
++  type: "LidarPointcloud"
++}
++
++converter {
++  type: "HeadingMsgFusion"
++}
++
++converter {
++  type: "ImuMsgConverter"
++}
++
++converter {
++  type: "NavMsgConverter"
++}
++
++converter {
++  type: "OdometryMsgConverter"
++}
+diff --git a/cyber/ros_bridge/converter_base/convert_apollo_double.h b/cyber/ros_bridge/converter_base/convert_apollo_double.h
+new file mode 100644
+index 0000000..7a0136a
+--- /dev/null
++++ b/cyber/ros_bridge/converter_base/convert_apollo_double.h
+@@ -0,0 +1,384 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#ifndef CYBER_APOLLO_ROS_SINGLE_H_
++#define CYBER_APOLLO_ROS_SINGLE_H_
++
++#include <memory>
++#include <string>
++#include <utility>
++
++#include "cyber/ros_bridge/common/macros.h"
++
++#include "cyber/cyber.h"
++#include "cyber/ros_bridge/converter_base/converter_base.h"
++#include "cyber/ros_bridge/converter_base/message_converter.h"
++
++namespace apollo {
++namespace cyber {
++
++template <typename InType0, typename InType1, typename OutType0>
++class ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
++    OutputTypes<std::shared_ptr<OutType0>>> : public MessageConverter {
++ public:
++  ApolloRosMessageConverter() {}
++  ~ApolloRosMessageConverter() override {}
++
++  bool Init() override;
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>& input,
++      OutputTypes<std::shared_ptr<OutType0>>& output) = 0;
++};
++
++template <typename InType0, typename InType1, typename OutType0>
++bool ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
++    OutputTypes<std::shared_ptr<OutType0>>>::Init() {
++  MessageConverter::Init();
++  if (!init_.load()) {
++    return false;
++  }
++  if (!LoadConfig(&converter_conf_)) {
++    return false;
++  }
++
++  apollo::cyber::ReaderConfig reader_cfg_0;
++  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
++
++  apollo::cyber::ReaderConfig reader_cfg_1;
++  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
++  auto apollo_reader_1 =
++      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
++  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++
++  auto apollo_blocker_1 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
++          reader_cfg_1.channel_name);
++#ifdef RCLCPP__RCLCPP_HPP_
++  auto ros_publisher_0 =
++      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
++  ros_publishers_.push_back(std::move(ros_publisher_0));
++  auto func = [this, ros_publisher_0,
++               apollo_blocker_1](const std::shared_ptr<InType0> in) {
++#else
++  auto func = [this, apollo_blocker_1](const std::shared_ptr<InType0> in) {
++#endif
++    auto out = std::make_shared<OutType0>();
++    if (!apollo_blocker_1->IsPublishedEmpty()) {
++      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
++      auto in_container =
++          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>{
++              std::make_tuple(in, msg1)};
++      auto out_container =
++          OutputTypes<std::shared_ptr<OutType0>>{std::make_tuple(out)};
++      this->ConvertMsg(in_container, out_container);
++#ifdef RCLCPP__RCLCPP_HPP_
++      ros_publisher_0->publish(*out);
++#endif
++    }
++  };
++  auto apollo_reader_0 =
++      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
++  apollo_readers_.push_back(std::move(apollo_reader_0));
++  apollo_readers_.push_back(std::move(apollo_reader_1));
++
++  return true;
++}
++
++template <typename InType0, typename InType1, typename OutType0,
++          typename OutType1>
++class ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>
++    : public MessageConverter {
++ public:
++  ApolloRosMessageConverter() {}
++  ~ApolloRosMessageConverter() override {}
++
++  bool Init() override;
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>&
++          output) = 0;
++};
++
++template <typename InType0, typename InType1, typename OutType0,
++          typename OutType1>
++bool ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>::Init() {
++  MessageConverter::Init();
++  if (!init_.load()) {
++    return false;
++  }
++  if (!LoadConfig(&converter_conf_)) {
++    return false;
++  }
++
++  apollo::cyber::ReaderConfig reader_cfg_0;
++  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
++
++  apollo::cyber::ReaderConfig reader_cfg_1;
++  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
++  auto apollo_reader_1 =
++      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
++
++  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++
++  auto apollo_blocker_1 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
++          reader_cfg_1.channel_name);
++
++#ifdef RCLCPP__RCLCPP_HPP_
++  auto ros_publisher_0 =
++      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
++  auto ros_publisher_1 =
++      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
++  ros_publishers_.push_back(std::move(ros_publisher_0));
++  ros_publishers_.push_back(std::move(ros_publisher_1));
++  auto func = [this, apollo_blocker_1, ros_publisher_0,
++               ros_publisher_1](const std::shared_ptr<InType0> in) {
++#else
++  auto func = [this, apollo_blocker_1](const std::shared_ptr<InType0> in) {
++#endif
++    if (!apollo_blocker_1->IsPublishedEmpty()) {
++      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
++      auto out_0 = std::make_shared<OutType0>();
++      auto out_1 = std::make_shared<OutType1>();
++      auto in_container =
++          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>{
++              std::make_tuple(in, msg1)};
++      auto out_container =
++          OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>{
++              std::make_tuple(out_0, out_1)};
++      this->ConvertMsg(in_container, out_container);
++#ifdef RCLCPP__RCLCPP_HPP_
++      ros_publisher_0->publish(*out_0);
++      ros_publisher_1->publish(*out_1);
++#endif
++    }
++  };
++  auto apollo_reader_0 =
++      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
++  apollo_readers_.push_back(std::move(apollo_reader_0));
++  apollo_readers_.push_back(std::move(apollo_reader_1));
++
++  return true;
++}
++
++template <typename InType0, typename InType1, typename OutType0,
++          typename OutType1, typename OutType2>
++class ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>>> : public MessageConverter {
++ public:
++  ApolloRosMessageConverter() {}
++  ~ApolloRosMessageConverter() override {}
++
++  bool Init() override;
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                  std::shared_ptr<OutType2>>& output) = 0;
++};
++
++template <typename InType0, typename InType1, typename OutType0,
++          typename OutType1, typename OutType2>
++bool ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>>>::Init() {
++  MessageConverter::Init();
++  if (!init_.load()) {
++    return false;
++  }
++  if (!LoadConfig(&converter_conf_)) {
++    return false;
++  }
++
++  apollo::cyber::ReaderConfig reader_cfg_0;
++  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
++
++  apollo::cyber::ReaderConfig reader_cfg_1;
++  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
++  auto apollo_reader_1 =
++      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
++
++  auto apollo_blocker_1 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
++          reader_cfg_1.channel_name);
++
++  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++  std::string ros_topic_name_2 = converter_conf_.ros_topic_name_2();
++
++#ifdef RCLCPP__RCLCPP_HPP_
++  auto ros_publisher_0 =
++      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
++  auto ros_publisher_1 =
++      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
++  auto ros_publisher_2 =
++      ros_node_->create_publisher<OutType2>(ros_topic_name_2, 10);
++  ros_publishers_.push_back(std::move(ros_publisher_0));
++  ros_publishers_.push_back(std::move(ros_publisher_1));
++  ros_publishers_.push_back(std::move(ros_publisher_2));
++  auto func = [this, apollo_blocker_1, ros_publisher_0, ros_publisher_1,
++               ros_publisher_2](const std::shared_ptr<InType0> in) {
++#else
++  auto func = [this, apollo_blocker_1](const std::shared_ptr<InType0> in) {
++#endif
++    if (!apollo_blocker_1->IsPublishedEmpty()) {
++      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
++      auto out_0 = std::make_shared<OutType0>();
++      auto out_1 = std::make_shared<OutType1>();
++      auto out_2 = std::make_shared<OutType2>();
++      auto in_container =
++          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>{
++              std::make_tuple(in, msg1)};
++      auto out_container =
++          OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                      std::shared_ptr<OutType2>>{
++              std::make_tuple(out_0, out_1, out_2)};
++      this->ConvertMsg(in_container, out_container);
++#ifdef RCLCPP__RCLCPP_HPP_
++      ros_publisher_0->publish(*out_0);
++      ros_publisher_1->publish(*out_1);
++      ros_publisher_2->publish(*out_2);
++#endif
++    }
++  };
++  auto apollo_reader_0 =
++      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
++  apollo_readers_.push_back(std::move(apollo_reader_0));
++  apollo_readers_.push_back(std::move(apollo_reader_1));
++
++  return true;
++}
++
++template <typename InType0, typename InType1, typename OutType0,
++          typename OutType1, typename OutType2, typename OutType3>
++class ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>
++    : public MessageConverter {
++ public:
++  ApolloRosMessageConverter() {}
++  ~ApolloRosMessageConverter() override {}
++
++  bool Init() override;
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                  std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>&
++          output) = 0;
++};
++
++template <typename InType0, typename InType1, typename OutType0,
++          typename OutType1, typename OutType2, typename OutType3>
++bool ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>::Init() {
++  MessageConverter::Init();
++  if (!init_.load()) {
++    return false;
++  }
++  if (!LoadConfig(&converter_conf_)) {
++    return false;
++  }
++
++  apollo::cyber::ReaderConfig reader_cfg_0;
++  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
++
++  apollo::cyber::ReaderConfig reader_cfg_1;
++  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
++  auto apollo_reader_1 =
++      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
++
++  auto apollo_blocker_1 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
++          reader_cfg_1.channel_name);
++
++  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++  std::string ros_topic_name_2 = converter_conf_.ros_topic_name_2();
++  std::string ros_topic_name_3 = converter_conf_.ros_topic_name_3();
++
++#ifdef RCLCPP__RCLCPP_HPP_
++  auto ros_publisher_0 =
++      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
++  auto ros_publisher_1 =
++      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
++  auto ros_publisher_2 =
++      ros_node_->create_publisher<OutType2>(ros_topic_name_2, 10);
++  auto ros_publisher_3 =
++      ros_node_->create_publisher<OutType2>(ros_topic_name_3, 10);
++  ros_publishers_.push_back(std::move(ros_publisher_0));
++  ros_publishers_.push_back(std::move(ros_publisher_1));
++  ros_publishers_.push_back(std::move(ros_publisher_2));
++  ros_publishers_.push_back(std::move(ros_publisher_3));
++  auto func = [this, apollo_blocker_1, ros_publisher_0, ros_publisher_1,
++               ros_publisher_2,
++               ros_publisher_3](const std::shared_ptr<InType0> in) {
++#else
++  auto func = [this, apollo_blocker_1](const std::shared_ptr<InType0> in) {
++#endif
++    if (!apollo_blocker_1->IsPublishedEmpty()) {
++      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
++      auto out_0 = std::make_shared<OutType0>();
++      auto out_1 = std::make_shared<OutType1>();
++      auto out_2 = std::make_shared<OutType2>();
++      auto out_3 = std::make_shared<OutType3>();
++      auto in_container =
++          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>{
++              std::make_tuple(in, msg1)};
++      auto out_container =
++          OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                      std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>{
++              std::make_tuple(out_0, out_1, out_2, out_3)};
++      this->ConvertMsg(in_container, out_container);
++#ifdef RCLCPP__RCLCPP_HPP_
++      ros_publisher_0->publish(*out_0);
++      ros_publisher_1->publish(*out_1);
++      ros_publisher_2->publish(*out_2);
++      ros_publisher_3->publish(*out_2);
++#endif
++    }
++  };
++  auto apollo_reader_0 =
++      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
++  apollo_readers_.push_back(std::move(apollo_reader_0));
++  apollo_readers_.push_back(std::move(apollo_reader_1));
++
++  return true;
++}
++
++}  // namespace cyber
++}  // namespace apollo
++
++#endif  // CYBER_APOLLO_ROS_MESSAGE_CONVERTER_H_
+diff --git a/cyber/ros_bridge/converter_base/convert_apollo_quadruple.h b/cyber/ros_bridge/converter_base/convert_apollo_quadruple.h
+new file mode 100644
+index 0000000..815a5e0
+--- /dev/null
++++ b/cyber/ros_bridge/converter_base/convert_apollo_quadruple.h
+@@ -0,0 +1,503 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#ifndef CYBER_APOLLO_ROS_SINGLE_H_
++#define CYBER_APOLLO_ROS_SINGLE_H_
++
++#include <memory>
++#include <string>
++#include <utility>
++
++#include "cyber/ros_bridge/common/macros.h"
++
++#include "cyber/cyber.h"
++#include "cyber/ros_bridge/converter_base/converter_base.h"
++#include "cyber/ros_bridge/converter_base/message_converter.h"
++
++namespace apollo {
++namespace cyber {
++
++template <typename InType0, typename InType1, typename InType2,
++          typename InType3, typename OutType0>
++class ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
++    OutputTypes<std::shared_ptr<OutType0>>> : public MessageConverter {
++ public:
++  ApolloRosMessageConverter() {}
++  ~ApolloRosMessageConverter() override {}
++
++  bool Init() {
++    MessageConverter::Init();
++    if (!init_.load()) {
++      return false;
++    }
++    if (!LoadConfig(&converter_conf_)) {
++      return false;
++    }
++
++    apollo::cyber::ReaderConfig reader_cfg_0;
++    reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
++
++    apollo::cyber::ReaderConfig reader_cfg_1;
++    reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
++    auto apollo_reader_1 =
++        cyber_node_->template CreateReader<InType1>(reader_cfg_1);
++
++    apollo::cyber::ReaderConfig reader_cfg_2;
++    reader_cfg_2.channel_name = converter_conf_.apollo_channel_name_2();
++    auto apollo_reader_2 =
++        cyber_node_->template CreateReader<InType2>(reader_cfg_2);
++
++    apollo::cyber::ReaderConfig reader_cfg_3;
++    reader_cfg_3.channel_name = converter_conf_.apollo_channel_name_3();
++    auto apollo_reader_3 =
++        cyber_node_->template CreateReader<InType3>(reader_cfg_3);
++
++    std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++
++    auto apollo_blocker_1 =
++        blocker::BlockerManager::Instance()->GetBlocker<InType1>(
++            reader_cfg_1.channel_name);
++    auto apollo_blocker_2 =
++        blocker::BlockerManager::Instance()->GetBlocker<InType2>(
++            reader_cfg_2.channel_name);
++    auto apollo_blocker_3 =
++        blocker::BlockerManager::Instance()->GetBlocker<InType3>(
++            reader_cfg_3.channel_name);
++#ifdef RCLCPP__RCLCPP_HPP_
++    auto ros_publisher_0 =
++        ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
++    ros_publishers_.push_back(std::move(ros_publisher_0));
++    auto func = [this, ros_publisher_0, apollo_blocker_1, apollo_blocker_2,
++                 apollo_blocker_3](const std::shared_ptr<InType0> in) {
++#else
++    auto func = [this, apollo_blocker_1, apollo_blocker_2,
++                 apollo_blocker_3](const std::shared_ptr<InType0> in) {
++#endif
++      auto out = std::make_shared<OutType0>();
++      if (!apollo_blocker_1->IsPublishedEmpty() &&
++          !apollo_blocker_2->IsPublishedEmpty() &&
++          !apollo_blocker_3->IsPublishedEmpty()) {
++        auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
++        auto msg2 = apollo_blocker_2->GetLatestPublishedPtr();
++        auto msg3 = apollo_blocker_3->GetLatestPublishedPtr();
++        auto in_container =
++            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                       std::shared_ptr<InType2>, std::shared_ptr<InType3>>{
++                std::make_tuple(in, msg1, msg2, msg3)};
++        auto out_container =
++            OutputTypes<std::shared_ptr<OutType0>>{std::make_tuple(out)};
++        this->ConvertMsg(in_container, out_container);
++#ifdef RCLCPP__RCLCPP_HPP_
++        ros_publisher_0->publish(*out);
++#endif
++      }
++    };
++    auto apollo_reader_0 =
++        cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
++    apollo_readers_.push_back(std::move(apollo_reader_0));
++    apollo_readers_.push_back(std::move(apollo_reader_1));
++    apollo_readers_.push_back(std::move(apollo_reader_2));
++    apollo_readers_.push_back(std::move(apollo_reader_3));
++
++    return true;
++  }
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                 std::shared_ptr<InType2>, std::shared_ptr<InType3>>& input,
++      OutputTypes<std::shared_ptr<OutType0>>& output) = 0;
++};  // NOLINT
++
++// template <typename InType0, typename InType1, typename InType2,
++//           typename InType3, typename OutType0>
++// bool ApolloRosMessageConverter<InputTypes<
++//                                   std::shared_ptr<InType0>,
++//                                   std::shared_ptr<InType1>,
++//                                   std::shared_ptr<InType2>,
++//                                   std::shared_ptr<InType3>>,
++//                                OutputTypes<std::shared_ptr<OutType0>>>::Init()
++
++template <typename InType0, typename InType1, typename InType2,
++          typename InType3, typename OutType0, typename OutType1>
++class ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>
++    : public MessageConverter {
++ public:
++  ApolloRosMessageConverter() {}
++  ~ApolloRosMessageConverter() override {}
++
++  bool Init() override;
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                 std::shared_ptr<InType2>, std::shared_ptr<InType3>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>&
++          output) = 0;
++};
++
++template <typename InType0, typename InType1, typename InType2,
++          typename InType3, typename OutType0, typename OutType1>
++bool ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>::Init() {
++  MessageConverter::Init();
++  if (!init_.load()) {
++    return false;
++  }
++  if (!LoadConfig(&converter_conf_)) {
++    return false;
++  }
++
++  apollo::cyber::ReaderConfig reader_cfg_0;
++  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
++
++  apollo::cyber::ReaderConfig reader_cfg_1;
++  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
++  auto apollo_reader_1 =
++      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
++
++  apollo::cyber::ReaderConfig reader_cfg_2;
++  reader_cfg_2.channel_name = converter_conf_.apollo_channel_name_2();
++  auto apollo_reader_2 =
++      cyber_node_->template CreateReader<InType2>(reader_cfg_2);
++
++  apollo::cyber::ReaderConfig reader_cfg_3;
++  reader_cfg_3.channel_name = converter_conf_.apollo_channel_name_3();
++  auto apollo_reader_3 =
++      cyber_node_->template CreateReader<InType3>(reader_cfg_3);
++
++  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++
++  auto apollo_blocker_1 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
++          reader_cfg_1.channel_name);
++  auto apollo_blocker_2 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType2>(
++          reader_cfg_2.channel_name);
++  auto apollo_blocker_3 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType3>(
++          reader_cfg_3.channel_name);
++
++#ifdef RCLCPP__RCLCPP_HPP_
++  auto ros_publisher_0 =
++      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
++  auto ros_publisher_1 =
++      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
++  ros_publishers_.push_back(std::move(ros_publisher_0));
++  ros_publishers_.push_back(std::move(ros_publisher_1));
++  auto func = [this, apollo_blocker_1, apollo_blocker_2, apollo_blocker_3,
++               ros_publisher_0,
++               ros_publisher_1](const std::shared_ptr<InType0> in) {
++#else
++  auto func = [this, apollo_blocker_1, apollo_blocker_2,
++               apollo_blocker_3](const std::shared_ptr<InType0> in) {
++#endif
++    if (!apollo_blocker_1->IsPublishedEmpty() &&
++        !apollo_blocker_2->IsPublishedEmpty() &&
++        !apollo_blocker_3->IsPublishedEmpty()) {
++      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
++      auto msg2 = apollo_blocker_2->GetLatestPublishedPtr();
++      auto msg3 = apollo_blocker_3->GetLatestPublishedPtr();
++      auto out_0 = std::make_shared<OutType0>();
++      auto out_1 = std::make_shared<OutType1>();
++      auto in_container =
++          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                     std::shared_ptr<InType2>, std::shared_ptr<InType3>>{
++              std::make_tuple(in, msg1, msg2, msg3)};
++      auto out_container =
++          OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>{
++              std::make_tuple(out_0, out_1)};
++      this->ConvertMsg(in_container, out_container);
++#ifdef RCLCPP__RCLCPP_HPP_
++      ros_publisher_0->publish(*out_0);
++      ros_publisher_1->publish(*out_1);
++#endif
++    }
++  };
++  auto apollo_reader_0 =
++      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
++  apollo_readers_.push_back(std::move(apollo_reader_0));
++  apollo_readers_.push_back(std::move(apollo_reader_1));
++  apollo_readers_.push_back(std::move(apollo_reader_2));
++  apollo_readers_.push_back(std::move(apollo_reader_3));
++
++  return true;
++}
++
++template <typename InType0, typename InType1, typename InType2,
++          typename InType3, typename OutType0, typename OutType1,
++          typename OutType2>
++class ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>>> : public MessageConverter {
++ public:
++  ApolloRosMessageConverter() {}
++  ~ApolloRosMessageConverter() override {}
++
++  bool Init() override;
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                 std::shared_ptr<InType2>, std::shared_ptr<InType3>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                  std::shared_ptr<OutType2>>& output) = 0;
++};
++
++template <typename InType0, typename InType1, typename InType2,
++          typename InType3, typename OutType0, typename OutType1,
++          typename OutType2>
++bool ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>>>::Init() {
++  MessageConverter::Init();
++  if (!init_.load()) {
++    return false;
++  }
++  if (!LoadConfig(&converter_conf_)) {
++    return false;
++  }
++
++  apollo::cyber::ReaderConfig reader_cfg_0;
++  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
++
++  apollo::cyber::ReaderConfig reader_cfg_1;
++  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
++  auto apollo_reader_1 =
++      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
++
++  apollo::cyber::ReaderConfig reader_cfg_2;
++  reader_cfg_2.channel_name = converter_conf_.apollo_channel_name_2();
++  auto apollo_reader_2 =
++      cyber_node_->template CreateReader<InType2>(reader_cfg_2);
++
++  apollo::cyber::ReaderConfig reader_cfg_3;
++  reader_cfg_3.channel_name = converter_conf_.apollo_channel_name_3();
++  auto apollo_reader_3 =
++      cyber_node_->template CreateReader<InType3>(reader_cfg_3);
++
++  auto apollo_blocker_1 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
++          reader_cfg_1.channel_name);
++  auto apollo_blocker_2 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType2>(
++          reader_cfg_2.channel_name);
++  auto apollo_blocker_3 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType3>(
++          reader_cfg_3.channel_name);
++
++  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++  std::string ros_topic_name_2 = converter_conf_.ros_topic_name_2();
++
++#ifdef RCLCPP__RCLCPP_HPP_
++  auto ros_publisher_0 =
++      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
++  auto ros_publisher_1 =
++      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
++  auto ros_publisher_2 =
++      ros_node_->create_publisher<OutType2>(ros_topic_name_2, 10);
++  ros_publishers_.push_back(std::move(ros_publisher_0));
++  ros_publishers_.push_back(std::move(ros_publisher_1));
++  ros_publishers_.push_back(std::move(ros_publisher_2));
++  auto func = [this, apollo_blocker_1, apollo_blocker_2, apollo_blocker_3,
++               ros_publisher_0, ros_publisher_1,
++               ros_publisher_2](const std::shared_ptr<InType0> in) {
++#else
++  auto func = [this, apollo_blocker_1, apollo_blocker_2,
++               apollo_blocker_3](const std::shared_ptr<InType0> in) {
++#endif
++    if (!apollo_blocker_1->IsPublishedEmpty() &&
++        !apollo_blocker_1->IsPublishedEmpty() &&
++        !apollo_blocker_1->IsPublishedEmpty()) {
++      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
++      auto msg2 = apollo_blocker_2->GetLatestPublishedPtr();
++      auto msg3 = apollo_blocker_3->GetLatestPublishedPtr();
++      auto out_0 = std::make_shared<OutType0>();
++      auto out_1 = std::make_shared<OutType1>();
++      auto out_2 = std::make_shared<OutType2>();
++      auto in_container =
++          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                     std::shared_ptr<InType2>, std::shared_ptr<InType3>>{
++              std::make_tuple(in, msg1, msg2, msg3)};
++      auto out_container =
++          OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                      std::shared_ptr<OutType2>>{
++              std::make_tuple(out_0, out_1, out_2)};
++      this->ConvertMsg(in_container, out_container);
++#ifdef RCLCPP__RCLCPP_HPP_
++      ros_publisher_0->publish(*out_0);
++      ros_publisher_1->publish(*out_1);
++      ros_publisher_2->publish(*out_2);
++#endif
++    }
++  };
++  auto apollo_reader_0 =
++      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
++  apollo_readers_.push_back(std::move(apollo_reader_0));
++  apollo_readers_.push_back(std::move(apollo_reader_1));
++  apollo_readers_.push_back(std::move(apollo_reader_2));
++  apollo_readers_.push_back(std::move(apollo_reader_3));
++
++  return true;
++}
++
++template <typename InType0, typename InType1, typename InType2,
++          typename InType3, typename OutType0, typename OutType1,
++          typename OutType2, typename OutType3>
++class ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>
++    : public MessageConverter {
++ public:
++  ApolloRosMessageConverter() {}
++  ~ApolloRosMessageConverter() override {}
++
++  bool Init() override;
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                 std::shared_ptr<InType2>, std::shared_ptr<InType3>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                  std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>&
++          output) = 0;
++};
++
++template <typename InType0, typename InType1, typename InType2,
++          typename InType3, typename OutType0, typename OutType1,
++          typename OutType2, typename OutType3>
++bool ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>::Init() {
++  MessageConverter::Init();
++  if (!init_.load()) {
++    return false;
++  }
++  if (!LoadConfig(&converter_conf_)) {
++    return false;
++  }
++
++  apollo::cyber::ReaderConfig reader_cfg_0;
++  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
++
++  apollo::cyber::ReaderConfig reader_cfg_1;
++  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
++  auto apollo_reader_1 =
++      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
++
++  apollo::cyber::ReaderConfig reader_cfg_2;
++  reader_cfg_2.channel_name = converter_conf_.apollo_channel_name_2();
++  auto apollo_reader_2 =
++      cyber_node_->template CreateReader<InType2>(reader_cfg_2);
++
++  apollo::cyber::ReaderConfig reader_cfg_3;
++  reader_cfg_3.channel_name = converter_conf_.apollo_channel_name_3();
++  auto apollo_reader_3 =
++      cyber_node_->template CreateReader<InType3>(reader_cfg_3);
++
++  auto apollo_blocker_1 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
++          reader_cfg_1.channel_name);
++  auto apollo_blocker_2 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType2>(
++          reader_cfg_2.channel_name);
++  auto apollo_blocker_3 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType3>(
++          reader_cfg_3.channel_name);
++
++  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++  std::string ros_topic_name_2 = converter_conf_.ros_topic_name_2();
++  std::string ros_topic_name_3 = converter_conf_.ros_topic_name_3();
++
++#ifdef RCLCPP__RCLCPP_HPP_
++  auto ros_publisher_0 =
++      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
++  auto ros_publisher_1 =
++      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
++  auto ros_publisher_2 =
++      ros_node_->create_publisher<OutType2>(ros_topic_name_2, 10);
++  auto ros_publisher_3 =
++      ros_node_->create_publisher<OutType2>(ros_topic_name_3, 10);
++  ros_publishers_.push_back(std::move(ros_publisher_0));
++  ros_publishers_.push_back(std::move(ros_publisher_1));
++  ros_publishers_.push_back(std::move(ros_publisher_2));
++  ros_publishers_.push_back(std::move(ros_publisher_3));
++  auto func = [this, apollo_blocker_1, apollo_blocker_2, apollo_blocker_3,
++               ros_publisher_0, ros_publisher_1, ros_publisher_2,
++               ros_publisher_3](const std::shared_ptr<InType0> in) {
++#else
++  auto func = [this, apollo_blocker_1, apollo_blocker_2,
++               apollo_blocker_3](const std::shared_ptr<InType0> in) {
++#endif
++    if (!apollo_blocker_1->IsPublishedEmpty() &&
++        !apollo_blocker_2->IsPublishedEmpty() &&
++        !apollo_blocker_3->IsPublishedEmpty()) {
++      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
++      auto msg2 = apollo_blocker_2->GetLatestPublishedPtr();
++      auto msg3 = apollo_blocker_3->GetLatestPublishedPtr();
++      auto out_0 = std::make_shared<OutType0>();
++      auto out_1 = std::make_shared<OutType1>();
++      auto out_2 = std::make_shared<OutType2>();
++      auto out_3 = std::make_shared<OutType3>();
++      auto in_container =
++          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                     std::shared_ptr<InType2>, std::shared_ptr<InType3>>{
++              std::make_tuple(in, msg1, msg2, msg3)};
++      auto out_container =
++          OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                      std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>{
++              std::make_tuple(out_0, out_1, out_2, out_3)};
++      this->ConvertMsg(in_container, out_container);
++#ifdef RCLCPP__RCLCPP_HPP_
++      ros_publisher_0->publish(*out_0);
++      ros_publisher_1->publish(*out_1);
++      ros_publisher_2->publish(*out_2);
++      ros_publisher_3->publish(*out_2);
++#endif
++    }
++  };
++  auto apollo_reader_0 =
++      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
++  apollo_readers_.push_back(std::move(apollo_reader_0));
++  apollo_readers_.push_back(std::move(apollo_reader_1));
++  apollo_readers_.push_back(std::move(apollo_reader_2));
++  apollo_readers_.push_back(std::move(apollo_reader_3));
++
++  return true;
++}
++
++}  // namespace cyber
++}  // namespace apollo
++
++#endif  // CYBER_APOLLO_ROS_MESSAGE_CONVERTER_H_
+diff --git a/cyber/ros_bridge/converter_base/convert_apollo_single.h b/cyber/ros_bridge/converter_base/convert_apollo_single.h
+new file mode 100644
+index 0000000..aa6bab6
+--- /dev/null
++++ b/cyber/ros_bridge/converter_base/convert_apollo_single.h
+@@ -0,0 +1,325 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#ifndef CYBER_APOLLO_ROS_SINGLE_H_
++#define CYBER_APOLLO_ROS_SINGLE_H_
++
++#include <memory>
++#include <string>
++#include <utility>
++
++#include "cyber/ros_bridge/common/macros.h"
++
++#include "cyber/cyber.h"
++#include "cyber/ros_bridge/converter_base/converter_base.h"
++#include "cyber/ros_bridge/converter_base/message_converter.h"
++
++namespace apollo {
++namespace cyber {
++
++template <typename InType0, typename OutType0>
++class ApolloRosMessageConverter<InputTypes<std::shared_ptr<InType0>>,
++                                OutputTypes<std::shared_ptr<OutType0>>>
++    : public MessageConverter {
++ public:
++  ApolloRosMessageConverter() {}
++  ~ApolloRosMessageConverter() override {}
++
++  bool Init() override;
++
++ protected:
++  virtual bool ConvertMsg(InputTypes<std::shared_ptr<InType0>>& input,
++                          OutputTypes<std::shared_ptr<OutType0>>& output) = 0;
++};
++
++template <typename InType0, typename OutType0>
++bool ApolloRosMessageConverter<InputTypes<std::shared_ptr<InType0>>,
++                               OutputTypes<std::shared_ptr<OutType0>>>::Init() {
++  MessageConverter::Init();
++  if (!init_.load()) {
++    return false;
++  }
++  if (!LoadConfig(&converter_conf_)) {
++    return false;
++  }
++
++  apollo::cyber::ReaderConfig reader_cfg_0;
++  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
++
++  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++
++#ifdef RCLCPP__RCLCPP_HPP_
++  auto ros_publisher_0 =
++      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
++  // ros_publishers_.push_back(ros_publisher_0);
++  auto func = [this, ros_publisher_0](const std::shared_ptr<InType0> in) {
++#else
++  auto func = [this](const std::shared_ptr<InType0> in) {
++#endif
++    std::shared_ptr<OutType0> out(new OutType0);
++    auto in_container =
++        InputTypes<std::shared_ptr<InType0>>{std::make_tuple(in)};
++    auto out_container =
++        OutputTypes<std::shared_ptr<OutType0>>{std::make_tuple(out)};
++    this->ConvertMsg(in_container, out_container);
++    AERROR << "out of convert";
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_publisher_0->publish(*out);
++#endif
++    AERROR << "after ros publish";
++  };
++  auto apollo_reader_0 =
++      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
++  apollo_readers_.push_back(std::move(apollo_reader_0));
++
++  return true;
++}
++
++template <typename InType0, typename OutType0, typename OutType1>
++class ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>
++    : public MessageConverter {
++ public:
++  ApolloRosMessageConverter() {}
++  ~ApolloRosMessageConverter() override {}
++
++  bool Init() override;
++
++ protected:
++  virtual bool ConvertMsg(InputTypes<std::shared_ptr<InType0>>& input,
++                          OutputTypes<std::shared_ptr<OutType0>,
++                                      std::shared_ptr<OutType1>>& output) = 0;
++};
++
++template <typename InType0, typename OutType0, typename OutType1>
++bool ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>::Init() {
++  MessageConverter::Init();
++  if (!init_.load()) {
++    return false;
++  }
++  if (!LoadConfig(&converter_conf_)) {
++    return false;
++  }
++
++  apollo::cyber::ReaderConfig reader_cfg_0;
++  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
++
++  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++
++#ifdef RCLCPP__RCLCPP_HPP_
++  auto ros_publisher_0 =
++      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
++  auto ros_publisher_1 =
++      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
++  ros_publishers_.push_back(std::move(ros_publisher_0));
++  ros_publishers_.push_back(std::move(ros_publisher_1));
++  auto func = [this, ros_publisher_0,
++               ros_publisher_1](const std::shared_ptr<InType0> in) {
++#else
++  auto func = [this](const std::shared_ptr<InType0> in) {
++#endif
++    auto out_0 = std::make_shared<OutType0>();
++    auto out_1 = std::make_shared<OutType1>();
++    auto in_container =
++        InputTypes<std::shared_ptr<InType0>>{std::make_tuple(in)};
++    auto out_container =
++        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>{
++            std::make_tuple(out_0, out_1)};
++    this->ConvertMsg(in_container, out_container);
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_publisher_0->publish(*out_0);
++    ros_publisher_1->publish(*out_1);
++#endif
++  };
++  auto apollo_reader_0 =
++      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
++  apollo_readers_.push_back(std::move(apollo_reader_0));
++
++  return true;
++}
++
++template <typename InType0, typename OutType0, typename OutType1,
++          typename OutType2>
++class ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>>> : public MessageConverter {
++ public:
++  ApolloRosMessageConverter() {}
++  ~ApolloRosMessageConverter() override {}
++
++  bool Init() override;
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                  std::shared_ptr<OutType2>>& output) = 0;
++};
++
++template <typename InType0, typename OutType0, typename OutType1,
++          typename OutType2>
++bool ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>>>::Init() {
++  MessageConverter::Init();
++  if (!init_.load()) {
++    return false;
++  }
++  if (!LoadConfig(&converter_conf_)) {
++    return false;
++  }
++
++  apollo::cyber::ReaderConfig reader_cfg_0;
++  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
++
++  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++  std::string ros_topic_name_2 = converter_conf_.ros_topic_name_2();
++
++#ifdef RCLCPP__RCLCPP_HPP_
++  auto ros_publisher_0 =
++      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
++  auto ros_publisher_1 =
++      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
++  auto ros_publisher_2 =
++      ros_node_->create_publisher<OutType2>(ros_topic_name_2, 10);
++  ros_publishers_.push_back(std::move(ros_publisher_0));
++  ros_publishers_.push_back(std::move(ros_publisher_1));
++  ros_publishers_.push_back(std::move(ros_publisher_2));
++  auto func = [this, ros_publisher_0, ros_publisher_1,
++               ros_publisher_2](const std::shared_ptr<InType0> in) {
++#else
++  auto func = [this](const std::shared_ptr<InType0> in) {
++#endif
++    auto out_0 = std::make_shared<OutType0>();
++    auto out_1 = std::make_shared<OutType1>();
++    auto out_2 = std::make_shared<OutType2>();
++    auto in_container =
++        InputTypes<std::shared_ptr<InType0>>{std::make_tuple(in)};
++    auto out_container =
++        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                    std::shared_ptr<OutType2>>{
++            std::make_tuple(out_0, out_1, out_2)};
++    this->ConvertMsg(in_container, out_container);
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_publisher_0->publish(*out_0);
++    ros_publisher_1->publish(*out_1);
++    ros_publisher_2->publish(*out_2);
++#endif
++  };
++  auto apollo_reader_0 =
++      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
++  apollo_readers_.push_back(std::move(apollo_reader_0));
++
++  return true;
++}
++
++template <typename InType0, typename OutType0, typename OutType1,
++          typename OutType2, typename OutType3>
++class ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>
++    : public MessageConverter {
++ public:
++  ApolloRosMessageConverter() {}
++  ~ApolloRosMessageConverter() override {}
++
++  bool Init() override;
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                  std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>&
++          output) = 0;
++};
++
++template <typename InType0, typename OutType0, typename OutType1,
++          typename OutType2, typename OutType3>
++bool ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>::Init() {
++  MessageConverter::Init();
++  if (!init_.load()) {
++    return false;
++  }
++  if (!LoadConfig(&converter_conf_)) {
++    return false;
++  }
++
++  apollo::cyber::ReaderConfig reader_cfg_0;
++  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
++
++  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++  std::string ros_topic_name_2 = converter_conf_.ros_topic_name_2();
++  std::string ros_topic_name_3 = converter_conf_.ros_topic_name_3();
++
++#ifdef RCLCPP__RCLCPP_HPP_
++  auto ros_publisher_0 =
++      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
++  auto ros_publisher_1 =
++      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
++  auto ros_publisher_2 =
++      ros_node_->create_publisher<OutType2>(ros_topic_name_2, 10);
++  auto ros_publisher_3 =
++      ros_node_->create_publisher<OutType2>(ros_topic_name_3, 10);
++  ros_publishers_.push_back(std::move(ros_publisher_0));
++  ros_publishers_.push_back(std::move(ros_publisher_1));
++  ros_publishers_.push_back(std::move(ros_publisher_2));
++  ros_publishers_.push_back(std::move(ros_publisher_3));
++  auto func = [this, ros_publisher_0, ros_publisher_1, ros_publisher_2,
++               ros_publisher_3](const std::shared_ptr<InType0> in) {
++#else
++  auto func = [this](const std::shared_ptr<InType0> in) {
++#endif
++    auto out_0 = std::make_shared<OutType0>();
++    auto out_1 = std::make_shared<OutType1>();
++    auto out_2 = std::make_shared<OutType2>();
++    auto out_3 = std::make_shared<OutType3>();
++    auto in_container =
++        InputTypes<std::shared_ptr<InType0>>{std::make_tuple(in)};
++    auto out_container =
++        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                    std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>{
++            std::make_tuple(out_0, out_1, out_2, out_3)};
++    this->ConvertMsg(in_container, out_container);
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_publisher_0->publish(*out_0);
++    ros_publisher_1->publish(*out_1);
++    ros_publisher_2->publish(*out_2);
++    ros_publisher_3->publish(*out_2);
++#endif
++  };
++  auto apollo_reader_0 =
++      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
++  apollo_readers_.push_back(std::move(apollo_reader_0));
++
++  return true;
++}
++
++}  // namespace cyber
++}  // namespace apollo
++
++#endif  // CYBER_APOLLO_ROS_MESSAGE_CONVERTER_H_
+diff --git a/cyber/ros_bridge/converter_base/convert_apollo_triple.h b/cyber/ros_bridge/converter_base/convert_apollo_triple.h
+new file mode 100644
+index 0000000..e1a5140
+--- /dev/null
++++ b/cyber/ros_bridge/converter_base/convert_apollo_triple.h
+@@ -0,0 +1,450 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#ifndef CYBER_APOLLO_ROS_SINGLE_H_
++#define CYBER_APOLLO_ROS_SINGLE_H_
++
++#include <memory>
++#include <string>
++#include <utility>
++
++#include "cyber/ros_bridge/common/macros.h"
++
++#include "cyber/cyber.h"
++#include "cyber/ros_bridge/converter_base/converter_base.h"
++#include "cyber/ros_bridge/converter_base/message_converter.h"
++
++namespace apollo {
++namespace cyber {
++
++template <typename InType0, typename InType1, typename InType2,
++          typename OutType0>
++class ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>>,
++    OutputTypes<std::shared_ptr<OutType0>>> : public MessageConverter {
++ public:
++  ApolloRosMessageConverter() {}
++  ~ApolloRosMessageConverter() override {}
++
++  bool Init() override;
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                 std::shared_ptr<InType2>>& input,
++      OutputTypes<std::shared_ptr<OutType0>>& output) = 0;
++};
++
++template <typename InType0, typename InType1, typename InType2,
++          typename OutType0>
++bool ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>>,
++    OutputTypes<std::shared_ptr<OutType0>>>::Init() {
++  MessageConverter::Init();
++  if (!init_.load()) {
++    return false;
++  }
++  if (!LoadConfig(&converter_conf_)) {
++    return false;
++  }
++
++  apollo::cyber::ReaderConfig reader_cfg_0;
++  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
++
++  apollo::cyber::ReaderConfig reader_cfg_1;
++  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
++  auto apollo_reader_1 =
++      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
++
++  apollo::cyber::ReaderConfig reader_cfg_2;
++  reader_cfg_2.channel_name = converter_conf_.apollo_channel_name_2();
++  auto apollo_reader_2 =
++      cyber_node_->template CreateReader<InType2>(reader_cfg_2);
++
++  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++
++  auto apollo_blocker_1 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
++          reader_cfg_1.channel_name);
++  auto apollo_blocker_2 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType2>(
++          reader_cfg_2.channel_name);
++#ifdef RCLCPP__RCLCPP_HPP_
++  auto ros_publisher_0 =
++      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
++  ros_publishers_.push_back(std::move(ros_publisher_0));
++  auto func = [this, ros_publisher_0, apollo_blocker_1,
++               apollo_blocker_2](const std::shared_ptr<InType0> in) {
++#else
++  auto func = [this, apollo_blocker_1,
++               apollo_blocker_2](const std::shared_ptr<InType0> in) {
++#endif
++    auto out = std::make_shared<OutType0>();
++    if (!apollo_blocker_1->IsPublishedEmpty() &&
++        !apollo_blocker_2->IsPublishedEmpty()) {
++      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
++      auto msg2 = apollo_blocker_2->GetLatestPublishedPtr();
++      auto in_container =
++          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                     std::shared_ptr<InType2>>{std::make_tuple(in, msg1, msg2)};
++      auto out_container =
++          OutputTypes<std::shared_ptr<OutType0>>{std::make_tuple(out)};
++      this->ConvertMsg(in_container, out_container);
++#ifdef RCLCPP__RCLCPP_HPP_
++      ros_publisher_0->publish(*out);
++#endif
++    }
++  };
++  auto apollo_reader_0 =
++      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
++  apollo_readers_.push_back(std::move(apollo_reader_0));
++  apollo_readers_.push_back(std::move(apollo_reader_1));
++  apollo_readers_.push_back(std::move(apollo_reader_2));
++
++  return true;
++}
++
++template <typename InType0, typename InType1, typename InType2,
++          typename OutType0, typename OutType1>
++class ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>
++    : public MessageConverter {
++ public:
++  ApolloRosMessageConverter() {}
++  ~ApolloRosMessageConverter() override {}
++
++  bool Init() override;
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                 std::shared_ptr<InType2>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>&
++          output) = 0;
++};
++
++template <typename InType0, typename InType1, typename InType2,
++          typename OutType0, typename OutType1>
++bool ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>::Init() {
++  MessageConverter::Init();
++  if (!init_.load()) {
++    return false;
++  }
++  if (!LoadConfig(&converter_conf_)) {
++    return false;
++  }
++
++  apollo::cyber::ReaderConfig reader_cfg_0;
++  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
++
++  apollo::cyber::ReaderConfig reader_cfg_1;
++  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
++  auto apollo_reader_1 =
++      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
++
++  apollo::cyber::ReaderConfig reader_cfg_2;
++  reader_cfg_2.channel_name = converter_conf_.apollo_channel_name_2();
++  auto apollo_reader_2 =
++      cyber_node_->template CreateReader<InType2>(reader_cfg_2);
++
++  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++
++  auto apollo_blocker_1 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
++          reader_cfg_1.channel_name);
++  auto apollo_blocker_2 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType2>(
++          reader_cfg_2.channel_name);
++
++#ifdef RCLCPP__RCLCPP_HPP_
++  auto ros_publisher_0 =
++      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
++  auto ros_publisher_1 =
++      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
++  ros_publishers_.push_back(std::move(ros_publisher_0));
++  ros_publishers_.push_back(std::move(ros_publisher_1));
++  auto func = [this, apollo_blocker_1, apollo_blocker_2, ros_publisher_0,
++               ros_publisher_1](const std::shared_ptr<InType0> in) {
++#else
++  auto func = [this, apollo_blocker_1,
++               apollo_blocker_2](const std::shared_ptr<InType0> in) {
++#endif
++    if (!apollo_blocker_1->IsPublishedEmpty() &&
++        !apollo_blocker_2->IsPublishedEmpty()) {
++      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
++      auto msg2 = apollo_blocker_2->GetLatestPublishedPtr();
++      auto out_0 = std::make_shared<OutType0>();
++      auto out_1 = std::make_shared<OutType1>();
++      auto in_container =
++          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                     std::shared_ptr<InType2>>{std::make_tuple(in, msg1, msg2)};
++      auto out_container =
++          OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>{
++              std::make_tuple(out_0, out_1)};
++      this->ConvertMsg(in_container, out_container);
++#ifdef RCLCPP__RCLCPP_HPP_
++      ros_publisher_0->publish(*out_0);
++      ros_publisher_1->publish(*out_1);
++#endif
++    }
++  };
++  auto apollo_reader_0 =
++      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
++  apollo_readers_.push_back(std::move(apollo_reader_0));
++  apollo_readers_.push_back(std::move(apollo_reader_1));
++  apollo_readers_.push_back(std::move(apollo_reader_2));
++
++  return true;
++}
++
++template <typename InType0, typename InType1, typename InType2,
++          typename OutType0, typename OutType1, typename OutType2>
++class ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>>> : public MessageConverter {
++ public:
++  ApolloRosMessageConverter() {}
++  ~ApolloRosMessageConverter() override {}
++
++  bool Init() override;
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                 std::shared_ptr<InType2>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                  std::shared_ptr<OutType2>>& output) = 0;
++};
++
++template <typename InType0, typename InType1, typename InType2,
++          typename OutType0, typename OutType1, typename OutType2>
++bool ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>>>::Init() {
++  MessageConverter::Init();
++  if (!init_.load()) {
++    return false;
++  }
++  if (!LoadConfig(&converter_conf_)) {
++    return false;
++  }
++
++  apollo::cyber::ReaderConfig reader_cfg_0;
++  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
++
++  apollo::cyber::ReaderConfig reader_cfg_1;
++  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
++  auto apollo_reader_1 =
++      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
++
++  apollo::cyber::ReaderConfig reader_cfg_2;
++  reader_cfg_2.channel_name = converter_conf_.apollo_channel_name_2();
++  auto apollo_reader_2 =
++      cyber_node_->template CreateReader<InType2>(reader_cfg_2);
++
++  auto apollo_blocker_1 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
++          reader_cfg_1.channel_name);
++  auto apollo_blocker_2 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType2>(
++          reader_cfg_2.channel_name);
++
++  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++  std::string ros_topic_name_2 = converter_conf_.ros_topic_name_2();
++
++#ifdef RCLCPP__RCLCPP_HPP_
++  auto ros_publisher_0 =
++      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
++  auto ros_publisher_1 =
++      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
++  auto ros_publisher_2 =
++      ros_node_->create_publisher<OutType2>(ros_topic_name_2, 10);
++  ros_publishers_.push_back(std::move(ros_publisher_0));
++  ros_publishers_.push_back(std::move(ros_publisher_1));
++  ros_publishers_.push_back(std::move(ros_publisher_2));
++  auto func = [this, apollo_blocker_1, apollo_blocker_2, ros_publisher_0,
++               ros_publisher_1,
++               ros_publisher_2](const std::shared_ptr<InType0> in) {
++#else
++  auto func = [this, apollo_blocker_1,
++               apollo_blocker_2](const std::shared_ptr<InType0> in) {
++#endif
++    if (!apollo_blocker_1->IsPublishedEmpty() &&
++        !apollo_blocker_1->IsPublishedEmpty()) {
++      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
++      auto msg2 = apollo_blocker_2->GetLatestPublishedPtr();
++      auto out_0 = std::make_shared<OutType0>();
++      auto out_1 = std::make_shared<OutType1>();
++      auto out_2 = std::make_shared<OutType2>();
++      auto in_container =
++          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                     std::shared_ptr<InType2>>{std::make_tuple(in, msg1, msg2)};
++      auto out_container =
++          OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                      std::shared_ptr<OutType2>>{
++              std::make_tuple(out_0, out_1, out_2)};
++      this->ConvertMsg(in_container, out_container);
++#ifdef RCLCPP__RCLCPP_HPP_
++      ros_publisher_0->publish(*out_0);
++      ros_publisher_1->publish(*out_1);
++      ros_publisher_2->publish(*out_2);
++#endif
++    }
++  };
++  auto apollo_reader_0 =
++      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
++  apollo_readers_.push_back(std::move(apollo_reader_0));
++  apollo_readers_.push_back(std::move(apollo_reader_1));
++  apollo_readers_.push_back(std::move(apollo_reader_2));
++
++  return true;
++}
++
++template <typename InType0, typename InType1, typename InType2,
++          typename OutType0, typename OutType1, typename OutType2,
++          typename OutType3>
++class ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>
++    : public MessageConverter {
++ public:
++  ApolloRosMessageConverter() {}
++  ~ApolloRosMessageConverter() override {}
++
++  bool Init() override;
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                 std::shared_ptr<InType2>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                  std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>&
++          output) = 0;
++};
++
++template <typename InType0, typename InType1, typename InType2,
++          typename OutType0, typename OutType1, typename OutType2,
++          typename OutType3>
++bool ApolloRosMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>::Init() {
++  MessageConverter::Init();
++  if (!init_.load()) {
++    return false;
++  }
++  if (!LoadConfig(&converter_conf_)) {
++    return false;
++  }
++
++  apollo::cyber::ReaderConfig reader_cfg_0;
++  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
++
++  apollo::cyber::ReaderConfig reader_cfg_1;
++  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
++  auto apollo_reader_1 =
++      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
++
++  apollo::cyber::ReaderConfig reader_cfg_2;
++  reader_cfg_2.channel_name = converter_conf_.apollo_channel_name_2();
++  auto apollo_reader_2 =
++      cyber_node_->template CreateReader<InType2>(reader_cfg_2);
++
++  auto apollo_blocker_1 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
++          reader_cfg_1.channel_name);
++  auto apollo_blocker_2 =
++      blocker::BlockerManager::Instance()->GetBlocker<InType2>(
++          reader_cfg_2.channel_name);
++
++  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++  std::string ros_topic_name_2 = converter_conf_.ros_topic_name_2();
++  std::string ros_topic_name_3 = converter_conf_.ros_topic_name_3();
++
++#ifdef RCLCPP__RCLCPP_HPP_
++  auto ros_publisher_0 =
++      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
++  auto ros_publisher_1 =
++      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
++  auto ros_publisher_2 =
++      ros_node_->create_publisher<OutType2>(ros_topic_name_2, 10);
++  auto ros_publisher_3 =
++      ros_node_->create_publisher<OutType2>(ros_topic_name_3, 10);
++  ros_publishers_.push_back(std::move(ros_publisher_0));
++  ros_publishers_.push_back(std::move(ros_publisher_1));
++  ros_publishers_.push_back(std::move(ros_publisher_2));
++  ros_publishers_.push_back(std::move(ros_publisher_3));
++  auto func = [this, apollo_blocker_1, apollo_blocker_2, ros_publisher_0,
++               ros_publisher_1, ros_publisher_2,
++               ros_publisher_3](const std::shared_ptr<InType0> in) {
++#else
++  auto func = [this, apollo_blocker_1,
++               apollo_blocker_2](const std::shared_ptr<InType0> in) {
++#endif
++    if (!apollo_blocker_1->IsPublishedEmpty() &&
++        !apollo_blocker_2->IsPublishedEmpty()) {
++      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
++      auto msg2 = apollo_blocker_2->GetLatestPublishedPtr();
++      auto out_0 = std::make_shared<OutType0>();
++      auto out_1 = std::make_shared<OutType1>();
++      auto out_2 = std::make_shared<OutType2>();
++      auto out_3 = std::make_shared<OutType3>();
++      auto in_container =
++          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                     std::shared_ptr<InType2>>{std::make_tuple(in, msg1, msg2)};
++      auto out_container =
++          OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                      std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>{
++              std::make_tuple(out_0, out_1, out_2, out_3)};
++      this->ConvertMsg(in_container, out_container);
++#ifdef RCLCPP__RCLCPP_HPP_
++      ros_publisher_0->publish(*out_0);
++      ros_publisher_1->publish(*out_1);
++      ros_publisher_2->publish(*out_2);
++      ros_publisher_3->publish(*out_2);
++#endif
++    }
++  };
++  auto apollo_reader_0 =
++      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
++  apollo_readers_.push_back(std::move(apollo_reader_0));
++  apollo_readers_.push_back(std::move(apollo_reader_1));
++  apollo_readers_.push_back(std::move(apollo_reader_2));
++
++  return true;
++}
++
++}  // namespace cyber
++}  // namespace apollo
++
++#endif  // CYBER_APOLLO_ROS_MESSAGE_CONVERTER_H_
+diff --git a/cyber/ros_bridge/converter_base/convert_ros_base.h b/cyber/ros_bridge/converter_base/convert_ros_base.h
+new file mode 100644
+index 0000000..a127f1a
+--- /dev/null
++++ b/cyber/ros_bridge/converter_base/convert_ros_base.h
+@@ -0,0 +1,63 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#ifndef CYBER_ROS_APOLLO_BASE_H_
++#define CYBER_ROS_APOLLO_BASE_H_
++
++#include <memory>
++#include <string>
++#include <thread>
++#include <utility>
++
++#include "cyber/ros_bridge/common/macros.h"
++
++#include "cyber/cyber.h"
++#include "cyber/ros_bridge/converter_base/message_converter.h"
++
++namespace apollo {
++namespace cyber {
++
++template <typename R0 = NullType, typename R1 = NullType,
++          typename R2 = NullType, typename R3 = NullType,
++          typename M0 = NullType, typename M1 = NullType,
++          typename M2 = NullType, typename M3 = NullType>
++class RosApolloMessageConverter : public MessageConverter {
++ public:
++  RosApolloMessageConverter() {}
++  ~RosApolloMessageConverter() override {}
++
++  bool Init() override;
++
++ protected:
++  virtual bool ConvertMsg(
++      const std::shared_ptr<R0>& ros_msg0, const std::shared_ptr<R1>& ros_msg1,
++      const std::shared_ptr<R2>& ros_msg2, const std::shared_ptr<R3>& ros_msg3,
++      std::shared_ptr<M0>& apollo_msg0, std::shared_ptr<M1>& apollo_msg1,
++      std::shared_ptr<M2>& apollo_msg2, std::shared_ptr<M3>& apollo_msg3) = 0;
++
++#ifdef RCLCPP__RCLCPP_HPP_
++ private:
++  void TopicCallback(const std::shared_ptr<R0>& ros_msg0,
++                     const std::shared_ptr<R1>& ros_msg1,
++                     const std::shared_ptr<R2>& ros_msg2,
++                     const std::shared_ptr<R3>& ros_msg3);
++#endif
++};
++
++}  // namespace cyber
++}  // namespace apollo
++
++#endif  // CYBER_APOLLO_ROS_MESSAGE_CONVERTER_H_
+diff --git a/cyber/ros_bridge/converter_base/convert_ros_double.h b/cyber/ros_bridge/converter_base/convert_ros_double.h
+new file mode 100644
+index 0000000..bd8b5b0
+--- /dev/null
++++ b/cyber/ros_bridge/converter_base/convert_ros_double.h
+@@ -0,0 +1,452 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#ifndef CYBER_ROS_APOLLO_DOUBLE_H_
++#define CYBER_ROS_APOLLO_DOUBLE_H_
++
++#include <memory>
++#include <utility>
++
++#include "cyber/ros_bridge/common/macros.h"
++
++#include "cyber/cyber.h"
++#include "cyber/ros_bridge/converter_base/converter_base.h"
++
++namespace apollo {
++namespace cyber {
++
++template <typename InType0, typename InType1, typename OutType0>
++class RosApolloMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
++    OutputTypes<std::shared_ptr<OutType0>>> : public MessageConverter {
++ private:
++#ifdef RCLCPP__RCLCPP_HPP_
++  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1>
++      approximate_sync_policy;
++  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
++      syncApproximate_;
++#endif
++  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
++
++ public:
++  RosApolloMessageConverter() {}
++  ~RosApolloMessageConverter() override {}
++
++  bool Init() override {
++    MessageConverter::Init();
++    if (!init_.load()) {
++      return false;
++    }
++    if (!LoadConfig(&converter_conf_)) {
++      return false;
++    }
++
++    auto writer_attrs =
++        std::make_shared<apollo::cyber::proto::RoleAttributes>();
++    writer_attrs->set_channel_name(converter_conf_.apollo_channel_name_0());
++    apollo_attrs_.push_back(writer_attrs);
++    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++
++    apollo_writer_0_ =
++        cyber_node_->template CreateWriter<OutType0>(*writer_attrs);
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
++            ros_node_, ros_topic_name_0)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
++            ros_node_, ros_topic_name_1)));
++    syncApproximate_ = std::make_shared<
++        message_filters::Synchronizer<approximate_sync_policy>>(
++        approximate_sync_policy(10),
++        *dynamic_cast<message_filters::Subscriber<InType0>*>(
++            ros_msg_subs_[0].get()),
++        *dynamic_cast<message_filters::Subscriber<InType1>*>(
++            ros_msg_subs_[1].get()));
++    syncApproximate_->registerCallback(
++        &RosApolloMessageConverter<
++            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
++            OutputTypes<std::shared_ptr<OutType0>>>::TopicCallback,
++        this);
++
++    ros_spin_thread_ =
++        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
++#endif
++    return true;
++  }
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>& input,
++      OutputTypes<std::shared_ptr<OutType0>>& output) = 0;
++
++#ifdef RCLCPP__RCLCPP_HPP_
++ private:
++  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
++                     std::shared_ptr<InType1> ros_msg1) {
++    auto out = std::make_shared<OutType0>();
++    typename InType0::SharedPtr internal_in_prt_0 =
++        std::make_shared<InType0>(*ros_msg0.get());
++    typename InType1::SharedPtr internal_in_prt_1 =
++        std::make_shared<InType1>(*ros_msg1.get());
++    auto in_container =
++        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>{
++            std::make_tuple(internal_in_prt_0, internal_in_prt_1)};
++    auto out_container =
++        OutputTypes<std::shared_ptr<OutType0>>{std::make_tuple(out)};
++    this->ConvertMsg(in_container, out_container);
++    apollo_writer_0_->Write(out);
++  }
++#endif
++};
++
++template <typename InType0, typename InType1, typename OutType0,
++          typename OutType1>
++class RosApolloMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>
++    : public MessageConverter {
++ private:
++#ifdef RCLCPP__RCLCPP_HPP_
++  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1>
++      approximate_sync_policy;
++  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
++      syncApproximate_;
++#endif
++  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
++  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
++
++ public:
++  RosApolloMessageConverter() {}
++  ~RosApolloMessageConverter() override {}
++
++  bool Init() override {
++    MessageConverter::Init();
++    if (!init_.load()) {
++      return false;
++    }
++    if (!LoadConfig(&converter_conf_)) {
++      return false;
++    }
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
++
++    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++
++    apollo_writer_0_ =
++        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
++    apollo_writer_1_ =
++        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
++            ros_node_, ros_topic_name_0)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
++            ros_node_, ros_topic_name_1)));
++    syncApproximate_ = std::make_shared<
++        message_filters::Synchronizer<approximate_sync_policy>>(
++        approximate_sync_policy(10),
++        *dynamic_cast<message_filters::Subscriber<InType0>*>(
++            ros_msg_subs_[0].get()),
++        *dynamic_cast<message_filters::Subscriber<InType1>*>(
++            ros_msg_subs_[1].get()));
++    syncApproximate_->registerCallback(
++        &RosApolloMessageConverter<
++            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
++            OutputTypes<std::shared_ptr<OutType0>,
++                        std::shared_ptr<OutType1>>>::TopicCallback,
++        this);
++
++    ros_spin_thread_ =
++        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
++#endif
++    return true;
++  }
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>&
++          output) = 0;
++
++#ifdef RCLCPP__RCLCPP_HPP_
++ private:
++  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
++                     std::shared_ptr<InType1> ros_msg1) {
++    auto out_0 = std::make_shared<OutType0>();
++    auto out_1 = std::make_shared<OutType1>();
++    typename InType0::SharedPtr internal_in_prt_0 =
++        std::make_shared<InType0>(*ros_msg0.get());
++    typename InType1::SharedPtr internal_in_prt_1 =
++        std::make_shared<InType1>(*ros_msg1.get());
++    auto in_container =
++        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>{
++            std::make_tuple(internal_in_prt_0, internal_in_prt_1)};
++    auto out_container =
++        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>{
++            std::make_tuple(out_0, out_1)};
++    this->ConvertMsg(in_container, out_container);
++    apollo_writer_0_->Write(out_0);
++    apollo_writer_1_->Write(out_1);
++  }
++#endif
++};
++
++template <typename InType0, typename InType1, typename OutType0,
++          typename OutType1, typename OutType2>
++class RosApolloMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>>> : public MessageConverter {
++ private:
++#ifdef RCLCPP__RCLCPP_HPP_
++  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1>
++      approximate_sync_policy;
++  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
++      syncApproximate_;
++#endif
++  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
++  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
++  std::shared_ptr<Writer<OutType2>> apollo_writer_2_ = nullptr;
++
++ public:
++  RosApolloMessageConverter() {}
++  ~RosApolloMessageConverter() override {}
++
++  bool Init() override {
++    MessageConverter::Init();
++    if (!init_.load()) {
++      return false;
++    }
++    if (!LoadConfig(&converter_conf_)) {
++      return false;
++    }
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[2]->set_channel_name(converter_conf_.apollo_channel_name_2());
++
++    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++
++    apollo_writer_0_ =
++        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
++    apollo_writer_1_ =
++        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
++    apollo_writer_2_ =
++        cyber_node_->template CreateWriter<OutType2>(*apollo_attrs_[2]);
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
++            ros_node_, ros_topic_name_0)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
++            ros_node_, ros_topic_name_1)));
++    syncApproximate_ = std::make_shared<
++        message_filters::Synchronizer<approximate_sync_policy>>(
++        approximate_sync_policy(10),
++        *dynamic_cast<message_filters::Subscriber<InType0>*>(
++            ros_msg_subs_[0].get()),
++        *dynamic_cast<message_filters::Subscriber<InType1>*>(
++            ros_msg_subs_[1].get()));
++    syncApproximate_->registerCallback(
++        &RosApolloMessageConverter<
++            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
++            OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                        std::shared_ptr<OutType2>>>::TopicCallback,
++        this);
++
++    ros_spin_thread_ =
++        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
++#endif
++    return true;
++  }
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                  std::shared_ptr<OutType2>>& output) = 0;
++
++#ifdef RCLCPP__RCLCPP_HPP_
++ private:
++  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
++                     std::shared_ptr<InType1> ros_msg1) {
++    auto out_0 = std::make_shared<OutType0>();
++    auto out_1 = std::make_shared<OutType1>();
++    auto out_2 = std::make_shared<OutType2>();
++    typename InType0::SharedPtr internal_in_prt_0 =
++        std::make_shared<InType0>(*ros_msg0.get());
++    typename InType1::SharedPtr internal_in_prt_1 =
++        std::make_shared<InType1>(*ros_msg1.get());
++    auto in_container =
++        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>{
++            std::make_tuple(internal_in_prt_0, internal_in_prt_1)};
++    auto out_container =
++        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                    std::shared_ptr<OutType2>>{
++            std::make_tuple(out_0, out_1, out_2)};
++    this->ConvertMsg(in_container, out_container);
++    apollo_writer_0_->Write(out_0);
++    apollo_writer_1_->Write(out_1);
++    apollo_writer_2_->Write(out_2);
++  }
++#endif
++};
++
++template <typename InType0, typename InType1, typename OutType0,
++          typename OutType1, typename OutType2, typename OutType3>
++class RosApolloMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>
++    : public MessageConverter {
++ private:
++#ifdef RCLCPP__RCLCPP_HPP_
++  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1>
++      approximate_sync_policy;
++  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
++      syncApproximate_;
++#endif
++  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
++  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
++  std::shared_ptr<Writer<OutType2>> apollo_writer_2_ = nullptr;
++  std::shared_ptr<Writer<OutType3>> apollo_writer_3_ = nullptr;
++
++ public:
++  RosApolloMessageConverter() {}
++  ~RosApolloMessageConverter() override {}
++
++  bool Init() override {
++    MessageConverter::Init();
++    if (!init_.load()) {
++      return false;
++    }
++    if (!LoadConfig(&converter_conf_)) {
++      return false;
++    }
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[2]->set_channel_name(converter_conf_.apollo_channel_name_2());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[3]->set_channel_name(converter_conf_.apollo_channel_name_3());
++
++    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++
++    apollo_writer_0_ =
++        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
++    apollo_writer_1_ =
++        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
++    apollo_writer_2_ =
++        cyber_node_->template CreateWriter<OutType2>(*apollo_attrs_[2]);
++    apollo_writer_3_ =
++        cyber_node_->template CreateWriter<OutType3>(*apollo_attrs_[3]);
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
++            ros_node_, ros_topic_name_0)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
++            ros_node_, ros_topic_name_1)));
++    syncApproximate_ = std::make_shared<
++        message_filters::Synchronizer<approximate_sync_policy>>(
++        approximate_sync_policy(10),
++        *dynamic_cast<message_filters::Subscriber<InType0>*>(
++            ros_msg_subs_[0].get()),
++        *dynamic_cast<message_filters::Subscriber<InType1>*>(
++            ros_msg_subs_[1].get()));
++    syncApproximate_->registerCallback(
++        &RosApolloMessageConverter<
++            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>,
++            OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                        std::shared_ptr<OutType2>,
++                        std::shared_ptr<OutType3>>>::TopicCallback,
++        this);
++
++    ros_spin_thread_ =
++        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
++#endif
++    return true;
++  }
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                  std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>&
++          output) = 0;
++
++#ifdef RCLCPP__RCLCPP_HPP_
++ private:
++  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
++                     std::shared_ptr<InType1> ros_msg1) {
++    auto out_0 = std::make_shared<OutType0>();
++    auto out_1 = std::make_shared<OutType1>();
++    auto out_2 = std::make_shared<OutType2>();
++    auto out_3 = std::make_shared<OutType3>();
++    typename InType0::SharedPtr internal_in_prt_0 =
++        std::make_shared<InType0>(*ros_msg0.get());
++    typename InType1::SharedPtr internal_in_prt_1 =
++        std::make_shared<InType1>(*ros_msg1.get());
++    auto in_container =
++        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>{
++            std::make_tuple(internal_in_prt_0, internal_in_prt_1)};
++    auto out_container =
++        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                    std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>{
++            std::make_tuple(out_0, out_1, out_2, out_3)};
++    this->ConvertMsg(in_container, out_container);
++    apollo_writer_0_->Write(out_0);
++    apollo_writer_1_->Write(out_1);
++    apollo_writer_2_->Write(out_2);
++    apollo_writer_3_->Write(out_3);
++  }
++#endif
++};
++
++}  // namespace cyber
++}  // namespace apollo
++
++#endif  // CYBER_APOLLO_ROS_MESSAGE_CONVERTER_H_
+diff --git a/cyber/ros_bridge/converter_base/convert_ros_quadruple.h b/cyber/ros_bridge/converter_base/convert_ros_quadruple.h
+new file mode 100644
+index 0000000..8e80160
+--- /dev/null
++++ b/cyber/ros_bridge/converter_base/convert_ros_quadruple.h
+@@ -0,0 +1,551 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#ifndef CYBER_ROS_APOLLO_TRIPLE_H_
++#define CYBER_ROS_APOLLO_TRIPLE_H_
++
++#include <memory>
++#include <utility>
++
++#include "cyber/ros_bridge/common/macros.h"
++
++#include "cyber/cyber.h"
++#include "cyber/ros_bridge/converter_base/converter_base.h"
++
++namespace apollo {
++namespace cyber {
++
++template <typename InType0, typename InType1, typename InType2,
++          typename InType3, typename OutType0>
++class RosApolloMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
++    OutputTypes<std::shared_ptr<OutType0>>> : public MessageConverter {
++ private:
++#ifdef RCLCPP__RCLCPP_HPP_
++  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1,
++                                                          InType2, InType3>
++      approximate_sync_policy;
++  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
++      syncApproximate_;
++#endif
++  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
++
++ public:
++  RosApolloMessageConverter() {}
++  ~RosApolloMessageConverter() override {}
++
++  bool Init() override {
++    MessageConverter::Init();
++    if (!init_.load()) {
++      return false;
++    }
++    if (!LoadConfig(&converter_conf_)) {
++      return false;
++    }
++
++    auto writer_attrs =
++        std::make_shared<apollo::cyber::proto::RoleAttributes>();
++    writer_attrs->set_channel_name(converter_conf_.apollo_channel_name_0());
++    apollo_attrs_.push_back(writer_attrs);
++    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++    auto ros_topic_name_2 = converter_conf_.ros_topic_name_2();
++    auto ros_topic_name_3 = converter_conf_.ros_topic_name_3();
++
++    apollo_writer_0_ =
++        cyber_node_->template CreateWriter<OutType0>(*writer_attrs);
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
++            ros_node_, ros_topic_name_0)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
++            ros_node_, ros_topic_name_1)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType2>>(
++            ros_node_, ros_topic_name_2)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType3>>(
++            ros_node_, ros_topic_name_3)));
++    syncApproximate_ = std::make_shared<
++        message_filters::Synchronizer<approximate_sync_policy>>(
++        approximate_sync_policy(10),
++        *dynamic_cast<message_filters::Subscriber<InType0>*>(
++            ros_msg_subs_[0].get()),
++        *dynamic_cast<message_filters::Subscriber<InType1>*>(
++            ros_msg_subs_[1].get()),
++        *dynamic_cast<message_filters::Subscriber<InType2>*>(
++            ros_msg_subs_[2].get()),
++        *dynamic_cast<message_filters::Subscriber<InType3>*>(
++            ros_msg_subs_[3].get()));
++    syncApproximate_->registerCallback(
++        &RosApolloMessageConverter<
++            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                       std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
++            OutputTypes<std::shared_ptr<OutType0>>>::TopicCallback,
++        this);
++
++    ros_spin_thread_ =
++        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
++#endif
++    return true;
++  }
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                 std::shared_ptr<InType2>, std::shared_ptr<InType3>>& input,
++      OutputTypes<std::shared_ptr<OutType0>>& output) = 0;
++
++#ifdef RCLCPP__RCLCPP_HPP_
++ private:
++  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
++                     std::shared_ptr<InType1> ros_msg1,
++                     std::shared_ptr<InType2> ros_msg2,
++                     std::shared_ptr<InType3> ros_msg3) {
++    auto out = std::make_shared<OutType0>();
++    typename InType0::SharedPtr internal_in_prt_0 =
++        std::make_shared<InType0>(*ros_msg0.get());
++    typename InType1::SharedPtr internal_in_prt_1 =
++        std::make_shared<InType1>(*ros_msg1.get());
++    typename InType2::SharedPtr internal_in_prt_2 =
++        std::make_shared<InType2>(*ros_msg2.get());
++    typename InType3::SharedPtr internal_in_prt_3 =
++        std::make_shared<InType3>(*ros_msg3.get());
++    auto in_container =
++        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                   std::shared_ptr<InType2>, std::shared_ptr<InType3>>{
++            std::make_tuple(internal_in_prt_0, internal_in_prt_1,
++                            internal_in_prt_2, internal_in_prt_3)};
++    auto out_container =
++        OutputTypes<std::shared_ptr<OutType0>>{std::make_tuple(out)};
++    this->ConvertMsg(in_container, out_container);
++    apollo_writer_0_->Write(out);
++  }
++#endif
++};
++
++template <typename InType0, typename InType1, typename InType2,
++          typename InType3, typename OutType0, typename OutType1>
++class RosApolloMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>
++    : public MessageConverter {
++ private:
++#ifdef RCLCPP__RCLCPP_HPP_
++  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1,
++                                                          InType2, InType3>
++      approximate_sync_policy;
++  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
++      syncApproximate_;
++#endif
++  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
++  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
++
++ public:
++  RosApolloMessageConverter() {}
++  ~RosApolloMessageConverter() override {}
++
++  bool Init() override {
++    MessageConverter::Init();
++    if (!init_.load()) {
++      return false;
++    }
++    if (!LoadConfig(&converter_conf_)) {
++      return false;
++    }
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
++
++    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++    auto ros_topic_name_2 = converter_conf_.ros_topic_name_2();
++    auto ros_topic_name_3 = converter_conf_.ros_topic_name_3();
++
++    apollo_writer_0_ =
++        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
++    apollo_writer_1_ =
++        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
++            ros_node_, ros_topic_name_0)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
++            ros_node_, ros_topic_name_1)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType2>>(
++            ros_node_, ros_topic_name_2)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType3>>(
++            ros_node_, ros_topic_name_3)));
++    syncApproximate_ = std::make_shared<
++        message_filters::Synchronizer<approximate_sync_policy>>(
++        approximate_sync_policy(10),
++        *dynamic_cast<message_filters::Subscriber<InType0>*>(
++            ros_msg_subs_[0].get()),
++        *dynamic_cast<message_filters::Subscriber<InType1>*>(
++            ros_msg_subs_[1].get()),
++        *dynamic_cast<message_filters::Subscriber<InType2>*>(
++            ros_msg_subs_[2].get()),
++        *dynamic_cast<message_filters::Subscriber<InType3>*>(
++            ros_msg_subs_[3].get()));
++    syncApproximate_->registerCallback(
++        &RosApolloMessageConverter<
++            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                       std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
++            OutputTypes<std::shared_ptr<OutType0>,
++                        std::shared_ptr<OutType1>>>::TopicCallback,
++        this);
++
++    ros_spin_thread_ =
++        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
++#endif
++    return true;
++  }
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                 std::shared_ptr<InType2>, std::shared_ptr<InType3>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>&
++          output) = 0;
++
++#ifdef RCLCPP__RCLCPP_HPP_
++ private:
++  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
++                     std::shared_ptr<InType1> ros_msg1,
++                     std::shared_ptr<InType2> ros_msg2,
++                     std::shared_ptr<InType3> ros_msg3) {
++    auto out_0 = std::make_shared<OutType0>();
++    auto out_1 = std::make_shared<OutType1>();
++    typename InType0::SharedPtr internal_in_prt_0 =
++        std::make_shared<InType0>(*ros_msg0.get());
++    typename InType1::SharedPtr internal_in_prt_1 =
++        std::make_shared<InType1>(*ros_msg1.get());
++    typename InType2::SharedPtr internal_in_prt_2 =
++        std::make_shared<InType2>(*ros_msg2.get());
++    typename InType3::SharedPtr internal_in_prt_3 =
++        std::make_shared<InType3>(*ros_msg3.get());
++    auto in_container =
++        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                   std::shared_ptr<InType2>, std::shared_ptr<InType3>>{
++            std::make_tuple(internal_in_prt_0, internal_in_prt_1,
++                            internal_in_prt_2, internal_in_prt_3)};
++    auto out_container =
++        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>{
++            std::make_tuple(out_0, out_1)};
++    this->ConvertMsg(in_container, out_container);
++    apollo_writer_0_->Write(out_0);
++    apollo_writer_1_->Write(out_1);
++  }
++#endif
++};
++
++template <typename InType0, typename InType1, typename InType2,
++          typename InType3, typename OutType0, typename OutType1,
++          typename OutType2>
++class RosApolloMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>>> : public MessageConverter {
++ private:
++#ifdef RCLCPP__RCLCPP_HPP_
++  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1,
++                                                          InType2, InType3>
++      approximate_sync_policy;
++  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
++      syncApproximate_;
++#endif
++  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
++  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
++  std::shared_ptr<Writer<OutType2>> apollo_writer_2_ = nullptr;
++
++ public:
++  RosApolloMessageConverter() {}
++  ~RosApolloMessageConverter() override {}
++
++  bool Init() override {
++    MessageConverter::Init();
++    if (!init_.load()) {
++      return false;
++    }
++    if (!LoadConfig(&converter_conf_)) {
++      return false;
++    }
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[2]->set_channel_name(converter_conf_.apollo_channel_name_2());
++
++    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++    auto ros_topic_name_2 = converter_conf_.ros_topic_name_2();
++    auto ros_topic_name_3 = converter_conf_.ros_topic_name_3();
++
++    apollo_writer_0_ =
++        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
++    apollo_writer_1_ =
++        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
++    apollo_writer_2_ =
++        cyber_node_->template CreateWriter<OutType2>(*apollo_attrs_[2]);
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
++            ros_node_, ros_topic_name_0)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
++            ros_node_, ros_topic_name_1)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType2>>(
++            ros_node_, ros_topic_name_2)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType3>>(
++            ros_node_, ros_topic_name_3)));
++    syncApproximate_ = std::make_shared<
++        message_filters::Synchronizer<approximate_sync_policy>>(
++        approximate_sync_policy(10),
++        *dynamic_cast<message_filters::Subscriber<InType0>*>(
++            ros_msg_subs_[0].get()),
++        *dynamic_cast<message_filters::Subscriber<InType1>*>(
++            ros_msg_subs_[1].get()),
++        *dynamic_cast<message_filters::Subscriber<InType2>*>(
++            ros_msg_subs_[2].get()),
++        *dynamic_cast<message_filters::Subscriber<InType3>*>(
++            ros_msg_subs_[3].get()));
++    syncApproximate_->registerCallback(
++        &RosApolloMessageConverter<
++            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                       std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
++            OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                        std::shared_ptr<OutType2>>>::TopicCallback,
++        this);
++
++    ros_spin_thread_ =
++        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
++#endif
++    return true;
++  }
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                 std::shared_ptr<InType2>, std::shared_ptr<InType3>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                  std::shared_ptr<OutType2>>& output) = 0;
++
++#ifdef RCLCPP__RCLCPP_HPP_
++ private:
++  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
++                     std::shared_ptr<InType1> ros_msg1,
++                     std::shared_ptr<InType2> ros_msg2,
++                     std::shared_ptr<InType3> ros_msg3) {
++    auto out_0 = std::make_shared<OutType0>();
++    auto out_1 = std::make_shared<OutType1>();
++    auto out_2 = std::make_shared<OutType2>();
++    typename InType0::SharedPtr internal_in_prt_0 =
++        std::make_shared<InType0>(*ros_msg0.get());
++    typename InType1::SharedPtr internal_in_prt_1 =
++        std::make_shared<InType1>(*ros_msg1.get());
++    typename InType2::SharedPtr internal_in_prt_2 =
++        std::make_shared<InType2>(*ros_msg2.get());
++    typename InType3::SharedPtr internal_in_prt_3 =
++        std::make_shared<InType3>(*ros_msg3.get());
++    auto in_container =
++        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                   std::shared_ptr<InType2>, std::shared_ptr<InType3>>{
++            std::make_tuple(internal_in_prt_0, internal_in_prt_1,
++                            internal_in_prt_2, internal_in_prt_3)};
++    auto out_container =
++        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                    std::shared_ptr<OutType2>>{
++            std::make_tuple(out_0, out_1, out_2)};
++    this->ConvertMsg(in_container, out_container);
++    apollo_writer_0_->Write(out_0);
++    apollo_writer_1_->Write(out_1);
++    apollo_writer_2_->Write(out_2);
++  }
++#endif
++};
++
++template <typename InType0, typename InType1, typename InType2,
++          typename InType3, typename OutType0, typename OutType1,
++          typename OutType2, typename OutType3>
++class RosApolloMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>
++    : public MessageConverter {
++ private:
++#ifdef RCLCPP__RCLCPP_HPP_
++  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1,
++                                                          InType2, InType3>
++      approximate_sync_policy;
++  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
++      syncApproximate_;
++#endif
++  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
++  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
++  std::shared_ptr<Writer<OutType2>> apollo_writer_2_ = nullptr;
++  std::shared_ptr<Writer<OutType3>> apollo_writer_3_ = nullptr;
++
++ public:
++  RosApolloMessageConverter() {}
++  ~RosApolloMessageConverter() override {}
++
++  bool Init() override {
++    MessageConverter::Init();
++    if (!init_.load()) {
++      return false;
++    }
++    if (!LoadConfig(&converter_conf_)) {
++      return false;
++    }
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[2]->set_channel_name(converter_conf_.apollo_channel_name_2());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[3]->set_channel_name(converter_conf_.apollo_channel_name_3());
++
++    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++    auto ros_topic_name_2 = converter_conf_.ros_topic_name_2();
++    auto ros_topic_name_3 = converter_conf_.ros_topic_name_3();
++
++    apollo_writer_0_ =
++        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
++    apollo_writer_1_ =
++        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
++    apollo_writer_2_ =
++        cyber_node_->template CreateWriter<OutType2>(*apollo_attrs_[2]);
++    apollo_writer_3_ =
++        cyber_node_->template CreateWriter<OutType3>(*apollo_attrs_[3]);
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
++            ros_node_, ros_topic_name_0)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
++            ros_node_, ros_topic_name_1)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType2>>(
++            ros_node_, ros_topic_name_2)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType3>>(
++            ros_node_, ros_topic_name_3)));
++    syncApproximate_ = std::make_shared<
++        message_filters::Synchronizer<approximate_sync_policy>>(
++        approximate_sync_policy(10),
++        *dynamic_cast<message_filters::Subscriber<InType0>*>(
++            ros_msg_subs_[0].get()),
++        *dynamic_cast<message_filters::Subscriber<InType1>*>(
++            ros_msg_subs_[1].get()),
++        *dynamic_cast<message_filters::Subscriber<InType2>*>(
++            ros_msg_subs_[2].get()),
++        *dynamic_cast<message_filters::Subscriber<InType3>*>(
++            ros_msg_subs_[3].get()));
++    syncApproximate_->registerCallback(
++        &RosApolloMessageConverter<
++            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                       std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
++            OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                        std::shared_ptr<OutType2>,
++                        std::shared_ptr<OutType3>>>::TopicCallback,
++        this);
++
++    ros_spin_thread_ =
++        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
++#endif
++    return true;
++  }
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                 std::shared_ptr<InType2>, std::shared_ptr<InType3>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                  std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>&
++          output) = 0;
++
++#ifdef RCLCPP__RCLCPP_HPP_
++ private:
++  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
++                     std::shared_ptr<InType1> ros_msg1,
++                     std::shared_ptr<InType2> ros_msg2,
++                     std::shared_ptr<InType3> ros_msg3) {
++    auto out_0 = std::make_shared<OutType0>();
++    auto out_1 = std::make_shared<OutType1>();
++    auto out_2 = std::make_shared<OutType2>();
++    auto out_3 = std::make_shared<OutType3>();
++    typename InType0::SharedPtr internal_in_prt_0 =
++        std::make_shared<InType0>(*ros_msg0.get());
++    typename InType1::SharedPtr internal_in_prt_1 =
++        std::make_shared<InType1>(*ros_msg1.get());
++    typename InType2::SharedPtr internal_in_prt_2 =
++        std::make_shared<InType2>(*ros_msg2.get());
++    typename InType3::SharedPtr internal_in_prt_3 =
++        std::make_shared<InType3>(*ros_msg3.get());
++    auto in_container =
++        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                   std::shared_ptr<InType2>, std::shared_ptr<InType3>>{
++            std::make_tuple(internal_in_prt_0, internal_in_prt_1,
++                            internal_in_prt_2, internal_in_prt_3)};
++    auto out_container =
++        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                    std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>{
++            std::make_tuple(out_0, out_1, out_2, out_3)};
++    this->ConvertMsg(in_container, out_container);
++    apollo_writer_0_->Write(out_0);
++    apollo_writer_1_->Write(out_1);
++    apollo_writer_2_->Write(out_2);
++    apollo_writer_3_->Write(out_3);
++  }
++#endif
++};
++
++}  // namespace cyber
++}  // namespace apollo
++
++#endif  // CYBER_APOLLO_ROS_MESSAGE_CONVERTER_H_
+diff --git a/cyber/ros_bridge/converter_base/convert_ros_single.h b/cyber/ros_bridge/converter_base/convert_ros_single.h
+new file mode 100644
+index 0000000..3e0f391
+--- /dev/null
++++ b/cyber/ros_bridge/converter_base/convert_ros_single.h
+@@ -0,0 +1,364 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#ifndef CYBER_ROS_APOLLO_SINGLE_H_
++#define CYBER_ROS_APOLLO_SINGLE_H_
++
++#include <memory>
++#include <utility>
++
++#include "cyber/ros_bridge/common/macros.h"
++
++#include "cyber/cyber.h"
++#include "cyber/ros_bridge/converter_base/converter_base.h"
++
++namespace apollo {
++namespace cyber {
++
++template <typename InType0, typename OutType0>
++class RosApolloMessageConverter<InputTypes<std::shared_ptr<InType0>>,
++                                OutputTypes<std::shared_ptr<OutType0>>>
++    : public MessageConverter {
++ private:
++  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
++
++ public:
++  RosApolloMessageConverter() {}
++  ~RosApolloMessageConverter() override {}
++
++  bool Init() override {
++    MessageConverter::Init();
++    if (!init_.load()) {
++      return false;
++    }
++    if (!LoadConfig(&converter_conf_)) {
++      AERROR << "load config failed";
++      return false;
++    }
++
++    auto writer_attrs =
++        std::make_shared<apollo::cyber::proto::RoleAttributes>();
++    writer_attrs->set_channel_name(converter_conf_.apollo_channel_name_0());
++    apollo_attrs_.push_back(writer_attrs);
++    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++
++    apollo_writer_0_ =
++        cyber_node_->template CreateWriter<OutType0>(*writer_attrs);
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_subscriptions_.push_back(
++        std::move(ros_node_->create_subscription<InType0>(
++            ros_topic_name_0, 10,
++            std::bind(
++                &RosApolloMessageConverter<
++                    InputTypes<std::shared_ptr<InType0>>,
++                    OutputTypes<std::shared_ptr<OutType0>>>::TopicCallback,
++                this, std::placeholders::_1))));
++    ros_spin_thread_ =
++        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
++#endif
++    return true;
++  }
++
++ protected:
++  virtual bool ConvertMsg(InputTypes<std::shared_ptr<InType0>>& input,
++                          OutputTypes<std::shared_ptr<OutType0>>& output) = 0;
++
++#ifdef RCLCPP__RCLCPP_HPP_
++ private:
++  void TopicCallback(std::shared_ptr<InType0> ros_msg0) {
++    auto out = std::make_shared<OutType0>();
++    typename InType0::SharedPtr internal_in_prt =
++        std::make_shared<InType0>(*ros_msg0.get());
++    auto in_container =
++        InputTypes<std::shared_ptr<InType0>>{std::make_tuple(internal_in_prt)};
++    auto out_container =
++        OutputTypes<std::shared_ptr<OutType0>>{std::make_tuple(out)};
++    this->ConvertMsg(in_container, out_container);
++    apollo_writer_0_->Write(out);
++  }
++#endif
++};
++
++template <typename InType0, typename OutType0, typename OutType1>
++class RosApolloMessageConverter<
++    InputTypes<std::shared_ptr<InType0>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>
++    : public MessageConverter {
++ private:
++  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
++  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
++
++ public:
++  RosApolloMessageConverter() {}
++  ~RosApolloMessageConverter() override {}
++
++  bool Init() override {
++    MessageConverter::Init();
++    if (!init_.load()) {
++      return false;
++    }
++    if (!LoadConfig(&converter_conf_)) {
++      return false;
++    }
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
++
++    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++
++    apollo_writer_0_ =
++        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
++    apollo_writer_1_ =
++        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_subscriptions_.push_back(
++        std::move(ros_node_->create_subscription<InType0>(
++            ros_topic_name_0, 10,
++            std::bind(
++                &RosApolloMessageConverter<
++                    InputTypes<std::shared_ptr<InType0>>,
++                    OutputTypes<std::shared_ptr<OutType0>,
++                                std::shared_ptr<OutType1>>>::TopicCallback,
++                this, std::placeholders::_1))));
++    ros_spin_thread_ =
++        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
++#endif
++    return true;
++  }
++
++ protected:
++  virtual bool ConvertMsg(InputTypes<std::shared_ptr<InType0>>& input,
++                          OutputTypes<std::shared_ptr<OutType0>,
++                                      std::shared_ptr<OutType1>>& output) = 0;
++
++#ifdef RCLCPP__RCLCPP_HPP_
++ private:
++  void TopicCallback(std::shared_ptr<InType0> ros_msg0) {
++    auto out_0 = std::make_shared<OutType0>();
++    auto out_1 = std::make_shared<OutType1>();
++    typename InType0::SharedPtr internal_in_prt =
++        std::make_shared<InType0>(*ros_msg0.get());
++    auto in_container =
++        InputTypes<std::shared_ptr<InType0>>{std::make_tuple(internal_in_prt)};
++    auto out_container =
++        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>{
++            std::make_tuple(out_0, out_1)};
++    this->ConvertMsg(in_container, out_container);
++    apollo_writer_0_->Write(out_0);
++    apollo_writer_1_->Write(out_1);
++  }
++#endif
++};
++
++template <typename InType0, typename OutType0, typename OutType1,
++          typename OutType2>
++class RosApolloMessageConverter<
++    InputTypes<std::shared_ptr<InType0>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>>> : public MessageConverter {
++ private:
++  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
++  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
++  std::shared_ptr<Writer<OutType2>> apollo_writer_2_ = nullptr;
++
++ public:
++  RosApolloMessageConverter() {}
++  ~RosApolloMessageConverter() override {}
++
++  bool Init() override {
++    MessageConverter::Init();
++    if (!init_.load()) {
++      return false;
++    }
++    if (!LoadConfig(&converter_conf_)) {
++      return false;
++    }
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[2]->set_channel_name(converter_conf_.apollo_channel_name_2());
++
++    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++
++    apollo_writer_0_ =
++        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
++    apollo_writer_1_ =
++        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
++    apollo_writer_2_ =
++        cyber_node_->template CreateWriter<OutType2>(*apollo_attrs_[2]);
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_subscriptions_.push_back(
++        std::move(ros_node_->create_subscription<InType0>(
++            ros_topic_name_0, 10,
++            std::bind(
++                &RosApolloMessageConverter<
++                    InputTypes<std::shared_ptr<InType0>>,
++                    OutputTypes<std::shared_ptr<OutType0>,
++                                std::shared_ptr<OutType1>,
++                                std::shared_ptr<OutType2>>>::TopicCallback,
++                this, std::placeholders::_1))));
++    ros_spin_thread_ =
++        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
++#endif
++    return true;
++  }
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                  std::shared_ptr<OutType2>>& output) = 0;
++
++#ifdef RCLCPP__RCLCPP_HPP_
++ private:
++  void TopicCallback(std::shared_ptr<InType0> ros_msg0) {
++    auto out_0 = std::make_shared<OutType0>();
++    auto out_1 = std::make_shared<OutType1>();
++    auto out_2 = std::make_shared<OutType2>();
++    typename InType0::SharedPtr internal_in_prt =
++        std::make_shared<InType0>(*ros_msg0.get());
++    auto in_container =
++        InputTypes<std::shared_ptr<InType0>>{std::make_tuple(internal_in_prt)};
++    auto out_container =
++        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                    std::shared_ptr<OutType2>>{
++            std::make_tuple(out_0, out_1, out_2)};
++    this->ConvertMsg(in_container, out_container);
++    apollo_writer_0_->Write(out_0);
++    apollo_writer_1_->Write(out_1);
++    apollo_writer_2_->Write(out_2);
++  }
++#endif
++};
++
++template <typename InType0, typename OutType0, typename OutType1,
++          typename OutType2, typename OutType3>
++class RosApolloMessageConverter<
++    InputTypes<std::shared_ptr<InType0>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>
++    : public MessageConverter {
++ private:
++  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
++  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
++  std::shared_ptr<Writer<OutType2>> apollo_writer_2_ = nullptr;
++  std::shared_ptr<Writer<OutType3>> apollo_writer_3_ = nullptr;
++
++ public:
++  RosApolloMessageConverter() {}
++  ~RosApolloMessageConverter() override {}
++
++  bool Init() override {
++    MessageConverter::Init();
++    if (!init_.load()) {
++      return false;
++    }
++    if (!LoadConfig(&converter_conf_)) {
++      return false;
++    }
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[2]->set_channel_name(converter_conf_.apollo_channel_name_2());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[3]->set_channel_name(converter_conf_.apollo_channel_name_3());
++
++    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++
++    apollo_writer_0_ =
++        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
++    apollo_writer_1_ =
++        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
++    apollo_writer_2_ =
++        cyber_node_->template CreateWriter<OutType2>(*apollo_attrs_[2]);
++    apollo_writer_3_ =
++        cyber_node_->template CreateWriter<OutType3>(*apollo_attrs_[3]);
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_subscriptions_.push_back(
++        std::move(ros_node_->create_subscription<InType0>(
++            ros_topic_name_0, 10,
++            std::bind(
++                &RosApolloMessageConverter<
++                    InputTypes<std::shared_ptr<InType0>>,
++                    OutputTypes<std::shared_ptr<OutType0>,
++                                std::shared_ptr<OutType1>,
++                                std::shared_ptr<OutType2>,
++                                std::shared_ptr<OutType3>>>::TopicCallback,
++                this, std::placeholders::_1))));
++    ros_spin_thread_ =
++        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
++#endif
++    return true;
++  }
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                  std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>&
++          output) = 0;
++
++#ifdef RCLCPP__RCLCPP_HPP_
++ private:
++  void TopicCallback(std::shared_ptr<InType0> ros_msg0) {
++    auto out_0 = std::make_shared<OutType0>();
++    auto out_1 = std::make_shared<OutType1>();
++    auto out_2 = std::make_shared<OutType2>();
++    auto out_3 = std::make_shared<OutType3>();
++    typename InType0::SharedPtr internal_in_prt =
++        std::make_shared<InType0>(*ros_msg0.get());
++    auto in_container =
++        InputTypes<std::shared_ptr<InType0>>{std::make_tuple(internal_in_prt)};
++    auto out_container =
++        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                    std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>{
++            std::make_tuple(out_0, out_1, out_2, out_3)};
++    this->ConvertMsg(in_container, out_container);
++    apollo_writer_0_->Write(out_0);
++    apollo_writer_1_->Write(out_1);
++    apollo_writer_2_->Write(out_2);
++    apollo_writer_3_->Write(out_3);
++  }
++#endif
++};
++
++}  // namespace cyber
++}  // namespace apollo
++
++#endif  // CYBER_APOLLO_ROS_MESSAGE_CONVERTER_H_
+diff --git a/cyber/ros_bridge/converter_base/convert_ros_triple.h b/cyber/ros_bridge/converter_base/convert_ros_triple.h
+new file mode 100644
+index 0000000..0d576fc
+--- /dev/null
++++ b/cyber/ros_bridge/converter_base/convert_ros_triple.h
+@@ -0,0 +1,509 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#ifndef CYBER_ROS_APOLLO_TRIPLE_H_
++#define CYBER_ROS_APOLLO_TRIPLE_H_
++
++#include <memory>
++#include <utility>
++
++#include "cyber/ros_bridge/common/macros.h"
++
++#include "cyber/cyber.h"
++#include "cyber/ros_bridge/converter_base/converter_base.h"
++
++namespace apollo {
++namespace cyber {
++
++template <typename InType0, typename InType1, typename InType2,
++          typename OutType0>
++class RosApolloMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>>,
++    OutputTypes<std::shared_ptr<OutType0>>> : public MessageConverter {
++ private:
++#ifdef RCLCPP__RCLCPP_HPP_
++  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1,
++                                                          InType2>
++      approximate_sync_policy;
++  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
++      syncApproximate_;
++#endif
++  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
++
++ public:
++  RosApolloMessageConverter() {}
++  ~RosApolloMessageConverter() override {}
++
++  bool Init() override {
++    MessageConverter::Init();
++    if (!init_.load()) {
++      return false;
++    }
++    if (!LoadConfig(&converter_conf_)) {
++      return false;
++    }
++
++    auto writer_attrs =
++        std::make_shared<apollo::cyber::proto::RoleAttributes>();
++    writer_attrs->set_channel_name(converter_conf_.apollo_channel_name_0());
++    apollo_attrs_.push_back(writer_attrs);
++    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++    auto ros_topic_name_2 = converter_conf_.ros_topic_name_2();
++
++    apollo_writer_0_ =
++        cyber_node_->template CreateWriter<OutType0>(*writer_attrs);
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
++            ros_node_, ros_topic_name_0)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
++            ros_node_, ros_topic_name_1)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType2>>(
++            ros_node_, ros_topic_name_2)));
++    syncApproximate_ = std::make_shared<
++        message_filters::Synchronizer<approximate_sync_policy>>(
++        approximate_sync_policy(10),
++        *dynamic_cast<message_filters::Subscriber<InType0>*>(
++            ros_msg_subs_[0].get()),
++        *dynamic_cast<message_filters::Subscriber<InType1>*>(
++            ros_msg_subs_[1].get()),
++        *dynamic_cast<message_filters::Subscriber<InType2>*>(
++            ros_msg_subs_[2].get()));
++    syncApproximate_->registerCallback(
++        &RosApolloMessageConverter<
++            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                       std::shared_ptr<InType2>>,
++            OutputTypes<std::shared_ptr<OutType0>>>::TopicCallback,
++        this);
++
++    ros_spin_thread_ =
++        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
++#endif
++    return true;
++  }
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                 std::shared_ptr<InType2>>& input,
++      OutputTypes<std::shared_ptr<OutType0>>& output) = 0;
++
++#ifdef RCLCPP__RCLCPP_HPP_
++ private:
++  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
++                     std::shared_ptr<InType1> ros_msg1,
++                     std::shared_ptr<InType2> ros_msg2) {
++    auto out = std::make_shared<OutType0>();
++    typename InType0::SharedPtr internal_in_prt_0 =
++        std::make_shared<InType0>(*ros_msg0.get());
++    typename InType1::SharedPtr internal_in_prt_1 =
++        std::make_shared<InType1>(*ros_msg1.get());
++    typename InType2::SharedPtr internal_in_prt_2 =
++        std::make_shared<InType2>(*ros_msg2.get());
++    auto in_container =
++        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                   std::shared_ptr<InType2>>{std::make_tuple(
++            internal_in_prt_0, internal_in_prt_1, internal_in_prt_2)};
++    auto out_container =
++        OutputTypes<std::shared_ptr<OutType0>>{std::make_tuple(out)};
++    this->ConvertMsg(in_container, out_container);
++    apollo_writer_0_->Write(out);
++  }
++#endif
++};
++
++template <typename InType0, typename InType1, typename InType2,
++          typename OutType0, typename OutType1>
++class RosApolloMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>>
++    : public MessageConverter {
++ private:
++#ifdef RCLCPP__RCLCPP_HPP_
++  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1,
++                                                          InType2>
++      approximate_sync_policy;
++  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
++      syncApproximate_;
++#endif
++  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
++  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
++
++ public:
++  RosApolloMessageConverter() {}
++  ~RosApolloMessageConverter() override {}
++
++  bool Init() override {
++    MessageConverter::Init();
++    if (!init_.load()) {
++      return false;
++    }
++    if (!LoadConfig(&converter_conf_)) {
++      return false;
++    }
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
++
++    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++    auto ros_topic_name_2 = converter_conf_.ros_topic_name_2();
++
++    apollo_writer_0_ =
++        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
++    apollo_writer_1_ =
++        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
++            ros_node_, ros_topic_name_0)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
++            ros_node_, ros_topic_name_1)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType2>>(
++            ros_node_, ros_topic_name_2)));
++    syncApproximate_ = std::make_shared<
++        message_filters::Synchronizer<approximate_sync_policy>>(
++        approximate_sync_policy(10),
++        *dynamic_cast<message_filters::Subscriber<InType0>*>(
++            ros_msg_subs_[0].get()),
++        *dynamic_cast<message_filters::Subscriber<InType1>*>(
++            ros_msg_subs_[1].get()),
++        *dynamic_cast<message_filters::Subscriber<InType2>*>(
++            ros_msg_subs_[2].get()));
++    syncApproximate_->registerCallback(
++        &RosApolloMessageConverter<
++            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                       std::shared_ptr<InType2>>,
++            OutputTypes<std::shared_ptr<OutType0>,
++                        std::shared_ptr<OutType1>>>::TopicCallback,
++        this);
++
++    ros_spin_thread_ =
++        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
++#endif
++    return true;
++  }
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                 std::shared_ptr<InType2>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>&
++          output) = 0;
++
++#ifdef RCLCPP__RCLCPP_HPP_
++ private:
++  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
++                     std::shared_ptr<InType1> ros_msg1,
++                     std::shared_ptr<InType2> ros_msg2) {
++    auto out_0 = std::make_shared<OutType0>();
++    auto out_1 = std::make_shared<OutType1>();
++    typename InType0::SharedPtr internal_in_prt_0 =
++        std::make_shared<InType0>(*ros_msg0.get());
++    typename InType1::SharedPtr internal_in_prt_1 =
++        std::make_shared<InType1>(*ros_msg1.get());
++    typename InType2::SharedPtr internal_in_prt_2 =
++        std::make_shared<InType2>(*ros_msg2.get());
++    auto in_container =
++        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                   std::shared_ptr<InType2>>{std::make_tuple(
++            internal_in_prt_0, internal_in_prt_1, internal_in_prt_2)};
++    auto out_container =
++        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>{
++            std::make_tuple(out_0, out_1)};
++    this->ConvertMsg(in_container, out_container);
++    apollo_writer_0_->Write(out_0);
++    apollo_writer_1_->Write(out_1);
++  }
++#endif
++};
++
++template <typename InType0, typename InType1, typename InType2,
++          typename OutType0, typename OutType1, typename OutType2>
++class RosApolloMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>>> : public MessageConverter {
++ private:
++#ifdef RCLCPP__RCLCPP_HPP_
++  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1,
++                                                          InType2>
++      approximate_sync_policy;
++  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
++      syncApproximate_;
++#endif
++  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
++  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
++  std::shared_ptr<Writer<OutType2>> apollo_writer_2_ = nullptr;
++
++ public:
++  RosApolloMessageConverter() {}
++  ~RosApolloMessageConverter() override {}
++
++  bool Init() override {
++    MessageConverter::Init();
++    if (!init_.load()) {
++      return false;
++    }
++    if (!LoadConfig(&converter_conf_)) {
++      return false;
++    }
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[2]->set_channel_name(converter_conf_.apollo_channel_name_2());
++
++    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++    auto ros_topic_name_2 = converter_conf_.ros_topic_name_2();
++
++    apollo_writer_0_ =
++        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
++    apollo_writer_1_ =
++        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
++    apollo_writer_2_ =
++        cyber_node_->template CreateWriter<OutType2>(*apollo_attrs_[2]);
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
++            ros_node_, ros_topic_name_0)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
++            ros_node_, ros_topic_name_1)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType2>>(
++            ros_node_, ros_topic_name_2)));
++    syncApproximate_ = std::make_shared<
++        message_filters::Synchronizer<approximate_sync_policy>>(
++        approximate_sync_policy(10),
++        *dynamic_cast<message_filters::Subscriber<InType0>*>(
++            ros_msg_subs_[0].get()),
++        *dynamic_cast<message_filters::Subscriber<InType1>*>(
++            ros_msg_subs_[1].get()),
++        *dynamic_cast<message_filters::Subscriber<InType2>*>(
++            ros_msg_subs_[2].get()));
++    syncApproximate_->registerCallback(
++        &RosApolloMessageConverter<
++            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                       std::shared_ptr<InType2>>,
++            OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                        std::shared_ptr<OutType2>>>::TopicCallback,
++        this);
++
++    ros_spin_thread_ =
++        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
++#endif
++    return true;
++  }
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                 std::shared_ptr<InType2>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                  std::shared_ptr<OutType2>>& output) = 0;
++
++#ifdef RCLCPP__RCLCPP_HPP_
++ private:
++  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
++                     std::shared_ptr<InType1> ros_msg1,
++                     std::shared_ptr<InType2> ros_msg2) {
++    auto out_0 = std::make_shared<OutType0>();
++    auto out_1 = std::make_shared<OutType1>();
++    auto out_2 = std::make_shared<OutType2>();
++    typename InType0::SharedPtr internal_in_prt_0 =
++        std::make_shared<InType0>(*ros_msg0.get());
++    typename InType1::SharedPtr internal_in_prt_1 =
++        std::make_shared<InType1>(*ros_msg1.get());
++    typename InType2::SharedPtr internal_in_prt_2 =
++        std::make_shared<InType2>(*ros_msg2.get());
++    auto in_container =
++        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                   std::shared_ptr<InType2>>{std::make_tuple(
++            internal_in_prt_0, internal_in_prt_1, internal_in_prt_2)};
++    auto out_container =
++        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                    std::shared_ptr<OutType2>>{
++            std::make_tuple(out_0, out_1, out_2)};
++    this->ConvertMsg(in_container, out_container);
++    apollo_writer_0_->Write(out_0);
++    apollo_writer_1_->Write(out_1);
++    apollo_writer_2_->Write(out_2);
++  }
++#endif
++};
++
++template <typename InType0, typename InType1, typename InType2,
++          typename OutType0, typename OutType1, typename OutType2,
++          typename OutType3>
++class RosApolloMessageConverter<
++    InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++               std::shared_ptr<InType2>>,
++    OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>>
++    : public MessageConverter {
++ private:
++#ifdef RCLCPP__RCLCPP_HPP_
++  typedef message_filters::sync_policies::ApproximateTime<InType0, InType1>
++      approximate_sync_policy;
++  std::shared_ptr<message_filters::Synchronizer<approximate_sync_policy>>
++      syncApproximate_;
++#endif
++  std::shared_ptr<Writer<OutType0>> apollo_writer_0_ = nullptr;
++  std::shared_ptr<Writer<OutType1>> apollo_writer_1_ = nullptr;
++  std::shared_ptr<Writer<OutType2>> apollo_writer_2_ = nullptr;
++  std::shared_ptr<Writer<OutType3>> apollo_writer_3_ = nullptr;
++
++ public:
++  RosApolloMessageConverter() {}
++  ~RosApolloMessageConverter() override {}
++
++  bool Init() override {
++    MessageConverter::Init();
++    if (!init_.load()) {
++      return false;
++    }
++    if (!LoadConfig(&converter_conf_)) {
++      return false;
++    }
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[2]->set_channel_name(converter_conf_.apollo_channel_name_2());
++
++    apollo_attrs_.push_back(
++        std::make_shared<apollo::cyber::proto::RoleAttributes>());
++    apollo_attrs_[3]->set_channel_name(converter_conf_.apollo_channel_name_3());
++
++    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
++    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
++    auto ros_topic_name_2 = converter_conf_.ros_topic_name_2();
++
++    apollo_writer_0_ =
++        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
++    apollo_writer_1_ =
++        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
++    apollo_writer_2_ =
++        cyber_node_->template CreateWriter<OutType2>(*apollo_attrs_[2]);
++    apollo_writer_3_ =
++        cyber_node_->template CreateWriter<OutType3>(*apollo_attrs_[3]);
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
++            ros_node_, ros_topic_name_0)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
++            ros_node_, ros_topic_name_1)));
++    ros_msg_subs_.push_back(
++        std::move(std::make_shared<message_filters::Subscriber<InType2>>(
++            ros_node_, ros_topic_name_2)));
++    syncApproximate_ = std::make_shared<
++        message_filters::Synchronizer<approximate_sync_policy>>(
++        approximate_sync_policy(10),
++        *dynamic_cast<message_filters::Subscriber<InType0>*>(
++            ros_msg_subs_[0].get()),
++        *dynamic_cast<message_filters::Subscriber<InType1>*>(
++            ros_msg_subs_[1].get()),
++        *dynamic_cast<message_filters::Subscriber<InType2>*>(
++            ros_msg_subs_[2].get()));
++    syncApproximate_->registerCallback(
++        &RosApolloMessageConverter<
++            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                       std::shared_ptr<InType2>>,
++            OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                        std::shared_ptr<OutType2>,
++                        std::shared_ptr<OutType3>>>::TopicCallback,
++        this);
++
++    ros_spin_thread_ =
++        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
++#endif
++    return true;
++  }
++
++ protected:
++  virtual bool ConvertMsg(
++      InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                 std::shared_ptr<InType2>>& input,
++      OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                  std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>&
++          output) = 0;
++
++#ifdef RCLCPP__RCLCPP_HPP_
++ private:
++  void TopicCallback(std::shared_ptr<InType0> ros_msg0,
++                     std::shared_ptr<InType1> ros_msg1,
++                     std::shared_ptr<InType2> ros_msg2) {
++    auto out_0 = std::make_shared<OutType0>();
++    auto out_1 = std::make_shared<OutType1>();
++    auto out_2 = std::make_shared<OutType2>();
++    auto out_3 = std::make_shared<OutType3>();
++    typename InType0::SharedPtr internal_in_prt_0 =
++        std::make_shared<InType0>(*ros_msg0.get());
++    typename InType1::SharedPtr internal_in_prt_1 =
++        std::make_shared<InType1>(*ros_msg1.get());
++    typename InType2::SharedPtr internal_in_prt_2 =
++        std::make_shared<InType1>(*ros_msg2.get());
++    auto in_container =
++        InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
++                   std::shared_ptr<InType2>>{std::make_tuple(
++            internal_in_prt_0, internal_in_prt_1, internal_in_prt_2)};
++    auto out_container =
++        OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
++                    std::shared_ptr<OutType2>, std::shared_ptr<OutType3>>{
++            std::make_tuple(out_0, out_1, out_2, out_3)};
++    this->ConvertMsg(in_container, out_container);
++    apollo_writer_0_->Write(out_0);
++    apollo_writer_1_->Write(out_1);
++    apollo_writer_2_->Write(out_2);
++    apollo_writer_3_->Write(out_3);
++  }
++#endif
++};
++
++}  // namespace cyber
++}  // namespace apollo
++
++#endif  // CYBER_APOLLO_ROS_MESSAGE_CONVERTER_H_
+diff --git a/cyber/ros_bridge/converter_base/converter_base.h b/cyber/ros_bridge/converter_base/converter_base.h
+new file mode 100644
+index 0000000..5cbb418
+--- /dev/null
++++ b/cyber/ros_bridge/converter_base/converter_base.h
+@@ -0,0 +1,77 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#ifndef CYBER_APOLLO_ROS_BASE_H_
++#define CYBER_APOLLO_ROS_BASE_H_
++
++#include <memory>
++#include <string>
++#include <tuple>
++
++#include "cyber/ros_bridge/common/macros.h"
++
++#include "cyber/cyber.h"
++#include "cyber/ros_bridge/converter_base/message_converter.h"
++
++namespace apollo {
++namespace cyber {
++
++template <typename... Types>
++struct InputTypes {
++  std::tuple<Types...> values;
++  static constexpr size_t NInputs = sizeof...(Types);
++};
++
++template <typename... Types>
++struct OutputTypes {
++  std::tuple<Types...> values;
++  static constexpr size_t NOutputs = sizeof...(Types);
++};
++
++template <typename InputTypes, typename OutputTypes>
++class ApolloRosMessageConverter : public MessageConverter {
++ public:
++  ApolloRosMessageConverter() {}
++  ~ApolloRosMessageConverter() override {}
++
++  bool Init() override {
++    AERROR << "input output not support";
++    return false;
++  };
++
++ protected:
++  virtual bool ConvertMsg(InputTypes& input, OutputTypes& output) = 0;
++};
++
++template <typename InputTypes, typename OutputTypes>
++class RosApolloMessageConverter : public MessageConverter {
++ public:
++  RosApolloMessageConverter() {}
++  ~RosApolloMessageConverter() override {}
++
++  bool Init() override {
++    AERROR << "input output not support";
++    return false;
++  };
++
++ protected:
++  virtual bool ConvertMsg(InputTypes& input, OutputTypes& output) = 0;
++};
++
++}  // namespace cyber
++}  // namespace apollo
++
++#endif  // CYBER_APOLLO_ROS_MESSAGE_CONVERTER_H_
+diff --git a/cyber/ros_bridge/converter_base/converter_interface.h b/cyber/ros_bridge/converter_base/converter_interface.h
+new file mode 100644
+index 0000000..6667d19
+--- /dev/null
++++ b/cyber/ros_bridge/converter_base/converter_interface.h
+@@ -0,0 +1,29 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#ifndef CYBER_CONVERTER_INTERFACE_H_
++#define CYBER_CONVERTER_INTERFACE_H_
++
++#include "cyber/ros_bridge/converter_base/convert_apollo_double.h"
++#include "cyber/ros_bridge/converter_base/convert_apollo_quadruple.h"
++#include "cyber/ros_bridge/converter_base/convert_apollo_single.h"
++#include "cyber/ros_bridge/converter_base/convert_apollo_triple.h"
++#include "cyber/ros_bridge/converter_base/convert_ros_double.h"
++#include "cyber/ros_bridge/converter_base/convert_ros_quadruple.h"
++#include "cyber/ros_bridge/converter_base/convert_ros_single.h"
++#include "cyber/ros_bridge/converter_base/convert_ros_triple.h"
++
++#endif
+diff --git a/cyber/ros_bridge/converter_base/message_converter.h b/cyber/ros_bridge/converter_base/message_converter.h
+new file mode 100644
+index 0000000..c6a2b05
+--- /dev/null
++++ b/cyber/ros_bridge/converter_base/message_converter.h
+@@ -0,0 +1,149 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#ifndef CYBER_MESSAGE_CONVERTER_H_
++#define CYBER_MESSAGE_CONVERTER_H_
++
++#include <atomic>   // NOLINT
++#include <memory>   // NOLINT
++#include <string>   // NOLINT
++#include <thread>   // NOLINT
++#include <utility>  // NOLINT
++#include <vector>   // NOLINT
++
++#include <cxxabi.h>  // NOLINT
++
++#include "cyber/ros_bridge/proto/converter_conf.pb.h"
++
++#include "cyber/cyber.h"
++#include "cyber/node/reader_base.h"
++#include "cyber/node/writer_base.h"
++#include "cyber/plugin_manager/plugin_manager.h"
++#include "cyber/ros_bridge/common/macros.h"
++
++#if __has_include("rclcpp/rclcpp.hpp")
++#include "message_filters/subscriber.h"
++#include "message_filters/sync_policies/approximate_time.h"
++#include "message_filters/synchronizer.h"
++#include "rclcpp/rclcpp.hpp"
++#include "ros_adapter/ros_distro.h"
++#endif
++
++namespace apollo {
++namespace cyber {
++
++class MessageConverter {
++ public:
++  MessageConverter() : init_(false) {}
++
++  virtual ~MessageConverter() {}
++
++  virtual bool Init() {
++    if (init_.exchange(true)) {
++      return true;
++    }
++    LoadConfig(&converter_conf_);
++    cyber_node_ = std::move(
++        CreateNode(node_name_ + "_" + converter_conf_.name() + "_apollo"));
++#ifdef RCLCPP__RCLCPP_HPP_
++    ros_node_ = std::make_shared<::rclcpp::Node>(
++        node_name_ + "_" + converter_conf_.name() + "_ros");
++    ros_node_exec_ =
++        std::make_shared<::rclcpp::executors::SingleThreadedExecutor>();
++#endif
++    return true;
++  }
++
++#ifdef RCLCPP__RCLCPP_HPP_
++  void NodeSpin() {
++    ros_node_exec_->add_node(std::shared_ptr<rclcpp::Node>(ros_node_));
++    ros_node_exec_->spin();
++  }
++#endif
++
++  bool IsInit() const { return init_.load(); }
++
++ protected:
++  bool LoadConfig(ConverterConf* config) {
++    int status;
++    std::string class_name =
++        abi::__cxa_demangle(typeid(*this).name(), 0, 0, &status);
++    std::string delimiter = "::";
++    std::string sub_class_name;
++    std::string conf_file_prefix;
++
++    auto pos = class_name.rfind(delimiter);
++    if (pos == std::string::npos) {
++      sub_class_name = class_name;
++    } else {
++      sub_class_name = class_name.substr(pos + delimiter.length());
++    }
++
++    for (int i = 0; i < sub_class_name.length(); i++) {
++      if (std::isupper(sub_class_name[i]) && i > 0) {
++        conf_file_prefix.push_back('_');
++      }
++      conf_file_prefix.push_back(std::tolower(sub_class_name[i]));
++    }
++
++    std::string config_path =
++        apollo::cyber::plugin_manager::PluginManager::Instance()
++            ->GetPluginConfPath<MessageConverter>(
++                class_name, "conf/" + conf_file_prefix + ".pb.txt");
++    if (!apollo::cyber::common::PathExists(config_path)) {
++      config_path = apollo::cyber::plugin_manager::PluginManager::Instance()
++                        ->GetPluginConfPath<MessageConverter>(
++                            class_name, std::string("conf/default.pb.txt"));
++    }
++
++    if (!apollo::cyber::common::GetProtoFromFile(config_path, config)) {
++      AERROR << "Load config of " << class_name << " failed!";
++      return false;
++    }
++    AINFO << "Load the [" << class_name
++          << "] config file successfully, file path: " << config_path;
++    return true;
++  }
++
++ protected:
++  std::atomic<bool> init_;
++  std::unique_ptr<apollo::cyber::Node> cyber_node_;
++  std::vector<std::shared_ptr<apollo::cyber::proto::RoleAttributes>>
++      apollo_attrs_;
++  std::vector<std::shared_ptr<apollo::cyber::ReaderBase>> apollo_readers_;
++  std::vector<std::shared_ptr<apollo::cyber::WriterBase>> apollo_writers_;
++#ifdef RCLCPP__RCLCPP_HPP_
++  std::vector<std::shared_ptr<::rclcpp::PublisherBase>> ros_publishers_;
++  std::vector<std::shared_ptr<::rclcpp::SubscriptionBase>> ros_subscriptions_;
++#if defined(ROS_DISTRO_FOXY) || defined(ROS_DISTRO_GALACTIC)
++  std::vector<std::shared_ptr<::message_filters::SubscriberBase>>
++#else
++  std::vector<std::shared_ptr<::message_filters::SubscriberBase<rclcpp::Node>>>
++#endif
++      ros_msg_subs_;
++  std::shared_ptr<::rclcpp::Node> ros_node_ = nullptr;
++  std::shared_ptr<::rclcpp::executors::SingleThreadedExecutor> ros_node_exec_ =
++      nullptr;
++  std::shared_ptr<std::thread> ros_spin_thread_;
++#endif
++  const std::string node_name_ = "converter_base";
++  ConverterConf converter_conf_;
++};
++
++}  // namespace cyber
++}  // namespace apollo
++
++#endif  // CYBER_MESSAGE_CONVERTER_H_
+diff --git a/cyber/ros_bridge/converters/BUILD b/cyber/ros_bridge/converters/BUILD
+new file mode 100644
+index 0000000..3cac8b1
+--- /dev/null
++++ b/cyber/ros_bridge/converters/BUILD
+@@ -0,0 +1,3 @@
++load("//tools:apollo_package.bzl", "apollo_package")
++
++apollo_package()
+\ No newline at end of file
+diff --git a/cyber/ros_bridge/converters/common_plugins/BUILD b/cyber/ros_bridge/converters/common_plugins/BUILD
+new file mode 100644
+index 0000000..3cac8b1
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/BUILD
+@@ -0,0 +1,3 @@
++load("//tools:apollo_package.bzl", "apollo_package")
++
++apollo_package()
+\ No newline at end of file
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/BUILD b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/BUILD
+new file mode 100755
+index 0000000..609edeb
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/BUILD
+@@ -0,0 +1,104 @@
++load("//tools:cpplint.bzl", "cpplint")
++load("//tools:apollo_package.bzl", "apollo_package", "apollo_plugin")
++load("//tools/platform:build_defs.bzl", "if_aarch64", "if_gpu")
++
++package(default_visibility = ["//visibility:public"])
++
++filegroup(
++    name = "runtime_files",
++    srcs = glob([
++        "conf/**",
++        "data/**",
++    ]),
++)
++
++apollo_plugin(
++    name = "libheading_msg_fusion.so",
++    srcs = ["heading_msg_fusion.cc"],
++    hdrs = [
++        "heading_msg_fusion.h",
++        "quaternion_math.h",
++    ],
++    description = ":heading_msg_plugins.xml",
++    deps = [
++        "//cyber",
++        "//cyber/ros_bridge:converter_base",
++        "//cyber/proto:simple_proto",
++        "//cyber/ros_bridge/proto:converter_conf_proto",
++        "//modules/common_msgs/sensor_msgs:heading_proto",
++        "@ros"
++    ],
++)
++
++apollo_plugin(
++    name = "libimu_msg_converter.so",
++    srcs = ["imu_msg_converter.cc"],
++    hdrs = [
++        "imu_msg_converter.h",
++        "quaternion_math.h",
++    ],
++    description = ":imu_plugins.xml",
++    deps = [
++        "//cyber",
++        "//cyber/ros_bridge:converter_base",
++        "//cyber/proto:simple_proto",
++        "//cyber/ros_bridge/proto:converter_conf_proto",
++        "//modules/common_msgs/localization_msgs:imu_proto",
++        "//modules/common_msgs/sensor_msgs:imu_proto",
++        "@ros"
++    ],
++)
++
++apollo_plugin(
++    name = "libnav_msg_converter.so",
++    srcs = ["nav_msg_converter.cc"],
++    hdrs = ["nav_msg_converter.h"],
++    description = ":nav_plugins.xml",
++    deps = [
++        "//cyber",
++        "//cyber/ros_bridge:converter_base",
++        "//cyber/proto:simple_proto",
++        "//cyber/ros_bridge/proto:converter_conf_proto",
++        "//modules/common_msgs/sensor_msgs:gnss_best_pose_proto",
++        "//modules/common_msgs/sensor_msgs:ins_proto",
++        "@ros"
++    ],
++)
++
++apollo_plugin(
++    name = "libodometry_msg_converter.so",
++    srcs = ["odometry_msg_converter.cc"],
++    hdrs = ["odometry_msg_converter.h"],
++    description = ":odometry_msg_plugins.xml",
++    deps = [
++        "//cyber",
++        "//cyber/ros_bridge:converter_base",
++        "//cyber/proto:simple_proto",
++        "//cyber/ros_bridge/proto:converter_conf_proto",
++        "//modules/common_msgs/localization_msgs:gps_proto",
++        "@ros"
++    ],
++)
++
++apollo_plugin(
++    name = "libodometry_parser.so",
++    srcs = ["odometry_parser.cc"],
++    hdrs = [
++        "odometry_parser.h",
++        "quaternion_math.h",
++    ],
++    description = ":odometry_plugins.xml",
++    deps = [
++        "//cyber",
++        "//cyber/ros_bridge:converter_base",
++        "//cyber/proto:simple_proto",
++        "//cyber/ros_bridge/proto:converter_conf_proto",
++        "@ros",
++        "@proj",
++        "@eigen"
++    ],
++)
++
++apollo_package()
++
++cpplint()
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/heading_msg_fusion.pb.txt b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/heading_msg_fusion.pb.txt
+new file mode 100755
+index 0000000..bb25a96
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/heading_msg_fusion.pb.txt
+@@ -0,0 +1,4 @@
++name: "heading"
++apollo_channel_name_0: "/apollo/sensor/gnss/heading"
++ros_topic_name_0: "/gps/fix"
++ros_topic_name_1: "/odometry"
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/imu_msg_converter.pb.txt b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/imu_msg_converter.pb.txt
+new file mode 100755
+index 0000000..7b2f35f
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/imu_msg_converter.pb.txt
+@@ -0,0 +1,4 @@
++name: "imu"
++apollo_channel_name_0: "/apollo/sensor/gnss/imu"
++apollo_channel_name_1: "/apollo/sensor/gnss/corrected_imu"
++ros_topic_name_0: "/imu/data"
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/nav_msg_converter.pb.txt b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/nav_msg_converter.pb.txt
+new file mode 100755
+index 0000000..318dd5f
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/nav_msg_converter.pb.txt
+@@ -0,0 +1,5 @@
++name: "nav"
++apollo_channel_name_0: "/apollo/sensor/gnss/best_pose"
++apollo_channel_name_1: "/apollo/sensor/gnss/ins_stat"
++ros_topic_name_0: "/gps/fix"
++
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/odometry_msg_converter.pb.txt b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/odometry_msg_converter.pb.txt
+new file mode 100755
+index 0000000..ac2e6ab
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/odometry_msg_converter.pb.txt
+@@ -0,0 +1,3 @@
++name: "odometry"
++apollo_channel_name_0: "/apollo/sensor/gnss/odometry"
++ros_topic_name_0: "/odometry"
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/odometry_parser.pb.txt b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/odometry_parser.pb.txt
+new file mode 100755
+index 0000000..162142d
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/conf/odometry_parser.pb.txt
+@@ -0,0 +1,5 @@
++name: "odometry_parser"
++apollo_channel_name_0: "/apollo/sensor/gnss/odometry"
++ros_topic_name_0: "/imu"
++ros_topic_name_1: "/gps"
++ros_topic_name_2: "/odom"
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_fusion.cc b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_fusion.cc
+new file mode 100755
+index 0000000..3c30af9
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_fusion.cc
+@@ -0,0 +1,97 @@
++/******************************************************************************
++ * Copyright 2023 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#include "cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_fusion.h"  // NOLINT
++#include "cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/quaternion_math.h"
++
++namespace apollo {
++namespace cyber {
++
++bool HeadingMsgFusion::ConvertMsg(
++    InputTypes<RosNavMsgPtr, RosOdometryMsgPtr>& in,
++    OutputTypes<OutputMsgPtr>& out) {
++#ifdef ENABLE_ROS_MSG
++  auto ros_nav_ptr = std::get<0>(in.values);
++  auto ros_odometry_ptr = std::get<1>(in.values);
++  auto& ros_nav = (*ros_nav_ptr);
++  auto& ros_odometry = (*ros_odometry_ptr);
++
++  auto heading_msg = std::get<0>(out.values);
++
++  auto unix_msg_time =
++      ros_nav.header.stamp.sec + ros_nav.header.stamp.nanosec / 1e9;
++
++  double quaternion[4];
++  double euler_angles[3];
++
++  quaternion[0] = ros_odometry.pose.pose.orientation.x;
++  quaternion[1] = ros_odometry.pose.pose.orientation.y;
++  quaternion[2] = ros_odometry.pose.pose.orientation.z;
++  quaternion[3] = ros_odometry.pose.pose.orientation.w;
++
++  QuaternionToEuler(quaternion, euler_angles);
++  auto pitch = euler_angles[1];
++  auto heading = QuaternionToHeading(euler_angles[2]);
++
++  heading_msg->mutable_header()->set_timestamp_sec(unix_msg_time);
++  heading_msg->mutable_header()->set_module_name("gnss");
++  heading_msg->set_measurement_time(unix_msg_time);
++
++  if (ros_nav.status.status == -1) {
++    heading_msg->set_solution_status(19);
++    heading_msg->set_position_type(0);
++  } else if (ros_nav.status.status == 0) {
++    heading_msg->set_solution_status(0);
++    heading_msg->set_position_type(16);
++  } else if (ros_nav.status.status == 1) {
++    heading_msg->set_solution_status(0);
++    heading_msg->set_position_type(18);
++  } else if (ros_nav.status.status == 2) {
++    heading_msg->set_solution_status(0);
++    heading_msg->set_position_type(50);
++  }
++  heading_msg->set_heading(heading);
++  heading_msg->set_pitch(pitch);
++
++  /*
++    pose covariance:
++    [
++      xx,     xy,     xz,     xroll,      xpitch,     xyaw,
++      yx,     yy,     yz,     yroll,      ypitch,     yyaw,
++      zx,     zy,     zz,     zroll,      zpitch,     zzaw,
++      rollx,  rolly,  rollz,  rollroll,   rollpitch,  rollyaw,
++      pitchx, pitchy, pitchz, pitchroll,  pitchpitch, pitchyaw,
++      yawx,   yawy,   yawz,   yawroll,    yawpitch,   yawyaw
++    ]
++    thus pitch_stddev = sqrt(covariance[28]), yaw_stddev = sqrt(covariance[35])
++  */
++
++  auto covariance = ros_odometry.pose.covariance;
++  auto pitch_variance = covariance[28];
++  auto yaw_variance = covariance[35];
++
++  double pitch_stddev = sqrt(pitch_variance);
++  double yaw_stddev = sqrt(yaw_variance);
++
++  heading_msg->set_heading_std_dev(yaw_stddev);
++  heading_msg->set_pitch_std_dev(pitch_stddev);
++
++#endif
++  return true;
++}
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_fusion.h b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_fusion.h
+new file mode 100755
+index 0000000..ccdc408
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_fusion.h
+@@ -0,0 +1,86 @@
++/******************************************************************************
++ * Copyright 2023 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#pragma once
++
++#include <algorithm>
++#include <cstring>
++#include <memory>
++#include <string>
++
++#include "cyber/ros_bridge/converter_base/converter_interface.h"
++
++#include "cyber/proto/simple.pb.h"
++#include "modules/common_msgs/sensor_msgs/heading.pb.h"
++#include "cyber/cyber.h"
++#include "cyber/plugin_manager/plugin_manager.h"
++
++#if __has_include("sensor_msgs/msg/nav_sat_fix.hpp")
++#include "sensor_msgs/msg/nav_sat_fix.hpp"
++#define ROS_NAVFOUND_FOUND
++#endif
++
++#if __has_include("nav_msgs/msg/odometry.hpp")
++#include "nav_msgs/msg/odometry.hpp"
++#define ROS_ODOMETRY_FOUND
++#endif
++
++#if defined(ROS_NAVFOUND_FOUND) && defined(ROS_ODOMETRY_FOUND)
++#define ENABLE_ROS_MSG
++#endif
++
++#ifdef ENABLE_ROS_MSG
++using RosNavMsg = sensor_msgs::msg::NavSatFix;
++using RosOdometryMsg = nav_msgs::msg::Odometry;
++#else
++// fake wrap
++using RosNavMsg = apollo::cyber::proto::SimpleMessage;
++using RosOdometryMsg = apollo::cyber::proto::SimpleMessage;
++#endif
++
++using OutputMsg = apollo::drivers::gnss::Heading;
++
++using RosNavMsgPtr = std::shared_ptr<RosNavMsg>;
++using RosOdometryMsgPtr = std::shared_ptr<RosOdometryMsg>;
++
++using OutputMsgPtr = std::shared_ptr<OutputMsg>;
++
++namespace apollo {
++namespace cyber {
++
++class HeadingMsgFusion : public apollo::cyber::RosApolloMessageConverter<
++                             InputTypes<RosNavMsgPtr, RosOdometryMsgPtr>,
++                             OutputTypes<OutputMsgPtr>> {
++ public:
++  HeadingMsgFusion() {}
++  ~HeadingMsgFusion() {}
++
++  /**
++   * @brief convert the message between ros and apollo
++   *
++   * @param InputTypes input message container
++   * @param OutputTypes output message container
++   * @return result, true for success
++   */
++  virtual bool ConvertMsg(InputTypes<RosNavMsgPtr, RosOdometryMsgPtr>&,
++                          OutputTypes<OutputMsgPtr>&);
++};
++
++CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::cyber::HeadingMsgFusion,
++                                     apollo::cyber::MessageConverter)
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_plugins.xml b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_plugins.xml
+new file mode 100755
+index 0000000..c92615c
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/heading_msg_plugins.xml
+@@ -0,0 +1,3 @@
++<library path="cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/libheading_msg_fusion.so">
++    <class type="apollo::cyber::HeadingMsgFusion" base_class="apollo::cyber::MessageConverter"></class>
++</library>
+\ No newline at end of file
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_msg_converter.cc b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_msg_converter.cc
+new file mode 100755
+index 0000000..449afa3
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_msg_converter.cc
+@@ -0,0 +1,85 @@
++/******************************************************************************
++ * Copyright 2023 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#include "cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_msg_converter.h"  // NOLINT
++#include "cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/quaternion_math.h"
++
++namespace apollo {
++namespace cyber {
++
++bool ImuMsgConverter::ConvertMsg(
++    InputTypes<RosImuMsgPtr>& in,
++    OutputTypes<ImuMsgPtr, CorrectedImuMsgPtr>& out) {
++#ifdef ENABLE_ROS_MSG
++  auto ros_imu_ptr = std::get<0>(in.values);
++  auto& ros_imu = (*ros_imu_ptr);
++
++  auto imu_msg = std::get<0>(out.values);
++  auto corrected_imu_msg = std::get<1>(out.values);
++
++  // ros header time is unix time,
++  // while measurement_time of apollo imu is gps time
++  double unix_msg_time =
++      ros_imu.header.stamp.sec + ros_imu.header.stamp.nanosec / 1e9;
++  imu_msg->mutable_header()->set_timestamp_sec(unix_msg_time);
++  imu_msg->mutable_header()->set_module_name("gnss");
++
++  imu_msg->set_measurement_time(unix_msg_time);
++  imu_msg->set_measurement_span(0.0);
++  imu_msg->mutable_linear_acceleration()->set_x(ros_imu.linear_acceleration.x);
++  imu_msg->mutable_linear_acceleration()->set_y(ros_imu.linear_acceleration.y);
++  imu_msg->mutable_linear_acceleration()->set_z(ros_imu.linear_acceleration.z);
++  imu_msg->mutable_angular_velocity()->set_x(ros_imu.angular_velocity.x);
++  imu_msg->mutable_angular_velocity()->set_y(ros_imu.angular_velocity.y);
++  imu_msg->mutable_angular_velocity()->set_z(ros_imu.angular_velocity.z);
++
++  corrected_imu_msg->mutable_header()->set_timestamp_sec(unix_msg_time);
++  corrected_imu_msg->mutable_header()->set_module_name("gnss");
++  corrected_imu_msg->mutable_imu()->mutable_linear_acceleration()->set_x(
++      ros_imu.linear_acceleration.x);
++  corrected_imu_msg->mutable_imu()->mutable_linear_acceleration()->set_y(
++      ros_imu.linear_acceleration.y);
++  corrected_imu_msg->mutable_imu()->mutable_linear_acceleration()->set_z(
++      ros_imu.linear_acceleration.z);
++  corrected_imu_msg->mutable_imu()->mutable_angular_velocity()->set_x(
++      ros_imu.angular_velocity.x);
++  corrected_imu_msg->mutable_imu()->mutable_angular_velocity()->set_y(
++      ros_imu.angular_velocity.y);
++  corrected_imu_msg->mutable_imu()->mutable_angular_velocity()->set_z(
++      ros_imu.angular_velocity.z);
++  double quaternion[4];
++  double euler_angles[3];
++
++  quaternion[0] = ros_imu.orientation.x;
++  quaternion[1] = ros_imu.orientation.y;
++  quaternion[2] = ros_imu.orientation.z;
++  quaternion[3] = ros_imu.orientation.w;
++
++  QuaternionToEuler(quaternion, euler_angles);
++  auto heading = QuaternionToHeading(euler_angles[2]);
++  corrected_imu_msg->mutable_imu()->mutable_euler_angles()->set_x(
++      euler_angles[0]);
++  corrected_imu_msg->mutable_imu()->mutable_euler_angles()->set_y(
++      euler_angles[1]);
++  corrected_imu_msg->mutable_imu()->mutable_euler_angles()->set_z(
++      euler_angles[2]);
++
++#endif
++  return true;
++}
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_msg_converter.h b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_msg_converter.h
+new file mode 100755
+index 0000000..64f7a00
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_msg_converter.h
+@@ -0,0 +1,77 @@
++/******************************************************************************
++ * Copyright 2023 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#pragma once
++
++#include <algorithm>
++#include <cstring>
++#include <memory>
++#include <string>
++
++#include "cyber/ros_bridge/converter_base/converter_interface.h"
++
++#include "cyber/proto/simple.pb.h"
++#include "modules/common_msgs/localization_msgs/imu.pb.h"
++#include "modules/common_msgs/sensor_msgs/imu.pb.h"
++#include "cyber/cyber.h"
++#include "cyber/plugin_manager/plugin_manager.h"
++
++#if __has_include("sensor_msgs/msg/imu.hpp")
++#include "sensor_msgs/msg/imu.hpp"
++#define ENABLE_ROS_MSG
++#endif
++
++#ifdef ENABLE_ROS_MSG
++using RosImuMsg = sensor_msgs::msg::Imu;
++#else
++// fake wrap
++using RosImuMsg = apollo::cyber::proto::SimpleMessage;
++#endif
++
++using ImuMsg = apollo::drivers::gnss::Imu;
++using CorrectedImuMsg = apollo::localization::CorrectedImu;
++
++using RosImuMsgPtr = std::shared_ptr<RosImuMsg>;
++
++using ImuMsgPtr = std::shared_ptr<apollo::drivers::gnss::Imu>;
++using CorrectedImuMsgPtr = std::shared_ptr<apollo::localization::CorrectedImu>;
++
++namespace apollo {
++namespace cyber {
++
++class ImuMsgConverter : public apollo::cyber::RosApolloMessageConverter<
++                            InputTypes<RosImuMsgPtr>,
++                            OutputTypes<ImuMsgPtr, CorrectedImuMsgPtr>> {
++ public:
++  ImuMsgConverter() {}
++  ~ImuMsgConverter() {}
++
++  /**
++   * @brief convert the message between ros and apollo
++   *
++   * @param InputTypes input message container
++   * @param OutputTypes output message container
++   * @return result, true for success
++   */
++  virtual bool ConvertMsg(InputTypes<RosImuMsgPtr>&,
++                          OutputTypes<ImuMsgPtr, CorrectedImuMsgPtr>&);
++};
++
++CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::cyber::ImuMsgConverter,
++                                     apollo::cyber::MessageConverter)
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_plugins.xml b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_plugins.xml
+new file mode 100755
+index 0000000..1d36b10
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/imu_plugins.xml
+@@ -0,0 +1,3 @@
++<library path="cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/libimu_msg_converter.so">
++    <class type="apollo::cyber::ImuMsgConverter" base_class="apollo::cyber::MessageConverter"></class>
++</library>
+\ No newline at end of file
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_msg_converter.cc b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_msg_converter.cc
+new file mode 100755
+index 0000000..4dcabf7
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_msg_converter.cc
+@@ -0,0 +1,78 @@
++/******************************************************************************
++ * Copyright 2023 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#include "cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_msg_converter.h"  // NOLINT
++#include <cmath>
++
++namespace apollo {
++namespace cyber {
++
++bool NavMsgConverter::ConvertMsg(
++    InputTypes<RosNavMsgPtr>& in,
++    OutputTypes<BestPoseMsgPtr, InsStatMsgPtr>& out) {
++#ifdef ENABLE_ROS_MSG
++  auto ros_nav_ptr = std::get<0>(in.values);
++  auto& ros_nav = (*ros_nav_ptr);
++
++  auto best_pose_msg = std::get<0>(out.values);
++  auto ins_stat_msg = std::get<1>(out.values);
++
++  auto unix_msg_time =
++      ros_nav.header.stamp.sec + ros_nav.header.stamp.nanosec / 1e9;
++  best_pose_msg->mutable_header()->set_timestamp_sec(unix_msg_time);
++  best_pose_msg->mutable_header()->set_module_name("gnss");
++
++  ins_stat_msg->mutable_header()->set_timestamp_sec(unix_msg_time);
++  ins_stat_msg->mutable_header()->set_module_name("gnss");
++
++  best_pose_msg->set_measurement_time(unix_msg_time);
++  best_pose_msg->set_latitude(ros_nav.latitude);
++  best_pose_msg->set_longitude(ros_nav.longitude);
++  best_pose_msg->set_height_msl(ros_nav.altitude);
++  best_pose_msg->set_undulation(0);
++  best_pose_msg->set_datum_id(apollo::drivers::gnss::DatumId::WGS84);
++  best_pose_msg->set_latitude_std_dev(sqrt(ros_nav.position_covariance[4]));
++  best_pose_msg->set_longitude_std_dev(sqrt(ros_nav.position_covariance[0]));
++  best_pose_msg->set_height_std_dev(sqrt(ros_nav.position_covariance[8]));
++  if (ros_nav.status.status == -1) {
++    best_pose_msg->set_sol_status(
++        apollo::drivers::gnss::SolutionStatus::INVALID_FIX);
++    best_pose_msg->set_sol_type(apollo::drivers::gnss::SolutionType::NONE);
++    ins_stat_msg->set_pos_type(0);
++  } else if (ros_nav.status.status == 0) {
++    best_pose_msg->set_sol_status(
++        apollo::drivers::gnss::SolutionStatus::SOL_COMPUTED);
++    best_pose_msg->set_sol_type(apollo::drivers::gnss::SolutionType::SINGLE);
++    ins_stat_msg->set_pos_type(1);
++  } else if (ros_nav.status.status == 1) {
++    best_pose_msg->set_sol_status(
++        apollo::drivers::gnss::SolutionStatus::SOL_COMPUTED);
++    best_pose_msg->set_sol_type(apollo::drivers::gnss::SolutionType::WAAS);
++    ins_stat_msg->set_pos_type(2);
++  } else if (ros_nav.status.status == 2) {
++    best_pose_msg->set_sol_status(
++        apollo::drivers::gnss::SolutionStatus::SOL_COMPUTED);
++    best_pose_msg->set_sol_type(
++        apollo::drivers::gnss::SolutionType::NARROW_INT);
++    ins_stat_msg->set_pos_type(2);
++  }
++
++#endif
++  return true;
++}
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_msg_converter.h b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_msg_converter.h
+new file mode 100755
+index 0000000..1fa83ab
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_msg_converter.h
+@@ -0,0 +1,77 @@
++/******************************************************************************
++ * Copyright 2023 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#pragma once
++
++#include <algorithm>
++#include <cstring>
++#include <memory>
++#include <string>
++
++#include "cyber/ros_bridge/converter_base/converter_interface.h"
++
++#include "cyber/proto/simple.pb.h"
++#include "modules/common_msgs/sensor_msgs/gnss_best_pose.pb.h"
++#include "modules/common_msgs/sensor_msgs/ins.pb.h"
++#include "cyber/cyber.h"
++#include "cyber/plugin_manager/plugin_manager.h"
++
++#if __has_include("sensor_msgs/msg/nav_sat_fix.hpp")
++#include "sensor_msgs/msg/nav_sat_fix.hpp"
++#define ENABLE_ROS_MSG
++#endif
++
++#ifdef ENABLE_ROS_MSG
++using RosNavMsg = sensor_msgs::msg::NavSatFix;
++#else
++// fake wrap
++using RosNavMsg = apollo::cyber::proto::SimpleMessage;
++#endif
++
++using BestPoseMsg = apollo::drivers::gnss::GnssBestPose;
++using InsStatMsg = apollo::drivers::gnss::InsStat;
++
++using RosNavMsgPtr = std::shared_ptr<RosNavMsg>;
++
++using BestPoseMsgPtr = std::shared_ptr<BestPoseMsg>;
++using InsStatMsgPtr = std::shared_ptr<InsStatMsg>;
++
++namespace apollo {
++namespace cyber {
++
++class NavMsgConverter : public apollo::cyber::RosApolloMessageConverter<
++                            InputTypes<RosNavMsgPtr>,
++                            OutputTypes<BestPoseMsgPtr, InsStatMsgPtr>> {
++ public:
++  NavMsgConverter() {}
++  ~NavMsgConverter() {}
++
++  /**
++   * @brief convert the message between ros and apollo
++   *
++   * @param InputTypes input message container
++   * @param OutputTypes output message container
++   * @return result, true for success
++   */
++  virtual bool ConvertMsg(InputTypes<RosNavMsgPtr>&,
++                          OutputTypes<BestPoseMsgPtr, InsStatMsgPtr>&);
++};
++
++CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::cyber::NavMsgConverter,
++                                     apollo::cyber::MessageConverter)
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_plugins.xml b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_plugins.xml
+new file mode 100755
+index 0000000..95e7c02
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/nav_plugins.xml
+@@ -0,0 +1,3 @@
++<library path="cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/libnav_msg_converter.so">
++    <class type="apollo::cyber::NavMsgConverter" base_class="apollo::cyber::MessageConverter"></class>
++</library>
+\ No newline at end of file
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_converter.cc b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_converter.cc
+new file mode 100755
+index 0000000..4bbd809
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_converter.cc
+@@ -0,0 +1,66 @@
++/******************************************************************************
++ * Copyright 2023 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#include "cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_converter.h"  // NOLINT
++
++namespace apollo {
++namespace cyber {
++
++bool OdometryMsgConverter::ConvertMsg(InputTypes<RosOdometryMsgPtr>& in,
++                                      OutputTypes<OdometryOutputMsgPtr>& out) {
++#ifdef ENABLE_ROS_MSG
++  auto ros_odometry_ptr = std::get<0>(in.values);
++  auto& ros_odometry = (*ros_odometry_ptr);
++
++  auto odometry_msg = std::get<0>(out.values);
++
++  auto unix_msg_time =
++      ros_odometry.header.stamp.sec + ros_odometry.header.stamp.nanosec / 1e9;
++  odometry_msg->mutable_header()->set_timestamp_sec(unix_msg_time);
++  odometry_msg->mutable_header()->set_module_name("gnss");
++  odometry_msg->mutable_localization()->mutable_position()->set_x(
++      ros_odometry.pose.pose.position.x);
++  odometry_msg->mutable_localization()->mutable_position()->set_y(
++      ros_odometry.pose.pose.position.y);
++  odometry_msg->mutable_localization()->mutable_position()->set_z(
++      ros_odometry.pose.pose.position.z);
++  odometry_msg->mutable_localization()->mutable_linear_velocity()->set_x(
++      ros_odometry.twist.twist.linear.x);
++  odometry_msg->mutable_localization()->mutable_linear_velocity()->set_y(
++      ros_odometry.twist.twist.linear.y);
++  odometry_msg->mutable_localization()->mutable_linear_velocity()->set_z(
++      ros_odometry.twist.twist.linear.z);
++  odometry_msg->mutable_localization()->mutable_angular_velocity()->set_x(
++      ros_odometry.twist.twist.angular.x);
++  odometry_msg->mutable_localization()->mutable_angular_velocity()->set_y(
++      ros_odometry.twist.twist.angular.y);
++  odometry_msg->mutable_localization()->mutable_angular_velocity()->set_z(
++      ros_odometry.twist.twist.angular.z);
++  odometry_msg->mutable_localization()->mutable_orientation()->set_qx(
++      ros_odometry.pose.pose.orientation.x);
++  odometry_msg->mutable_localization()->mutable_orientation()->set_qy(
++      ros_odometry.pose.pose.orientation.y);
++  odometry_msg->mutable_localization()->mutable_orientation()->set_qz(
++      ros_odometry.pose.pose.orientation.z);
++  odometry_msg->mutable_localization()->mutable_orientation()->set_qw(
++      ros_odometry.pose.pose.orientation.w);
++
++#endif
++  return true;
++}
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_converter.h b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_converter.h
+new file mode 100755
+index 0000000..29ae889
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_converter.h
+@@ -0,0 +1,74 @@
++/******************************************************************************
++ * Copyright 2023 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#pragma once
++
++#include <algorithm>
++#include <cstring>
++#include <memory>
++#include <string>
++
++#include "cyber/ros_bridge/converter_base/converter_interface.h"
++
++#include "cyber/proto/simple.pb.h"
++#include "modules/common_msgs/localization_msgs/gps.pb.h"
++#include "cyber/cyber.h"
++#include "cyber/plugin_manager/plugin_manager.h"
++
++#if __has_include("nav_msgs/msg/odometry.hpp")
++#include "nav_msgs/msg/odometry.hpp"
++#define ENABLE_ROS_MSG
++#endif
++
++#ifdef ENABLE_ROS_MSG
++using RosOdometryMsg = nav_msgs::msg::Odometry;
++#else
++// fake wrap
++using RosOdometryMsg = apollo::cyber::proto::SimpleMessage;
++#endif
++
++using OdometryOutputMsg = apollo::localization::Gps;
++
++using RosOdometryMsgPtr = std::shared_ptr<RosOdometryMsg>;
++
++using OdometryOutputMsgPtr = std::shared_ptr<OdometryOutputMsg>;
++
++namespace apollo {
++namespace cyber {
++
++class OdometryMsgConverter
++    : public apollo::cyber::RosApolloMessageConverter<
++          InputTypes<RosOdometryMsgPtr>, OutputTypes<OdometryOutputMsgPtr>> {
++ public:
++  OdometryMsgConverter() {}
++  ~OdometryMsgConverter() {}
++
++  /**
++   * @brief convert the message between ros and apollo
++   *
++   * @param InputTypes input message container
++   * @param OutputTypes output message container
++   * @return result, true for success
++   */
++  virtual bool ConvertMsg(InputTypes<RosOdometryMsgPtr>&,
++                          OutputTypes<OdometryOutputMsgPtr>&);
++};
++
++CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::cyber::OdometryMsgConverter,
++                                     apollo::cyber::MessageConverter)
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_plugins.xml b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_plugins.xml
+new file mode 100755
+index 0000000..f7456c8
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_msg_plugins.xml
+@@ -0,0 +1,3 @@
++<library path="cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/libodometry_msg_converter.so">
++    <class type="apollo::cyber::OdometryMsgConverter" base_class="apollo::cyber::MessageConverter"></class>
++</library>
+\ No newline at end of file
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.cc b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.cc
+new file mode 100755
+index 0000000..8d03ee8
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.cc
+@@ -0,0 +1,140 @@
++/******************************************************************************
++ * Copyright 2023 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#include "cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.h"  // NOLINT
++#include "cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/quaternion_math.h"
++
++namespace apollo {
++namespace cyber {
++
++void OdometryParser::imuCallback(std::shared_ptr<RosImuMsg> msg) {
++#ifdef ENABLE_ROS_MSG
++  imu_received_.store(true);
++  auto current_time = msg->header.stamp.sec + msg->header.stamp.nanosec / 1e9;
++  double dt = current_time - last_time_;
++  last_time_ = current_time;
++
++  F_(0, 3) = dt;
++  F_(1, 4) = dt;
++  F_(2, 5) = dt;
++
++  X_ = F_ * X_;
++  P_ = F_ * P_ * F_.transpose() + Q_;
++
++  X_(3) += msg->linear_acceleration.x * dt;
++  X_(4) += msg->linear_acceleration.y * dt;
++  X_(5) += msg->linear_acceleration.z * dt;
++
++  double euler_angles[3];
++
++  quaternion_[0] = msg->orientation.x;
++  quaternion_[1] = msg->orientation.y;
++  quaternion_[2] = msg->orientation.z;
++  quaternion_[3] = msg->orientation.w;
++
++  QuaternionToEuler(quaternion_, euler_angles);
++  auto roll = euler_angles[0];
++  auto pitch = euler_angles[1];
++  auto yaw = euler_angles[2];
++
++  X_(6) = roll;
++  X_(7) = pitch;
++  X_(8) = yaw;
++#endif
++}
++
++void OdometryParser::gpsCallback(std::shared_ptr<RosNavMsg> msg) {
++#ifdef ENABLE_ROS_MSG
++  gps_received_.store(true);
++  constexpr double DEG_TO_RAD_LOCAL = M_PI / 180.0;
++  Eigen::VectorXd Z(9);
++
++  double lon = msg->longitude;
++  double lat = msg->latitude;
++  double px = lon * DEG_TO_RAD_LOCAL;
++  double py = lat * DEG_TO_RAD_LOCAL;
++
++  if (utm_target_ == NULL) {
++    std::string proj4_text;
++    int zone = static_cast<int>(std::ceil((lon + 180.0) / 6.0));
++    proj4_text = "+proj=utm +zone=" + std::to_string(zone) +
++                 " +ellps=WGS84 +towgs84=0,0,0,0,0,0,0 +units=m +no_defs";
++    utm_target_ = pj_init_plus(proj4_text.c_str());
++  }
++  pj_transform(wgs84pj_source_, utm_target_, 1, 1, &px, &py, NULL);
++
++  Z << px, py, msg->altitude, 0, 0, 0, 0, 0, 0;
++
++  Eigen::MatrixXd y = Z - H_ * X_;
++  Eigen::MatrixXd S = H_ * P_ * H_.transpose() + R_;
++  Eigen::MatrixXd K = P_ * H_.transpose() * S.inverse();
++  X_ = X_ + K * y;
++  P_ = (Eigen::MatrixXd::Identity(9, 9) - K * H_) * P_;
++#endif
++}
++
++void OdometryParser::publishOdometry() {
++#ifdef ENABLE_ROS_MSG
++  if (!gps_received_.load() || !imu_received_.load()) {
++    return;
++  }
++  RosOdomMsg odom_msg;
++  odom_msg.header.stamp = ros_node_->get_clock()->now();
++
++  odom_msg.pose.pose.position.x = X_(0);
++  odom_msg.pose.pose.position.y = X_(1);
++  odom_msg.pose.pose.position.z = X_(2);
++
++  odom_msg.pose.pose.orientation.x = quaternion_[0];
++  odom_msg.pose.pose.orientation.y = quaternion_[1];
++  odom_msg.pose.pose.orientation.z = quaternion_[2];
++  odom_msg.pose.pose.orientation.w = quaternion_[3];
++
++  odom_msg.twist.twist.linear.x = X_(3);
++  odom_msg.twist.twist.linear.y = X_(4);
++  odom_msg.twist.twist.linear.z = X_(5);
++
++  for (int i = 0; i < 6; ++i) {
++    for (int j = 0; j < 6; ++j) {
++      if (i < 3 && j < 3) {
++        odom_msg.pose.covariance[i * 6 + j] = P_(i, j);
++      } else if (i >= 3 && j >= 3) {
++        odom_msg.pose.covariance[i * 6 + j] = P_(i + 3, j + 3);
++      }
++    }
++  }
++
++  for (int i = 0; i < 3; ++i) {
++    for (int j = 0; j < 3; ++j) {
++      odom_msg.twist.covariance[i * 6 + j] = P_(i + 3, j + 3);
++    }
++  }
++
++  odom_pub_->publish(odom_msg);
++  imu_received_.store(false);
++  imu_received_.store(false);
++#endif
++}
++
++bool OdometryParser::ConvertMsg(InputTypes<RosWrapMsgPtr>& in,
++                                OutputTypes<OutputWrapMsgPtr>& out) {
++  // do nothing
++  return true;
++}
++
++}  // namespace cyber
++}  // namespace apollo
++
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.h b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.h
+new file mode 100755
+index 0000000..da94679
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.h
+@@ -0,0 +1,152 @@
++/******************************************************************************
++ * Copyright 2023 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#pragma once
++
++#include <algorithm>
++#include <atomic>
++#include <cstring>
++#include <memory>
++#include <string>
++
++#include "cyber/ros_bridge/converter_base/converter_interface.h"
++
++#include "cyber/proto/simple.pb.h"
++#include "cyber/cyber.h"
++#include "cyber/plugin_manager/plugin_manager.h"
++
++#define ACCEPT_USE_OF_DEPRECATED_PROJ_API_H
++#include <proj_api.h>  // NOLINT
++
++#include <Eigen/Dense>  // NOLINT
++
++#if __has_include("sensor_msgs/msg/nav_sat_fix.hpp")
++#include "sensor_msgs/msg/nav_sat_fix.hpp"
++#define ROS_NAVFOUND_FOUND
++#endif
++
++#if __has_include("sensor_msgs/msg/imu.hpp")
++#include "sensor_msgs/msg/imu.hpp"
++#define ROS_IMU_FOUND
++#endif
++
++#if __has_include("nav_msgs/msg/odometry.hpp")
++#include "nav_msgs/msg/odometry.hpp"
++#define ROS_ODOMETRY_FOUND
++#endif
++
++#if defined(ROS_NAVFOUND_FOUND) && defined(ROS_IMU_FOUND) && \
++    defined(ROS_ODOMETRY_FOUND)
++#define ENABLE_ROS_MSG
++#endif
++
++#ifdef ENABLE_ROS_MSG
++using RosNavMsg = sensor_msgs::msg::NavSatFix;
++using RosImuMsg = sensor_msgs::msg::Imu;
++using RosWrapMsg = std_msgs::msg::Header;
++using RosOdomMsg = nav_msgs::msg::Odometry;
++#else
++// fake wrap
++using RosNavMsg = apollo::cyber::proto::SimpleMessage;
++using RosImuMsg = apollo::cyber::proto::SimpleMessage;
++using RosWrapMsg = apollo::cyber::proto::SimpleMessage;
++#endif
++
++using OutputWrapMsg = apollo::cyber::proto::SimpleMessage;
++
++using RosWrapMsgPtr = std::shared_ptr<RosWrapMsg>;
++using OutputWrapMsgPtr = std::shared_ptr<OutputWrapMsg>;
++
++namespace apollo {
++namespace cyber {
++
++class OdometryParser
++    : public apollo::cyber::RosApolloMessageConverter<
++          InputTypes<RosWrapMsgPtr>, OutputTypes<OutputWrapMsgPtr>> {
++ public:
++  OdometryParser() {
++#ifdef ENABLE_ROS_MSG
++    imu_sub_ = ros_node_->create_subscription<RosImuMsg>(
++        converter_conf_.ros_topic_name_0(), 10,
++        std::bind(&OdometryParser::imuCallback, this, std::placeholders::_1));
++    gps_sub_ = ros_node_->create_subscription<RosNavMsg>(
++        converter_conf_.ros_topic_name_1(), 10,
++        std::bind(&OdometryParser::gpsCallback, this, std::placeholders::_1));
++    odom_pub_ = ros_node_->create_publisher<RosOdomMsg>(
++        converter_conf_.ros_topic_name_2(), 10);
++    timer_ = ros_node_->create_wall_timer(
++        std::chrono::milliseconds(100),
++        std::bind(&OdometryParser::publishOdometry, this));
++#endif
++
++    wgs84pj_source_ = pj_init_plus("+proj=latlong +ellps=WGS84");
++    X_ = Eigen::VectorXd::Zero(9);
++    P_ = Eigen::MatrixXd::Identity(9, 9);
++    F_ = Eigen::MatrixXd::Identity(9, 9);
++    H_ = Eigen::MatrixXd::Identity(9, 9);
++    R_ = Eigen::MatrixXd::Identity(9, 9) * 0.1;
++    Q_ = Eigen::MatrixXd::Identity(9, 9) * 0.01;
++    last_time_ = apollo::cyber::Time::Now().ToSecond();
++  }
++  ~OdometryParser() {}
++
++  void imuCallback(std::shared_ptr<RosImuMsg> msg);
++
++  void gpsCallback(std::shared_ptr<RosNavMsg> msg);
++
++  void publishOdometry();
++
++  /**
++   * @brief convert the message between ros and apollo
++   *
++   * @param InputTypes input message container
++   * @param OutputTypes output message container
++   * @return result, true for success
++   */
++  virtual bool ConvertMsg(InputTypes<RosWrapMsgPtr>&,
++                          OutputTypes<OutputWrapMsgPtr>&);
++
++ private:
++  projPJ wgs84pj_source_ = NULL;
++  projPJ utm_target_ = NULL;
++#ifdef ENABLE_ROS_MSG
++  ::rclcpp::SubscriptionBase::SharedPtr imu_sub_;
++  ::rclcpp::SubscriptionBase::SharedPtr gps_sub_;
++  ::rclcpp::Publisher<RosOdomMsg>::SharedPtr odom_pub_;
++  ::rclcpp::TimerBase::SharedPtr timer_;
++#endif
++
++  std::atomic<bool> imu_received_ = false;
++  std::atomic<bool> gps_received_ = false;
++
++  double last_time_;
++
++  double quaternion_[4];
++
++  // Kalman filter
++  Eigen::VectorXd X_;  // State vector: [x, y, z, vx, vy, vz, roll, pitch, yaw]
++  Eigen::MatrixXd P_;  // Covariance matrix
++  Eigen::MatrixXd F_;  // State transition matrix
++  Eigen::MatrixXd H_;  // Measurement matrix
++  Eigen::MatrixXd R_;  // Measurement noise covariance matrix
++  Eigen::MatrixXd Q_;  // Process noise covariance matrix
++};
++
++CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::cyber::OdometryParser,
++                                     apollo::cyber::MessageConverter)
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_plugins.xml b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_plugins.xml
+new file mode 100755
+index 0000000..449c0d8
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_plugins.xml
+@@ -0,0 +1,3 @@
++<library path="cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/libodometry_parser.so">
++    <class type="apollo::cyber::OdometryParser" base_class="apollo::cyber::MessageConverter"></class>
++</library>
+\ No newline at end of file
+diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/quaternion_math.h b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/quaternion_math.h
+new file mode 100644
+index 0000000..8af76f3
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/quaternion_math.h
+@@ -0,0 +1,50 @@
++/******************************************************************************
++ * Copyright 2023 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#include <cmath>
++
++namespace apollo {
++namespace cyber {
++
++inline void QuaternionToEuler(const double quaternion[4], double att[3]) {
++  double dcm21 =
++      2 * (quaternion[2] * quaternion[3] + quaternion[0] * quaternion[1]);
++  double dcm20 =
++      2 * (quaternion[1] * quaternion[3] - quaternion[0] * quaternion[2]);
++  double dcm22 = quaternion[0] * quaternion[0] - quaternion[1] * quaternion[1] -
++                 quaternion[2] * quaternion[2] + quaternion[3] * quaternion[3];
++  double dcm01 =
++      2 * (quaternion[1] * quaternion[2] - quaternion[0] * quaternion[3]);
++  double dcm11 = quaternion[0] * quaternion[0] - quaternion[1] * quaternion[1] +
++                 quaternion[2] * quaternion[2] - quaternion[3] * quaternion[3];
++
++  att[0] = std::asin(dcm21);           // the angle rotate respect to X
++  att[1] = std::atan2(-dcm20, dcm22);  // the angle rotate respect to Y
++  att[2] = std::atan2(dcm01, dcm11);   // the angle rotate respect to Z
++
++  return;
++}
++
++inline double QuaternionToHeading(double yaw) {
++  double a = std::fmod(yaw + M_PI_2 + M_PI, 2.0 * M_PI);
++  if (a < 0.0) {
++    a += (2.0 * M_PI);
++  }
++  return a - M_PI;
++}
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/BUILD b/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/BUILD
+new file mode 100755
+index 0000000..73c9547
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/BUILD
+@@ -0,0 +1,33 @@
++load("//tools:cpplint.bzl", "cpplint")
++load("//tools:apollo_package.bzl", "apollo_package", "apollo_plugin")
++load("//tools/platform:build_defs.bzl", "if_aarch64", "if_gpu")
++
++package(default_visibility = ["//visibility:public"])
++
++filegroup(
++    name = "runtime_files",
++    srcs = glob([
++        "conf/**",
++        "data/**",
++    ]),
++)
++
++apollo_plugin(
++    name = "liblocalization_estimate.so",
++    srcs = ["localization_estimate.cc"],
++    hdrs = ["localization_estimate.h"],
++    description = ":localization_estimate.xml",
++    deps = [
++        "//cyber",
++        "//cyber/ros_bridge:converter_base",
++        "//cyber/proto:simple_proto",
++        "//modules/common_msgs/localization_msgs:localization_proto",
++        "//modules/common_msgs/transform_msgs:transform_proto",
++        "//cyber/ros_bridge/proto:converter_conf_proto",
++        "@ros"
++    ],
++)
++
++apollo_package()
++
++cpplint()
+diff --git a/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/conf/localization_estimate.pb.txt b/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/conf/localization_estimate.pb.txt
+new file mode 100755
+index 0000000..4fb4ca5
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/conf/localization_estimate.pb.txt
+@@ -0,0 +1,4 @@
++name: "lidar"
++apollo_channel_name_0: "/apollo/vanjee/pointcloud2"
++apollo_channel_name_1: "/apollo/localization/pose"
++ros_topic_name_0: "/pose"
+diff --git a/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.cc b/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.cc
+new file mode 100755
+index 0000000..7bc83e5
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.cc
+@@ -0,0 +1,86 @@
++/******************************************************************************
++ * Copyright 2023 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#include "cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.h"  // NOLINT
++
++namespace apollo {
++namespace cyber {
++
++bool LocalizationEstimate::ConvertMsg(
++    InputTypes<InputMsgPtr>& in,
++    OutputTypes<LocalizationMsgPtr, TransformMsgPtr>& out) {
++#ifdef ENABLE_ROS_MSG
++  auto ros_odometry_ptr = std::get<0>(in.values);
++  auto& ros_odometry = (*ros_odometry_ptr);
++  auto localization_estimate = std::get<0>(out.values);
++  auto tf = std::get<1>(out.values);
++
++  auto unix_msg_time =
++      ros_odometry.header.stamp.sec + ros_odometry.header.stamp.nanosec / 1e9;
++  localization_estimate->mutable_header()->set_timestamp_sec(unix_msg_time);
++  localization_estimate->mutable_header()->set_module_name("localization");
++  localization_estimate->set_measurement_time(unix_msg_time);
++  localization_estimate->mutable_pose()->mutable_position()->set_x(
++      ros_odometry.pose.pose.position.x);
++  localization_estimate->mutable_pose()->mutable_position()->set_y(
++      ros_odometry.pose.pose.position.y);
++  localization_estimate->mutable_pose()->mutable_position()->set_z(
++      ros_odometry.pose.pose.position.z);
++  localization_estimate->mutable_pose()->mutable_linear_velocity()->set_x(
++      ros_odometry.twist.twist.linear.x);
++  localization_estimate->mutable_pose()->mutable_linear_velocity()->set_y(
++      ros_odometry.twist.twist.linear.y);
++  localization_estimate->mutable_pose()->mutable_linear_velocity()->set_z(
++      ros_odometry.twist.twist.linear.z);
++  localization_estimate->mutable_pose()->mutable_angular_velocity()->set_x(
++      ros_odometry.twist.twist.angular.x);
++  localization_estimate->mutable_pose()->mutable_angular_velocity()->set_y(
++      ros_odometry.twist.twist.angular.y);
++  localization_estimate->mutable_pose()->mutable_angular_velocity()->set_z(
++      ros_odometry.twist.twist.angular.z);
++  localization_estimate->mutable_pose()->mutable_orientation()->set_qx(
++      ros_odometry.pose.pose.orientation.x);
++  localization_estimate->mutable_pose()->mutable_orientation()->set_qy(
++      ros_odometry.pose.pose.orientation.y);
++  localization_estimate->mutable_pose()->mutable_orientation()->set_qz(
++      ros_odometry.pose.pose.orientation.z);
++  localization_estimate->mutable_pose()->mutable_orientation()->set_qw(
++      ros_odometry.pose.pose.orientation.w);
++
++  auto single_tf = tf->add_transforms();
++  single_tf->mutable_header()->set_timestamp_sec(unix_msg_time);
++  single_tf->mutable_header()->set_frame_id("world");
++  single_tf->set_child_frame_id("localization");
++  single_tf->mutable_transform()->mutable_translation()->set_x(
++      ros_odometry.pose.pose.position.x);
++  single_tf->mutable_transform()->mutable_translation()->set_y(
++      ros_odometry.pose.pose.position.y);
++  single_tf->mutable_transform()->mutable_translation()->set_z(
++      ros_odometry.pose.pose.position.z);
++  single_tf->mutable_transform()->mutable_rotation()->set_qx(
++      ros_odometry.pose.pose.orientation.x);
++  single_tf->mutable_transform()->mutable_rotation()->set_qy(
++      ros_odometry.pose.pose.orientation.y);
++  single_tf->mutable_transform()->mutable_rotation()->set_qz(
++      ros_odometry.pose.pose.orientation.z);
++  single_tf->mutable_transform()->mutable_rotation()->set_qw(
++      ros_odometry.pose.pose.orientation.w);
++#endif
++  return true;
++}
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.h b/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.h
+new file mode 100755
+index 0000000..da13923
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.h
+@@ -0,0 +1,76 @@
++/******************************************************************************
++ * Copyright 2023 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#pragma once
++
++#include <algorithm>
++#include <cstring>
++#include <memory>
++#include <string>
++
++#include "cyber/ros_bridge/converter_base/converter_interface.h"
++
++#include "cyber/proto/simple.pb.h"
++#include "modules/common_msgs/localization_msgs/localization.pb.h"
++#include "modules/common_msgs/transform_msgs/transform.pb.h"
++#include "cyber/cyber.h"
++#include "cyber/plugin_manager/plugin_manager.h"
++
++#if __has_include("nav_msgs/msg/odometry.hpp")
++#include "nav_msgs/msg/odometry.hpp"
++#define ENABLE_ROS_MSG
++#endif
++
++#ifdef ENABLE_ROS_MSG
++using InputMsg = nav_msgs::msg::Odometry;
++#else
++using InputMsg = apollo::cyber::proto::SimpleMessage;
++#endif
++
++using LocalizationMsg = apollo::localization::LocalizationEstimate;
++using TransformMsg = apollo::transform::TransformStampeds;
++
++using LocalizationMsgPtr = std::shared_ptr<LocalizationMsg>;
++using TransformMsgPtr = std::shared_ptr<TransformMsg>;
++using InputMsgPtr = std::shared_ptr<InputMsg>;
++
++namespace apollo {
++namespace cyber {
++
++class LocalizationEstimate
++    : public apollo::cyber::RosApolloMessageConverter<
++          InputTypes<InputMsgPtr>,
++          OutputTypes<LocalizationMsgPtr, TransformMsgPtr>> {
++ public:
++  LocalizationEstimate() {}
++  ~LocalizationEstimate() {}
++
++  /**
++   * @brief convert the message between ros and apollo
++   *
++   * @param InputMsgPtr shared pointer of input message
++   * @param OutputMsgPtr shared pointer of output message
++   * @return result, true for success
++   */
++  virtual bool ConvertMsg(InputTypes<InputMsgPtr>&,
++                          OutputTypes<LocalizationMsgPtr, TransformMsgPtr>&);
++};
++
++CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::cyber::LocalizationEstimate,
++                                     apollo::cyber::MessageConverter)
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.xml b/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.xml
+new file mode 100755
+index 0000000..61a1569
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.xml
+@@ -0,0 +1,3 @@
++<library path="cyber/ros_bridge/converters/common_plugins/localization_msg_converter/liblocalization_estimate.so">
++    <class type="apollo::cyber::LocalizationEstimate" base_class="apollo::cyber::MessageConverter"></class>
++</library>
+\ No newline at end of file
+diff --git a/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/BUILD b/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/BUILD
+new file mode 100755
+index 0000000..eb2e8b6
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/BUILD
+@@ -0,0 +1,32 @@
++load("//tools:cpplint.bzl", "cpplint")
++load("//tools:apollo_package.bzl", "apollo_package", "apollo_plugin")
++load("//tools/platform:build_defs.bzl", "if_aarch64", "if_gpu")
++
++package(default_visibility = ["//visibility:public"])
++
++filegroup(
++    name = "runtime_files",
++    srcs = glob([
++        "conf/**",
++        "data/**",
++    ]),
++)
++
++apollo_plugin(
++    name = "liblidar_pointcloud_plugin.so",
++    srcs = ["lidar_pointcloud.cc"],
++    hdrs = ["lidar_pointcloud.h"],
++    description = ":plugins.xml",
++    deps = [
++        "//cyber",
++        "//modules/common_msgs/sensor_msgs:pointcloud_proto",
++        "//cyber/ros_bridge:converter_base",
++        "//cyber/proto:simple_proto",
++        "//cyber/ros_bridge/proto:converter_conf_proto",
++        "@ros"
++    ],
++)
++
++apollo_package()
++
++cpplint()
+diff --git a/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/conf/default.pb.txt b/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/conf/default.pb.txt
+new file mode 100755
+index 0000000..4245cd3
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/conf/default.pb.txt
+@@ -0,0 +1,3 @@
++name: "lidar"
++apollo_channel_name_0: "/apollo/sample/pointcloud2"
++ros_topic_name_0: "/sample_pointcloud2"
+diff --git a/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/lidar_pointcloud.cc b/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/lidar_pointcloud.cc
+new file mode 100755
+index 0000000..616d8ff
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/lidar_pointcloud.cc
+@@ -0,0 +1,230 @@
++/******************************************************************************
++ * Copyright 2023 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#include "cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/lidar_pointcloud.h"  // NOLINT
++
++namespace apollo {
++namespace cyber {
++
++#ifdef ENABLE_ROS_MSG
++void ParseField(sensor_msgs::msg::PointField field,
++                std::shared_ptr<apollo::drivers::PointCloud> point_clouds,
++                std::string field_name,
++                sensor_msgs::msg::PointCloud2& raw_message) {
++  switch (field.datatype) {
++    case sensor_msgs::msg::PointField::INT8: {
++      sensor_msgs::PointCloud2ConstIterator<int8_t> iter(raw_message,
++                                                         field_name);
++      int index = 0;
++      for (; iter != iter.end(); ++iter) {
++        if (field_name == "intensity") {
++          point_clouds->mutable_point(index)->set_intensity(
++              static_cast<uint32_t>(*iter));
++        } else {
++          point_clouds->mutable_point(index)->set_timestamp(
++              static_cast<uint64_t>(*iter));
++          AERROR << *iter;
++        }
++        index++;
++      }
++      break;
++    }
++    case sensor_msgs::msg::PointField::UINT8: {
++      sensor_msgs::PointCloud2ConstIterator<int8_t> iter(raw_message,
++                                                         field_name);
++      int index = 0;
++      for (; iter != iter.end(); ++iter) {
++        if (field_name == "intensity") {
++          point_clouds->mutable_point(index)->set_intensity(
++              static_cast<uint32_t>(*iter));
++        } else {
++          point_clouds->mutable_point(index)->set_timestamp(
++              static_cast<uint64_t>(*iter));
++          AERROR << *iter;
++        }
++        index++;
++      }
++      break;
++    }
++    case sensor_msgs::msg::PointField::INT16: {
++      sensor_msgs::PointCloud2ConstIterator<int16_t> iter(raw_message,
++                                                          field_name);
++      int index = 0;
++      for (; iter != iter.end(); ++iter) {
++        if (field_name == "intensity") {
++          point_clouds->mutable_point(index)->set_intensity(
++              static_cast<uint32_t>(*iter));
++        } else {
++          point_clouds->mutable_point(index)->set_timestamp(
++              static_cast<uint64_t>(*iter));
++          AERROR << *iter;
++        }
++        index++;
++      }
++      break;
++    }
++    case sensor_msgs::msg::PointField::UINT16: {
++      sensor_msgs::PointCloud2ConstIterator<int16_t> iter(raw_message,
++                                                          field_name);
++      int index = 0;
++      for (; iter != iter.end(); ++iter) {
++        if (field_name == "intensity") {
++          point_clouds->mutable_point(index)->set_intensity(
++              static_cast<uint32_t>(*iter));
++        } else {
++          point_clouds->mutable_point(index)->set_timestamp(
++              static_cast<uint64_t>(*iter));
++          AERROR << *iter;
++        }
++        index++;
++      }
++      break;
++    }
++    case sensor_msgs::msg::PointField::INT32: {
++      sensor_msgs::PointCloud2ConstIterator<int32_t> iter(raw_message,
++                                                          field_name);
++      int index = 0;
++      for (; iter != iter.end(); ++iter) {
++        if (field_name == "intensity") {
++          point_clouds->mutable_point(index)->set_intensity(
++              static_cast<uint32_t>(*iter));
++        } else {
++          point_clouds->mutable_point(index)->set_timestamp(
++              static_cast<uint64_t>(*iter));
++          AERROR << *iter;
++        }
++        index++;
++      }
++      break;
++    }
++    case sensor_msgs::msg::PointField::UINT32: {
++      sensor_msgs::PointCloud2ConstIterator<uint32_t> iter(raw_message,
++                                                           field_name);
++      int index = 0;
++      for (; iter != iter.end(); ++iter) {
++        if (field_name == "intensity") {
++          point_clouds->mutable_point(index)->set_intensity(
++              static_cast<uint32_t>(*iter));
++        } else {
++          point_clouds->mutable_point(index)->set_timestamp(
++              static_cast<uint64_t>(*iter));
++          AERROR << *iter;
++        }
++        index++;
++      }
++      break;
++    }
++    case sensor_msgs::msg::PointField::FLOAT32: {
++      sensor_msgs::PointCloud2ConstIterator<float> iter(raw_message,
++                                                        field_name);
++      int index = 0;
++      for (; iter != iter.end(); ++iter) {
++        if (field_name == "intensity") {
++          point_clouds->mutable_point(index)->set_intensity(
++              static_cast<uint32_t>(*iter));
++        } else {
++          point_clouds->mutable_point(index)->set_timestamp(
++              static_cast<uint64_t>(*iter));
++          AERROR << *iter;
++        }
++        index++;
++      }
++      break;
++    }
++    case sensor_msgs::msg::PointField::FLOAT64: {
++      sensor_msgs::PointCloud2ConstIterator<double> iter(raw_message,
++                                                         field_name);
++      int index = 0;
++      for (; iter != iter.end(); ++iter) {
++        if (field_name == "intensity") {
++          point_clouds->mutable_point(index)->set_intensity(
++              static_cast<uint32_t>(*iter));
++        } else {
++          point_clouds->mutable_point(index)->set_timestamp(
++              static_cast<uint64_t>(*iter));
++          AERROR << *iter;
++        }
++        index++;
++      }
++      break;
++    }
++    default:
++      throw std::runtime_error("Unsupported PointField datatype");
++  }
++}
++#endif
++
++bool LidarPointcloud::ConvertMsg(InputTypes<InputMsgPtr>& in,
++                                 OutputTypes<OutputMsgPtr>& out) {
++#ifdef ENABLE_ROS_MSG
++  auto in_msg = std::get<0>(in.values);
++  auto out_msg = std::get<0>(out.values);
++  float x, y, z;
++  float intensity = -1.0;
++  double timestamp = 0.0;
++  auto& cloud_msg = (*in_msg);
++
++  bool has_x = false, has_y = false, has_z = false, has_intensity = false,
++       has_time = false;
++  std::string time_field_name;
++  sensor_msgs::msg::PointField time_field_type;
++  sensor_msgs::msg::PointField intensity_field_type;
++  for (const auto& field : cloud_msg.fields) {
++    if (field.name == "x") has_x = true;
++    if (field.name == "y") has_y = true;
++    if (field.name == "z") has_z = true;
++    if (field.name == "intensity") {
++      has_intensity = true;
++      intensity_field_type = field;
++    }
++    if (field.name == "t" || field.name == "time" ||
++        field.name == "timestamp") {
++      has_time = true;
++      time_field_type = field;
++      time_field_name = field.name;
++    }
++  }
++  if (!(has_x && has_y && has_z)) {
++    AERROR << "PointCloud2 does not contain x, y, z fields.";
++    return false;
++  }
++
++  sensor_msgs::PointCloud2ConstIterator<float> iter_x(cloud_msg, "x");
++  sensor_msgs::PointCloud2ConstIterator<float> iter_y(cloud_msg, "y");
++  sensor_msgs::PointCloud2ConstIterator<float> iter_z(cloud_msg, "z");
++
++  for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) {
++    x = *iter_x;
++    y = *iter_y;
++    z = *iter_z;
++
++    auto pointcloud = out_msg->add_point();
++    pointcloud->set_x(x);
++    pointcloud->set_y(y);
++    pointcloud->set_z(z);
++  }
++  if (has_time) {
++    ParseField(time_field_type, out_msg, time_field_name, cloud_msg);
++  }
++  if (has_intensity) {
++    ParseField(intensity_field_type, out_msg, "intensity", cloud_msg);
++  }
++#endif
++  return true;
++}
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/lidar_pointcloud.h b/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/lidar_pointcloud.h
+new file mode 100755
+index 0000000..11a628c
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/lidar_pointcloud.h
+@@ -0,0 +1,83 @@
++/******************************************************************************
++ * Copyright 2023 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#pragma once
++
++#include <algorithm>
++#include <cstring>
++#include <memory>
++#include <string>
++
++#include "cyber/ros_bridge/converter_base/converter_interface.h"
++
++#include "cyber/proto/simple.pb.h"
++#include "modules/common_msgs/sensor_msgs/pointcloud.pb.h"
++#include "cyber/cyber.h"
++#include "cyber/plugin_manager/plugin_manager.h"
++
++#if __has_include("sensor_msgs/point_cloud2_iterator.hpp")
++#include "sensor_msgs/point_cloud2_iterator.hpp"
++#define ENABLE_ROS_MSG
++#endif
++
++#ifdef ENABLE_ROS_MSG
++using InputMsg = sensor_msgs::msg::PointCloud2;
++#else
++using InputMsg = apollo::cyber::proto::SimpleMessage;
++#endif
++
++using OutputMsg = apollo::drivers::PointCloud;
++
++using InputMsgPtr = std::shared_ptr<InputMsg>;
++using OutputMsgPtr = std::shared_ptr<OutputMsg>;
++
++namespace apollo {
++namespace cyber {
++
++class LidarPointcloud
++    : public apollo::cyber::RosApolloMessageConverter<
++          InputTypes<InputMsgPtr>, OutputTypes<OutputMsgPtr>> {
++ public:
++  LidarPointcloud() {}
++  ~LidarPointcloud() {}
++
++  /**
++   * @brief convert the message between ros and apollo
++   *
++   * @param InputMsgPtr shared pointer of input message
++   * @param OutputMsgPtr shared pointer of output message
++   * @return result, true for success
++   */
++  virtual bool ConvertMsg(InputTypes<InputMsgPtr>&, OutputTypes<OutputMsgPtr>&);
++
++#ifdef ENABLE_ROS_MSG
++  inline int FindFieldIndex(
++      std::string name, sensor_msgs::msg::PointCloud2& cloud_msg) {  // NOLINT
++    for (int i = 0; i < cloud_msg.fields.size(); i++) {
++      if (cloud_msg.fields[i].name == name) {
++        return i;
++      }
++    }
++    return -1;
++  }
++#endif
++};
++
++CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::cyber::LidarPointcloud,
++                                     apollo::cyber::MessageConverter)
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/plugins.xml b/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/plugins.xml
+new file mode 100755
+index 0000000..612c10f
+--- /dev/null
++++ b/cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/plugins.xml
+@@ -0,0 +1,3 @@
++<library path="cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/liblidar_pointcloud_plugin.so">
++    <class type="apollo::cyber::LidarPointcloud" base_class="apollo::cyber::MessageConverter"></class>
++</library>
+\ No newline at end of file
+diff --git a/cyber/ros_bridge/converters/examples/apollo_ros_converter/BUILD b/cyber/ros_bridge/converters/examples/apollo_ros_converter/BUILD
+new file mode 100644
+index 0000000..108b103
+--- /dev/null
++++ b/cyber/ros_bridge/converters/examples/apollo_ros_converter/BUILD
+@@ -0,0 +1,34 @@
++load("//tools:cpplint.bzl", "cpplint")
++load("//tools:apollo_package.bzl", "apollo_package", "apollo_plugin")
++load("//tools/platform:build_defs.bzl", "if_aarch64", "if_gpu")
++
++package(default_visibility = ["//visibility:public"])
++
++filegroup(
++    name = "runtime_files",
++    srcs = glob([
++        "conf/**",
++        "data/**",
++    ]),
++)
++
++# import ros repository is new feature of cyber 2.0
++# depend on the env configuration provided by the apollo tool
++# currently under development
++apollo_plugin(
++    name = "libapollo_ros_converter_plugin.so",
++    srcs = ["apollo_ros_converter.cc"],
++    hdrs = ["apollo_ros_converter.h"],
++    description = ":plugins.xml",
++    deps = [
++        "//cyber",
++        "//cyber/proto:simple_proto",
++        "//cyber/ros_bridge:converter_base",
++        "//cyber/ros_bridge/proto:converter_conf_proto",
++        # "@ros"
++    ],
++)
++
++apollo_package()
++
++cpplint()
+diff --git a/cyber/ros_bridge/converters/examples/apollo_ros_converter/apollo_ros_converter.cc b/cyber/ros_bridge/converters/examples/apollo_ros_converter/apollo_ros_converter.cc
+new file mode 100644
+index 0000000..6b29474
+--- /dev/null
++++ b/cyber/ros_bridge/converters/examples/apollo_ros_converter/apollo_ros_converter.cc
+@@ -0,0 +1,34 @@
++/******************************************************************************
++ * Copyright 2023 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#include "cyber/ros_bridge/converters/examples/apollo_ros_converter/apollo_ros_converter.h"
++
++namespace apollo {
++namespace cyber {
++
++bool ApolloRosConverter::ConvertMsg(InputTypes<InputMsg0Ptr>& in,
++                                    OutputTypes<OutputMsg0Ptr>& out) {
++#ifdef ENABLE_ROS_MSG
++  auto in_msg = std::get<0>(in.values);
++  auto out_msg = std::get<0>(out.values);
++  out_msg->data = in_msg->text();
++  // out->data = in->text();
++#endif
++  return true;
++}
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/converters/examples/apollo_ros_converter/apollo_ros_converter.h b/cyber/ros_bridge/converters/examples/apollo_ros_converter/apollo_ros_converter.h
+new file mode 100644
+index 0000000..757ead1
+--- /dev/null
++++ b/cyber/ros_bridge/converters/examples/apollo_ros_converter/apollo_ros_converter.h
+@@ -0,0 +1,69 @@
++/******************************************************************************
++ * Copyright 2023 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#pragma once
++
++#include <memory>
++
++#include "cyber/ros_bridge/converter_base/converter_interface.h"
++
++#include "cyber/proto/simple.pb.h"
++#include "cyber/cyber.h"
++#include "cyber/plugin_manager/plugin_manager.h"
++
++#if __has_include("std_msgs/msg/string.hpp")
++#include "std_msgs/msg/int32.hpp"
++#include "std_msgs/msg/int64.hpp"
++#include "std_msgs/msg/int8.hpp"
++#include "std_msgs/msg/string.hpp"
++#define ENABLE_ROS_MSG
++#endif
++
++using InputMsg0 = apollo::cyber::proto::SimpleMessage;
++#ifdef ENABLE_ROS_MSG
++using OutputMsg0 = std_msgs::msg::String;
++#else
++using OutputMsg0 = apollo::cyber::proto::SimpleRepeatedMessage;
++#endif
++using OutputMsg0Ptr = std::shared_ptr<OutputMsg0>;
++using InputMsg0Ptr = std::shared_ptr<InputMsg0>;
++
++namespace apollo {
++namespace cyber {
++
++class ApolloRosConverter
++    : public apollo::cyber::ApolloRosMessageConverter<
++          InputTypes<InputMsg0Ptr>, OutputTypes<OutputMsg0Ptr>> {
++ public:
++  ApolloRosConverter() {}
++  ~ApolloRosConverter() {}
++
++  /**
++   * @brief convert the message between ros and apollo
++   *
++   * @param InputMsgPtr shared pointer of input message
++   * @param OutputMsgPtr shared pointer of output message
++   * @return result, true for success
++   */
++  virtual bool ConvertMsg(InputTypes<InputMsg0Ptr>&,
++                          OutputTypes<OutputMsg0Ptr>&);
++};
++
++CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::cyber::ApolloRosConverter,
++                                     apollo::cyber::MessageConverter)
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/converters/examples/apollo_ros_converter/conf/default.pb.txt b/cyber/ros_bridge/converters/examples/apollo_ros_converter/conf/default.pb.txt
+new file mode 100644
+index 0000000..455afec
+--- /dev/null
++++ b/cyber/ros_bridge/converters/examples/apollo_ros_converter/conf/default.pb.txt
+@@ -0,0 +1,2 @@
++apollo_channel_name: "/apollo/test1"
++ros_topic_name: "ros_test1"
+diff --git a/cyber/ros_bridge/converters/examples/apollo_ros_converter/plugins.xml b/cyber/ros_bridge/converters/examples/apollo_ros_converter/plugins.xml
+new file mode 100644
+index 0000000..016eb7d
+--- /dev/null
++++ b/cyber/ros_bridge/converters/examples/apollo_ros_converter/plugins.xml
+@@ -0,0 +1,3 @@
++<library path="cyber/ros_bridge/converters/examples/apollo_ros_converter/libapollo_ros_converter_plugin.so">
++    <class type="apollo::cyber::ApolloRosConverter" base_class="apollo::cyber::MessageConverter"></class>
++</library>
+\ No newline at end of file
+diff --git a/cyber/ros_bridge/converters/examples/ros_apollo_converter/BUILD b/cyber/ros_bridge/converters/examples/ros_apollo_converter/BUILD
+new file mode 100644
+index 0000000..57f1c42
+--- /dev/null
++++ b/cyber/ros_bridge/converters/examples/ros_apollo_converter/BUILD
+@@ -0,0 +1,34 @@
++load("//tools:cpplint.bzl", "cpplint")
++load("//tools:apollo_package.bzl", "apollo_package", "apollo_plugin")
++load("//tools/platform:build_defs.bzl", "if_aarch64", "if_gpu")
++
++package(default_visibility = ["//visibility:public"])
++
++filegroup(
++    name = "runtime_files",
++    srcs = glob([
++        "conf/**",
++        "data/**",
++    ]),
++)
++
++# import ros repository is new feature of cyber 2.0
++# depend on the env configuration provided by the apollo tool
++# currently under development
++apollo_plugin(
++    name = "libros_apollo_converter_plugin.so",
++    srcs = ["ros_apollo_converter.cc"],
++    hdrs = ["ros_apollo_converter.h"],
++    description = ":plugins.xml",
++    deps = [
++        "//cyber",
++        "//cyber/proto:simple_proto",
++        "//cyber/ros_bridge:converter_base",
++        "//cyber/ros_bridge/proto:converter_conf_proto",
++        "@ros"
++    ],
++)
++
++apollo_package()
++
++cpplint()
+diff --git a/cyber/ros_bridge/converters/examples/ros_apollo_converter/conf/default.pb.txt b/cyber/ros_bridge/converters/examples/ros_apollo_converter/conf/default.pb.txt
+new file mode 100644
+index 0000000..362809d
+--- /dev/null
++++ b/cyber/ros_bridge/converters/examples/ros_apollo_converter/conf/default.pb.txt
+@@ -0,0 +1,2 @@
++apollo_channel_name_0: "/apollo/test2"
++ros_topic_name_0: "/chatter"
+diff --git a/cyber/ros_bridge/converters/examples/ros_apollo_converter/plugins.xml b/cyber/ros_bridge/converters/examples/ros_apollo_converter/plugins.xml
+new file mode 100644
+index 0000000..4ff4aef
+--- /dev/null
++++ b/cyber/ros_bridge/converters/examples/ros_apollo_converter/plugins.xml
+@@ -0,0 +1,3 @@
++<library path="cyber/ros_bridge/converters/examples/ros_apollo_converter/libros_apollo_converter_plugin.so">
++    <class type="apollo::cyber::RosApolloConverter" base_class="apollo::cyber::MessageConverter"></class>
++</library>
+\ No newline at end of file
+diff --git a/cyber/ros_bridge/converters/examples/ros_apollo_converter/ros_apollo_converter.cc b/cyber/ros_bridge/converters/examples/ros_apollo_converter/ros_apollo_converter.cc
+new file mode 100644
+index 0000000..89fbcb8
+--- /dev/null
++++ b/cyber/ros_bridge/converters/examples/ros_apollo_converter/ros_apollo_converter.cc
+@@ -0,0 +1,33 @@
++/******************************************************************************
++ * Copyright 2023 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#include "cyber/ros_bridge/converters/examples/ros_apollo_converter/ros_apollo_converter.h"
++
++namespace apollo {
++namespace cyber {
++
++bool RosApolloConverter::ConvertMsg(InputTypes<InputMsgPtr>& in,
++                                    OutputTypes<OutputMsgPtr>& out) {
++#ifdef ENABLE_ROS_MSG
++  auto in_msg = std::get<0>(in.values);
++  auto out_msg = std::get<0>(out.values);
++  out_msg->set_text(in_msg->data.c_str());
++#endif
++  return true;
++}
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/converters/examples/ros_apollo_converter/ros_apollo_converter.h b/cyber/ros_bridge/converters/examples/ros_apollo_converter/ros_apollo_converter.h
+new file mode 100644
+index 0000000..c7ed499
+--- /dev/null
++++ b/cyber/ros_bridge/converters/examples/ros_apollo_converter/ros_apollo_converter.h
+@@ -0,0 +1,66 @@
++/******************************************************************************
++ * Copyright 2023 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#pragma once
++
++#include <memory>
++
++#include "cyber/ros_bridge/converter_base/converter_interface.h"
++
++#include "cyber/proto/simple.pb.h"
++#include "cyber/cyber.h"
++#include "cyber/plugin_manager/plugin_manager.h"
++
++#if __has_include("std_msgs/msg/string.hpp")
++#include "std_msgs/msg/string.hpp"
++#define ENABLE_ROS_MSG
++#endif
++
++#ifdef ENABLE_ROS_MSG
++using InputMsg = std_msgs::msg::String;
++#else
++using InputMsg = apollo::cyber::proto::SimpleRepeatedMessage;
++#endif
++using OutputMsg = apollo::cyber::proto::SimpleMessage;
++using InputMsgPtr = std::shared_ptr<InputMsg>;
++using OutputMsgPtr = std::shared_ptr<OutputMsg>;
++
++namespace apollo {
++namespace cyber {
++
++class RosApolloConverter
++    : public apollo::cyber::RosApolloMessageConverter<
++          InputTypes<InputMsgPtr>, OutputTypes<OutputMsgPtr>> {
++ public:
++  RosApolloConverter() {}
++  ~RosApolloConverter() {}
++
++  /**
++   * @brief convert the message between ros and apollo
++   *
++   * @param InputMsgPtr shared pointer of input message
++   * @param OutputMsgPtr shared pointer of output message
++   * @return result, true for success
++   */
++  virtual bool ConvertMsg(InputTypes<InputMsgPtr>& in,
++                          OutputTypes<OutputMsgPtr>& out);  // NOLINT
++};
++
++CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::cyber::RosApolloConverter,
++                                     apollo::cyber::MessageConverter)
++
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/ros_bridge/proto/BUILD b/cyber/ros_bridge/proto/BUILD
+new file mode 100644
+index 0000000..5d8e890
+--- /dev/null
++++ b/cyber/ros_bridge/proto/BUILD
+@@ -0,0 +1,16 @@
++load("//tools/proto:proto.bzl", "proto_library")
++load("//tools:apollo_package.bzl", "apollo_package")
++
++package(default_visibility = ["//visibility:public"])
++
++proto_library(
++    name = "converter_conf_proto",
++    srcs = ["converter_conf.proto"],
++)
++
++proto_library(
++    name = "ros_bridge_conf_proto",
++    srcs = ["ros_bridge_conf.proto"],
++)
++
++apollo_package()
+\ No newline at end of file
+diff --git a/cyber/ros_bridge/proto/converter_conf.proto b/cyber/ros_bridge/proto/converter_conf.proto
+new file mode 100644
+index 0000000..91b4abe
+--- /dev/null
++++ b/cyber/ros_bridge/proto/converter_conf.proto
+@@ -0,0 +1,15 @@
++syntax = "proto2";
++
++package apollo.cyber;
++
++message ConverterConf {
++  optional string name = 1;
++  optional string apollo_channel_name_0 = 2;
++  optional string apollo_channel_name_1 = 3;
++  optional string apollo_channel_name_2 = 4;
++  optional string apollo_channel_name_3 = 5;
++  optional string ros_topic_name_0 = 6;
++  optional string ros_topic_name_1 = 7;
++  optional string ros_topic_name_2 = 8;
++  optional string ros_topic_name_3 = 9;
++}
+\ No newline at end of file
+diff --git a/cyber/ros_bridge/proto/ros_bridge_conf.proto b/cyber/ros_bridge/proto/ros_bridge_conf.proto
+new file mode 100644
+index 0000000..e4fe62f
+--- /dev/null
++++ b/cyber/ros_bridge/proto/ros_bridge_conf.proto
+@@ -0,0 +1,13 @@
++syntax = "proto2";
++
++package apollo.cyber;
++
++message BridgeConf {
++  // The contained converter list of the ros bridge pipeline.
++  repeated PluginDeclareInfo converter = 1;
++}
++
++message PluginDeclareInfo {
++  // classname of converter
++  optional string type = 1;
++}
+diff --git a/cyber/ros_bridge/ros_bridge.cc b/cyber/ros_bridge/ros_bridge.cc
+new file mode 100644
+index 0000000..8b9f5d2
+--- /dev/null
++++ b/cyber/ros_bridge/ros_bridge.cc
+@@ -0,0 +1,99 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#include <vector>
++
++#include "cyber/ros_bridge/common/macros.h"
++
++#include "cyber/ros_bridge/proto/ros_bridge_conf.pb.h"
++#include "cyber/cyber.h"
++#include "cyber/plugin_manager/plugin_manager.h"
++#include "cyber/ros_bridge/common/bridge_argument.h"
++#include "cyber/ros_bridge/common/ros_bridge_gflags.h"
++#include "cyber/ros_bridge/common/utils.h"
++#include "cyber/ros_bridge/converter_base/message_converter.h"
++
++#include "gperftools/heap-profiler.h"
++#include "gperftools/malloc_extension.h"
++#include "gperftools/profiler.h"
++
++#if __has_include("rclcpp/rclcpp.hpp")
++#include "rclcpp/rclcpp.hpp"
++#endif
++
++using apollo::cyber::BridgeArgument;
++using apollo::cyber::MessageConverter;
++using apollo::cyber::plugin_manager::PluginManager;
++using namespace apollo::cyber::common;  // NOLINT
++
++int main(int argc, char** argv) {
++  apollo::cyber::BridgeConf bridge_conf;
++  std::vector<std::shared_ptr<MessageConverter>> converter_list_;
++
++  BridgeArgument bridge_args;
++  bridge_args.ParseArgument(argc, argv);
++
++  apollo::cyber::Init(argv[0]);
++
++#ifdef RCLCPP__RCLCPP_HPP_
++  rclcpp::init(argc, argv);
++#endif
++
++  PluginManager::Instance()->LoadInstalledPlugins();
++
++  auto config_path =
++      GetAbsolutePath(WorkRoot(), apollo::cyber::FLAGS_bridge_conf_path);
++  if (!GetProtoFromFile(config_path, &bridge_conf)) {
++    AERROR << "parse ros bridge config failed!";
++    return 1;
++  }
++
++  for (int i = 0; i < bridge_conf.converter_size(); i++) {
++    auto converter =
++        PluginManager::Instance()->CreateInstance<MessageConverter>(
++            apollo::cyber::GetFullConverterClassName(
++                bridge_conf.converter(i).type()));
++    ACHECK(converter->Init())
++        << "Can not init converter " << bridge_conf.converter(i).type();
++    converter_list_.push_back(converter);
++  }
++
++  if (bridge_args.GetEnableCpuprofile()) {
++    auto profile_filename = bridge_args.GetProfileFilename();
++    ProfilerStart(profile_filename.c_str());
++  }
++
++  if (bridge_args.GetEnableHeapprofile()) {
++    auto profile_filename = bridge_args.GetHeapProfileFilename();
++    HeapProfilerStart(profile_filename.c_str());
++  }
++
++  apollo::cyber::WaitForShutdown();
++#ifdef RCLCPP__RCLCPP_HPP_
++  rclcpp::shutdown();
++#endif
++
++  if (bridge_args.GetEnableCpuprofile()) {
++    ProfilerStop();
++  }
++
++  if (bridge_args.GetEnableHeapprofile()) {
++    HeapProfilerDump("Befor shutdown");
++    HeapProfilerStop();
++  }
++
++  return 0;
++}
+diff --git a/cyber/service_discovery/BUILD b/cyber/service_discovery/BUILD
+index aa8ccb4..5b9de22 100644
+--- a/cyber/service_discovery/BUILD
++++ b/cyber/service_discovery/BUILD
+@@ -36,7 +36,6 @@ apollo_cc_library(
+         "//cyber/common:cyber_common",
+         "//cyber:cyber_binary",
+         "//cyber/proto:role_attributes_cc_proto",
+-        "@fastrtps",
+         "//cyber:cyber_state",
+         "//cyber/message:cyber_message",
+         "//cyber/proto:proto_desc_cc_proto",
+@@ -45,6 +44,11 @@ apollo_cc_library(
+     ],
+ )
+ 
++apollo_cc_library(
++    name = "subscriber_listener",
++    hdrs = ["communication/subscriber_listener.h"]
++)
++
+ apollo_cc_library(
+     name = "cyber_service_discovery_role",
+     srcs = ["role/role.cc"],
+diff --git a/cyber/service_discovery/communication/participant_listener.cc b/cyber/service_discovery/communication/participant_listener.cc
+index ed5cc94..71d020d 100644
+--- a/cyber/service_discovery/communication/participant_listener.cc
++++ b/cyber/service_discovery/communication/participant_listener.cc
+@@ -30,9 +30,20 @@ ParticipantListener::~ParticipantListener() {
+   callback_ = nullptr;
+ }
+ 
+-void ParticipantListener::onParticipantDiscovery(
+-    eprosima::fastrtps::Participant* p,
+-    eprosima::fastrtps::ParticipantDiscoveryInfo info) {
++/**
++ * @brief Event handler for participant discovery.
++ *
++ * This function is called when a new participant is discovered in the DDS domain.
++ *
++ * @param p Pointer to the DomainParticipant. This parameter is unused in this function.
++ *          DomainParticipant represents an entity that participates in a DDS domain,
++ *          allowing publishers and subscribers to communicate.
++ * @param info An rvalue reference to the ParticipantDiscoveryInfo, which contains
++ *          information about the discovered participant.
++ */
++void ParticipantListener::on_participant_discovery(
++    eprosima::fastdds::dds::DomainParticipant* p,
++    eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info) {
+   RETURN_IF_NULL(callback_);
+   (void)p;
+   std::lock_guard<std::mutex> lock(mutex_);
+diff --git a/cyber/service_discovery/communication/participant_listener.h b/cyber/service_discovery/communication/participant_listener.h
+index 91cc20d..d80994b 100644
+--- a/cyber/service_discovery/communication/participant_listener.h
++++ b/cyber/service_discovery/communication/participant_listener.h
+@@ -20,25 +20,27 @@
+ #include <functional>
+ #include <mutex>
+ 
++#include "cyber/base/macros.h"
++
++#include "fastdds/dds/domain/DomainParticipantListener.hpp"
+ #include "fastrtps/Domain.h"
+-#include "fastrtps/participant/Participant.h"
+-#include "fastrtps/participant/ParticipantListener.h"
+ 
+ namespace apollo {
+ namespace cyber {
+ namespace service_discovery {
+ 
+-class ParticipantListener : public eprosima::fastrtps::ParticipantListener {
++class ParticipantListener
++    : public eprosima::fastdds::dds::DomainParticipantListener {
+  public:
+   using ChangeFunc = std::function<void(
+-      const eprosima::fastrtps::ParticipantDiscoveryInfo& info)>;
++      const eprosima::fastrtps::rtps::ParticipantDiscoveryInfo& info)>;
+ 
+   explicit ParticipantListener(const ChangeFunc& callback);
+   virtual ~ParticipantListener();
+ 
+-  virtual void onParticipantDiscovery(
+-      eprosima::fastrtps::Participant* p,
+-      eprosima::fastrtps::ParticipantDiscoveryInfo info);
++  void on_participant_discovery(
++      eprosima::fastdds::dds::DomainParticipant* p,
++      eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info) override;
+ 
+  private:
+   ChangeFunc callback_;
+diff --git a/cyber/service_discovery/communication/subscriber_listener.cc b/cyber/service_discovery/communication/subscriber_listener.cc
+index 1501b5a..dcf9581 100644
+--- a/cyber/service_discovery/communication/subscriber_listener.cc
++++ b/cyber/service_discovery/communication/subscriber_listener.cc
+@@ -16,15 +16,23 @@
+ 
+ #include "cyber/service_discovery/communication/subscriber_listener.h"
+ 
++#include <memory>
++
++#include "cyber/base/macros.h"
++
++#include "fastdds/dds/subscriber/InstanceState.hpp"
++
++#include "fastdds/dds/topic/TopicDescription.hpp"
++
+ #include "cyber/common/log.h"
+ #include "cyber/transport/rtps/underlay_message.h"
+-#include "cyber/transport/rtps/underlay_message_type.h"
+ 
+ namespace apollo {
+ namespace cyber {
+ namespace service_discovery {
+ 
+-SubscriberListener::SubscriberListener(const NewMsgCallback& callback)
++SubscriberListener::SubscriberListener(
++    const transport::rtps::subsciber_callback& callback)
+     : callback_(callback) {}
+ 
+ SubscriberListener::~SubscriberListener() {
+@@ -32,22 +40,28 @@ SubscriberListener::~SubscriberListener() {
+   callback_ = nullptr;
+ }
+ 
+-void SubscriberListener::onNewDataMessage(eprosima::fastrtps::Subscriber* sub) {
++void SubscriberListener::on_data_available(
++    eprosima::fastdds::dds::DataReader* reader) {
+   RETURN_IF_NULL(callback_);
+ 
+-  std::lock_guard<std::mutex> lock(mutex_);
+-  eprosima::fastrtps::SampleInfo_t m_info;
++  eprosima::fastdds::dds::SampleInfo m_info;
+   cyber::transport::UnderlayMessage m;
+-  RETURN_IF(!sub->takeNextData(reinterpret_cast<void*>(&m), &m_info));
+-  RETURN_IF(m_info.sampleKind != eprosima::fastrtps::ALIVE);
+-
+-  callback_(m.data());
++  while (reader->take_next_sample(reinterpret_cast<void*>(&m), &m_info) ==
++         eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK) {
++    if (m_info.valid_data) {
++      // parameter 1 and 2 are not used
++      callback_(std::make_shared<std::string>(m.data()), 0, msg_info_);
++    } else {
++      AERROR << "Remote writer for topic "
++             << reader->get_topicdescription()->get_name() << " is dead";
++    }
++  }
+ }
+ 
+-void SubscriberListener::onSubscriptionMatched(
+-    eprosima::fastrtps::Subscriber* sub,
+-    eprosima::fastrtps::MatchingInfo& info) {
+-  (void)sub;
++void SubscriberListener::on_subscription_matched(
++    eprosima::fastdds::dds::DataReader* reader,
++    const eprosima::fastdds::dds::SubscriptionMatchedStatus& info) {
++  (void)reader;
+   (void)info;
+ }
+ 
+diff --git a/cyber/service_discovery/communication/subscriber_listener.h b/cyber/service_discovery/communication/subscriber_listener.h
+index 1c63c1f..586ecb3 100644
+--- a/cyber/service_discovery/communication/subscriber_listener.h
++++ b/cyber/service_discovery/communication/subscriber_listener.h
+@@ -21,28 +21,33 @@
+ #include <mutex>
+ #include <string>
+ 
+-#include "fastrtps/Domain.h"
+-#include "fastrtps/subscriber/SampleInfo.h"
+-#include "fastrtps/subscriber/Subscriber.h"
+-#include "fastrtps/subscriber/SubscriberListener.h"
++#include "cyber/base/macros.h"
++
++#include "fastdds/dds/subscriber/DataReader.hpp"
++#include "fastdds/dds/subscriber/SampleInfo.hpp"
++#include "fastdds/dds/subscriber/SubscriberListener.hpp"
++
++#include "cyber/transport/common/common_type.h"
+ 
+ namespace apollo {
+ namespace cyber {
+ namespace service_discovery {
+ 
+-class SubscriberListener : public eprosima::fastrtps::SubscriberListener {
++class SubscriberListener : public eprosima::fastdds::dds::SubscriberListener {
+  public:
+-  using NewMsgCallback = std::function<void(const std::string&)>;
+-
+-  explicit SubscriberListener(const NewMsgCallback& callback);
++  explicit SubscriberListener(
++      const transport::rtps::subsciber_callback& callback);
+   virtual ~SubscriberListener();
+ 
+-  void onNewDataMessage(eprosima::fastrtps::Subscriber* sub);
+-  void onSubscriptionMatched(eprosima::fastrtps::Subscriber* sub,
+-                             eprosima::fastrtps::MatchingInfo& info);  // NOLINT
++  void on_data_available(eprosima::fastdds::dds::DataReader* reader) override;
++  void on_subscription_matched(
++      eprosima::fastdds::dds::DataReader* reader,
++      const eprosima::fastdds::dds::SubscriptionMatchedStatus& info)
++      override;  // NOLINT
+ 
+  private:
+-  NewMsgCallback callback_;
++  transport::rtps::subsciber_callback callback_;
++  transport::MessageInfo msg_info_;
+   std::mutex mutex_;
+ };
+ 
+diff --git a/cyber/service_discovery/specific_manager/channel_manager.cc b/cyber/service_discovery/specific_manager/channel_manager.cc
+index adc6c15..8a6c2cc 100644
+--- a/cyber/service_discovery/specific_manager/channel_manager.cc
++++ b/cyber/service_discovery/specific_manager/channel_manager.cc
+@@ -1,5 +1,5 @@
+ /******************************************************************************
+- * Copyright 2018 The Apollo Authors. All Rights Reserved.
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+  *
+  * Licensed under the Apache License, Version 2.0 (the "License");
+  * you may not use this file except in compliance with the License.
+@@ -17,7 +17,6 @@
+ #include "cyber/service_discovery/specific_manager/channel_manager.h"
+ 
+ #include <algorithm>
+-#include <set>
+ #include <utility>
+ 
+ #include "cyber/common/global_data.h"
+@@ -25,8 +24,6 @@
+ #include "cyber/message/message_traits.h"
+ #include "cyber/message/py_message.h"
+ #include "cyber/message/raw_message.h"
+-#include "cyber/state.h"
+-#include "cyber/time/time.h"
+ 
+ namespace apollo {
+ namespace cyber {
+diff --git a/cyber/service_discovery/specific_manager/channel_manager.h b/cyber/service_discovery/specific_manager/channel_manager.h
+index 69aba27..46de5f3 100644
+--- a/cyber/service_discovery/specific_manager/channel_manager.h
++++ b/cyber/service_discovery/specific_manager/channel_manager.h
+@@ -23,6 +23,7 @@
+ #include <unordered_set>
+ #include <vector>
+ 
++#include "cyber/proto/role_attributes.pb.h"
+ #include "cyber/service_discovery/container/graph.h"
+ #include "cyber/service_discovery/container/multi_value_warehouse.h"
+ #include "cyber/service_discovery/container/single_value_warehouse.h"
+diff --git a/cyber/service_discovery/specific_manager/channel_manager_test.cc b/cyber/service_discovery/specific_manager/channel_manager_test.cc
+index a83303c..c3f44c5 100644
+--- a/cyber/service_discovery/specific_manager/channel_manager_test.cc
++++ b/cyber/service_discovery/specific_manager/channel_manager_test.cc
+@@ -16,15 +16,13 @@
+ 
+ #include "cyber/service_discovery/specific_manager/channel_manager.h"
+ 
+-#include <memory>
+ #include <string>
+ #include <vector>
+ #include "gtest/gtest.h"
+ 
++#include "cyber/proto/unit_test.pb.h"
+ #include "cyber/common/global_data.h"
+ #include "cyber/message/message_traits.h"
+-#include "cyber/message/protobuf_factory.h"
+-#include "cyber/proto/unit_test.pb.h"
+ #include "cyber/transport/common/identity.h"
+ 
+ namespace apollo {
+diff --git a/cyber/service_discovery/specific_manager/manager.cc b/cyber/service_discovery/specific_manager/manager.cc
+index 353ef73..e97e3aa 100644
+--- a/cyber/service_discovery/specific_manager/manager.cc
++++ b/cyber/service_discovery/specific_manager/manager.cc
+@@ -21,15 +21,12 @@
+ #include "cyber/message/message_traits.h"
+ #include "cyber/time/time.h"
+ #include "cyber/transport/qos/qos_profile_conf.h"
+-#include "cyber/transport/rtps/attributes_filler.h"
+ #include "cyber/transport/rtps/underlay_message.h"
+-#include "cyber/transport/rtps/underlay_message_type.h"
+ 
+ namespace apollo {
+ namespace cyber {
+ namespace service_discovery {
+ 
+-using transport::AttributesFiller;
+ using transport::QosProfileConf;
+ 
+ Manager::Manager()
+@@ -39,15 +36,14 @@ Manager::Manager()
+       change_type_(proto::ChangeType::CHANGE_PARTICIPANT),
+       channel_name_(""),
+       publisher_(nullptr),
+-      subscriber_(nullptr),
+-      listener_(nullptr) {
++      subscriber_(nullptr) {
+   host_name_ = common::GlobalData::Instance()->HostName();
+   process_id_ = common::GlobalData::Instance()->ProcessId();
+ }
+ 
+ Manager::~Manager() { Shutdown(); }
+ 
+-bool Manager::StartDiscovery(RtpsParticipant* participant) {
++bool Manager::StartDiscovery(const ParticipantPtr& participant) {
+   if (participant == nullptr) {
+     return false;
+   }
+@@ -59,6 +55,7 @@ bool Manager::StartDiscovery(RtpsParticipant* participant) {
+     StopDiscovery();
+     return false;
+   }
++  participant_ = participant;
+   return true;
+ }
+ 
+@@ -66,24 +63,6 @@ void Manager::StopDiscovery() {
+   if (!is_discovery_started_.exchange(false)) {
+     return;
+   }
+-
+-  {
+-    std::lock_guard<std::mutex> lg(lock_);
+-    if (publisher_ != nullptr) {
+-      eprosima::fastrtps::Domain::removePublisher(publisher_);
+-      publisher_ = nullptr;
+-    }
+-  }
+-
+-  if (subscriber_ != nullptr) {
+-    eprosima::fastrtps::Domain::removeSubscriber(subscriber_);
+-    subscriber_ = nullptr;
+-  }
+-
+-  if (listener_ != nullptr) {
+-    delete listener_;
+-    listener_ = nullptr;
+-  }
+ }
+ 
+ void Manager::Shutdown() {
+@@ -137,28 +116,16 @@ void Manager::RemoveChangeListener(const ChangeConnection& conn) {
+   local_conn.Disconnect();
+ }
+ 
+-bool Manager::CreatePublisher(RtpsParticipant* participant) {
+-  RtpsPublisherAttr pub_attr;
+-  RETURN_VAL_IF(
+-      !AttributesFiller::FillInPubAttr(
+-          channel_name_, QosProfileConf::QOS_PROFILE_TOPO_CHANGE, &pub_attr),
+-      false);
+-  publisher_ =
+-      eprosima::fastrtps::Domain::createPublisher(participant, pub_attr);
++bool Manager::CreatePublisher(const ParticipantPtr& participant) {
++  publisher_ = participant->CreatePublisher(
++      this->channel_name_, QosProfileConf::QOS_PROFILE_TOPO_CHANGE);
+   return publisher_ != nullptr;
+ }
+ 
+-bool Manager::CreateSubscriber(RtpsParticipant* participant) {
+-  RtpsSubscriberAttr sub_attr;
+-  RETURN_VAL_IF(
+-      !AttributesFiller::FillInSubAttr(
+-          channel_name_, QosProfileConf::QOS_PROFILE_TOPO_CHANGE, &sub_attr),
+-      false);
+-  listener_ = new SubscriberListener(
++bool Manager::CreateSubscriber(const ParticipantPtr& participant) {
++  subscriber_ = participant->CreateSubscriber(
++      this->channel_name_, QosProfileConf::QOS_PROFILE_TOPO_CHANGE,
+       std::bind(&Manager::OnRemoteChange, this, std::placeholders::_1));
+-
+-  subscriber_ = eprosima::fastrtps::Domain::createSubscriber(
+-      participant, sub_attr, listener_);
+   return subscriber_ != nullptr;
+ }
+ 
+@@ -185,14 +152,14 @@ void Manager::Convert(const RoleAttributes& attr, RoleType role,
+ 
+ void Manager::Notify(const ChangeMsg& msg) { signal_(msg); }
+ 
+-void Manager::OnRemoteChange(const std::string& msg_str) {
++void Manager::OnRemoteChange(const std::shared_ptr<std::string>& msg_str) {
+   if (is_shutdown_.load()) {
+     ADEBUG << "the manager has been shut down.";
+     return;
+   }
+ 
+   ChangeMsg msg;
+-  RETURN_IF(!message::ParseFromString(msg_str, &msg));
++  RETURN_IF(!message::ParseFromString(*msg_str, &msg));
+   if (IsFromSameProcess(msg)) {
+     return;
+   }
+@@ -211,7 +178,7 @@ bool Manager::Publish(const ChangeMsg& msg) {
+   {
+     std::lock_guard<std::mutex> lg(lock_);
+     if (publisher_ != nullptr) {
+-      return publisher_->write(reinterpret_cast<void*>(&m));
++      return publisher_->Write(m);
+     }
+   }
+   return true;
+diff --git a/cyber/service_discovery/specific_manager/manager.h b/cyber/service_discovery/specific_manager/manager.h
+index 22b8341..d2aebcb 100644
+--- a/cyber/service_discovery/specific_manager/manager.h
++++ b/cyber/service_discovery/specific_manager/manager.h
+@@ -19,19 +19,22 @@
+ 
+ #include <atomic>
+ #include <functional>
++#include <memory>
+ #include <mutex>
+ #include <string>
+ 
+-#include "fastrtps/Domain.h"
+-#include "fastrtps/attributes/PublisherAttributes.h"
+-#include "fastrtps/attributes/SubscriberAttributes.h"
+-#include "fastrtps/participant/Participant.h"
+-#include "fastrtps/publisher/Publisher.h"
+-#include "fastrtps/subscriber/Subscriber.h"
++#include "cyber/base/macros.h"
++
++#include "fastdds/dds/publisher/qos/PublisherQos.hpp"
++#include "fastdds/dds/subscriber/qos/SubscriberQos.hpp"
+ 
+-#include "cyber/base/signal.h"
+ #include "cyber/proto/topology_change.pb.h"
++
++#include "cyber/base/signal.h"
+ #include "cyber/service_discovery/communication/subscriber_listener.h"
++#include "cyber/transport/rtps/participant.h"
++#include "cyber/transport/rtps/publisher.h"
++#include "cyber/transport/rtps/subscriber.h"
+ 
+ namespace apollo {
+ namespace cyber {
+@@ -53,11 +56,9 @@ class Manager {
+   using ChangeSignal = base::Signal<const ChangeMsg&>;
+   using ChangeFunc = std::function<void(const ChangeMsg&)>;
+   using ChangeConnection = base::Connection<const ChangeMsg&>;
+-
+-  using RtpsParticipant = eprosima::fastrtps::Participant;
+-  using RtpsPublisherAttr = eprosima::fastrtps::PublisherAttributes;
+-  using RtpsSubscriberAttr = eprosima::fastrtps::SubscriberAttributes;
+-
++  using ParticipantPtr = std::shared_ptr<transport::Participant>;
++  using PublisherPtr = std::shared_ptr<transport::Publisher>;
++  using SubscriberPtr = std::shared_ptr<transport::Subscriber>;
+   /**
+    * @brief Construct a new Manager object
+    */
+@@ -75,7 +76,7 @@ class Manager {
+    * @return true if start successfully
+    * @return false if start fail
+    */
+-  bool StartDiscovery(RtpsParticipant* participant);
++  bool StartDiscovery(const ParticipantPtr& participant);
+ 
+   /**
+    * @brief Stop topology discovery
+@@ -136,8 +137,8 @@ class Manager {
+                                  int process_id) = 0;
+ 
+  protected:
+-  bool CreatePublisher(RtpsParticipant* participant);
+-  bool CreateSubscriber(RtpsParticipant* participant);
++  bool CreatePublisher(const ParticipantPtr& participant);
++  bool CreateSubscriber(const ParticipantPtr& participant);
+ 
+   virtual bool Check(const RoleAttributes& attr) = 0;
+   virtual void Dispose(const ChangeMsg& msg) = 0;
+@@ -148,7 +149,7 @@ class Manager {
+ 
+   void Notify(const ChangeMsg& msg);
+   bool Publish(const ChangeMsg& msg);
+-  void OnRemoteChange(const std::string& msg_str);
++  void OnRemoteChange(const std::shared_ptr<std::string>& msg_str);
+   bool IsFromSameProcess(const ChangeMsg& msg);
+ 
+   std::atomic<bool> is_shutdown_;
+@@ -158,10 +159,10 @@ class Manager {
+   std::string host_name_;
+   int process_id_;
+   std::string channel_name_;
+-  eprosima::fastrtps::Publisher* publisher_;
++  PublisherPtr publisher_;
++  SubscriberPtr subscriber_;
++  ParticipantPtr participant_;
+   std::mutex lock_;
+-  eprosima::fastrtps::Subscriber* subscriber_;
+-  SubscriberListener* listener_;
+ 
+   ChangeSignal signal_;
+ };
+diff --git a/cyber/service_discovery/specific_manager/node_manager.cc b/cyber/service_discovery/specific_manager/node_manager.cc
+index 8fde169..a48559a 100644
+--- a/cyber/service_discovery/specific_manager/node_manager.cc
++++ b/cyber/service_discovery/specific_manager/node_manager.cc
+@@ -18,7 +18,6 @@
+ #include "cyber/common/global_data.h"
+ #include "cyber/common/log.h"
+ #include "cyber/state.h"
+-#include "cyber/time/time.h"
+ 
+ namespace apollo {
+ namespace cyber {
+diff --git a/cyber/service_discovery/specific_manager/service_manager.cc b/cyber/service_discovery/specific_manager/service_manager.cc
+index 273b87c..19e39be 100644
+--- a/cyber/service_discovery/specific_manager/service_manager.cc
++++ b/cyber/service_discovery/specific_manager/service_manager.cc
+@@ -15,10 +15,8 @@
+  *****************************************************************************/
+ 
+ #include "cyber/service_discovery/specific_manager/service_manager.h"
+-#include "cyber/common/global_data.h"
+ #include "cyber/common/log.h"
+ #include "cyber/common/util.h"
+-#include "cyber/time/time.h"
+ 
+ namespace apollo {
+ namespace cyber {
+diff --git a/cyber/service_discovery/topology_manager.cc b/cyber/service_discovery/topology_manager.cc
+index 419f9bd..a2fd97d 100644
+--- a/cyber/service_discovery/topology_manager.cc
++++ b/cyber/service_discovery/topology_manager.cc
+@@ -29,8 +29,7 @@ TopologyManager::TopologyManager()
+       node_manager_(nullptr),
+       channel_manager_(nullptr),
+       service_manager_(nullptr),
+-      participant_(nullptr),
+-      participant_listener_(nullptr) {
++      participant_(nullptr) {
+   Init();
+ }
+ 
+@@ -48,9 +47,6 @@ void TopologyManager::Shutdown() {
+   service_manager_->Shutdown();
+   participant_->Shutdown();
+ 
+-  delete participant_listener_;
+-  participant_listener_ = nullptr;
+-
+   change_signal_.DisconnectAllSlots();
+ }
+ 
+@@ -80,8 +76,6 @@ bool TopologyManager::Init() {
+   if (!result) {
+     AERROR << "init manager failed.";
+     participant_ = nullptr;
+-    delete participant_listener_;
+-    participant_listener_ = nullptr;
+     node_manager_ = nullptr;
+     channel_manager_ = nullptr;
+     service_manager_ = nullptr;
+@@ -93,29 +87,34 @@ bool TopologyManager::Init() {
+ }
+ 
+ bool TopologyManager::InitNodeManager() {
+-  return node_manager_->StartDiscovery(participant_->fastrtps_participant());
++  return node_manager_->StartDiscovery(participant_);
+ }
+ 
+ bool TopologyManager::InitChannelManager() {
+-  return channel_manager_->StartDiscovery(participant_->fastrtps_participant());
++  return channel_manager_->StartDiscovery(participant_);
+ }
+ 
+ bool TopologyManager::InitServiceManager() {
+-  return service_manager_->StartDiscovery(participant_->fastrtps_participant());
++  return service_manager_->StartDiscovery(participant_);
+ }
+ 
+ bool TopologyManager::CreateParticipant() {
+   std::string participant_name =
+       common::GlobalData::Instance()->HostName() + '+' +
+       std::to_string(common::GlobalData::Instance()->ProcessId());
+-  participant_listener_ = new ParticipantListener(std::bind(
+-      &TopologyManager::OnParticipantChange, this, std::placeholders::_1));
+   participant_ = std::make_shared<transport::Participant>(
+-      participant_name, 11511, participant_listener_);
++      participant_name, 11511,
++      new ParticipantListener(std::bind(&TopologyManager::OnParticipantChange,
++                                        this, std::placeholders::_1)));
++  if (!participant_->Init()) {
++    AERROR << "init participant failed";
++    return false;
++  }
+   return true;
+ }
+ 
+-void TopologyManager::OnParticipantChange(const PartInfo& info) {
++void TopologyManager::OnParticipantChange(
++    const eprosima::fastrtps::rtps::ParticipantDiscoveryInfo& info) {
+   ChangeMsg msg;
+   if (!Convert(info, &msg)) {
+     return;
+@@ -135,28 +134,39 @@ void TopologyManager::OnParticipantChange(const PartInfo& info) {
+   change_signal_(msg);
+ }
+ 
+-bool TopologyManager::Convert(const PartInfo& info, ChangeMsg* msg) {
+-  auto guid = info.rtps.m_guid;
+-  auto status = info.rtps.m_status;
++bool TopologyManager::Convert(
++    const eprosima::fastrtps::rtps::ParticipantDiscoveryInfo& info,
++    ChangeMsg* msg) {
++  auto guid = info.info.m_guid;
+   std::string participant_name("");
+-  OperateType opt_type = OperateType::OPT_JOIN;
++  OperateType opt_type;
+ 
+-  switch (status) {
+-    case eprosima::fastrtps::rtps::DISCOVERY_STATUS::DISCOVERED_RTPSPARTICIPANT:
+-      participant_name = info.rtps.m_RTPSParticipantName;
++  switch (info.status) {
++    case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::
++        DISCOVERED_PARTICIPANT:
++      participant_name = info.info.m_participantName;
++      AINFO << "discovery participant name:" << participant_name;
+       participant_names_[guid] = participant_name;
+       opt_type = OperateType::OPT_JOIN;
+       break;
+-
+-    case eprosima::fastrtps::rtps::DISCOVERY_STATUS::REMOVED_RTPSPARTICIPANT:
+-    case eprosima::fastrtps::rtps::DISCOVERY_STATUS::DROPPED_RTPSPARTICIPANT:
++    case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::
++        REMOVED_PARTICIPANT:
+       if (participant_names_.find(guid) != participant_names_.end()) {
+         participant_name = participant_names_[guid];
++        AINFO << "remove participant name:" << participant_name;
++        participant_names_.erase(guid);
++      }
++      opt_type = OperateType::OPT_LEAVE;
++      break;
++    case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::
++        DROPPED_PARTICIPANT:
++      if (participant_names_.find(guid) != participant_names_.end()) {
++        participant_name = participant_names_[guid];
++        AINFO << "dropped participant name:" << participant_name;
+         participant_names_.erase(guid);
+       }
+       opt_type = OperateType::OPT_LEAVE;
+       break;
+-
+     default:
+       break;
+   }
+diff --git a/cyber/service_discovery/topology_manager.h b/cyber/service_discovery/topology_manager.h
+index 44b47b5..dd5b23f 100644
+--- a/cyber/service_discovery/topology_manager.h
++++ b/cyber/service_discovery/topology_manager.h
+@@ -66,9 +66,9 @@ class TopologyManager {
+   using ChangeSignal = base::Signal<const ChangeMsg&>;
+   using ChangeFunc = std::function<void(const ChangeMsg&)>;
+   using ChangeConnection = base::Connection<const ChangeMsg&>;
++  using ParticipantPtr = std::shared_ptr<transport::Participant>;
+   using PartNameContainer =
+       std::map<eprosima::fastrtps::rtps::GUID_t, std::string>;
+-  using PartInfo = eprosima::fastrtps::ParticipantDiscoveryInfo;
+ 
+   virtual ~TopologyManager();
+ 
+@@ -114,8 +114,10 @@ class TopologyManager {
+   bool InitServiceManager();
+ 
+   bool CreateParticipant();
+-  void OnParticipantChange(const PartInfo& info);
+-  bool Convert(const PartInfo& info, ChangeMsg* change_msg);
++  void OnParticipantChange(
++      const eprosima::fastrtps::rtps::ParticipantDiscoveryInfo& info);
++  bool Convert(const eprosima::fastrtps::rtps::ParticipantDiscoveryInfo& info,
++               ChangeMsg* change_msg);
+   bool ParseParticipantName(const std::string& participant_name,
+                             std::string* host_name, int* process_id);
+ 
+@@ -123,9 +125,7 @@ class TopologyManager {
+   NodeManagerPtr node_manager_;        /// shared ptr of NodeManager
+   ChannelManagerPtr channel_manager_;  /// shared ptr of ChannelManager
+   ServiceManagerPtr service_manager_;  /// shared ptr of ServiceManager
+-  /// rtps participant to publish and subscribe
+-  transport::ParticipantPtr participant_;
+-  ParticipantListener* participant_listener_;
++  ParticipantPtr participant_;
+   ChangeSignal change_signal_;           /// topology changing signal,
+                                          ///< connect to `ChangeFunc`s
+   PartNameContainer participant_names_;  /// other participant in the topology
+diff --git a/cyber/setup.bash b/cyber/setup.bash
+index cdabc56..1d0d690 100755
+--- a/cyber/setup.bash
++++ b/cyber/setup.bash
+@@ -8,6 +8,7 @@ export CYBER_PATH="${APOLLO_ROOT_DIR}/cyber"
+ bazel_bin_path="${APOLLO_ROOT_DIR}/bazel-bin"
+ mainboard_path="${bazel_bin_path}/cyber/mainboard"
+ cyber_tool_path="${bazel_bin_path}/cyber/tools"
++performance_path="${cyber_tool_path}/cyber_performance"
+ recorder_path="${cyber_tool_path}/cyber_recorder"
+ launch_path="${cyber_tool_path}/cyber_launch"
+ channel_path="${cyber_tool_path}/cyber_channel"
+@@ -20,7 +21,7 @@ visualizer_path="${bazel_bin_path}/modules/tools/visualizer"
+ for entry in "${mainboard_path}" \
+     "${recorder_path}" "${monitor_path}"  \
+     "${channel_path}" "${node_path}" \
+-    "${service_path}" \
++    "${service_path}" "${performance_path}" \
+     "${launch_path}" \
+     "${visualizer_path}" ; do
+     pathprepend "${entry}"
+@@ -38,9 +39,9 @@ export GLOG_alsologtostderr=0
+ export GLOG_colorlogtostderr=1
+ export GLOG_minloglevel=0
+ 
+-export sysmo_start=0
+-
+ # for DEBUG log
+ #export GLOG_v=4
+ 
+-source ${CYBER_PATH}/tools/cyber_tools_auto_complete.bash
++[[ -e ${CYBER_PATH}/tools/cyber_tools_auto_complete.bash ]] && source ${CYBER_PATH}/tools/cyber_tools_auto_complete.bash
++
++export sysmo_start=0
+\ No newline at end of file
+diff --git a/cyber/statistics/BUILD b/cyber/statistics/BUILD
+new file mode 100644
+index 0000000..6593465
+--- /dev/null
++++ b/cyber/statistics/BUILD
+@@ -0,0 +1,19 @@
++load("//tools:cpplint.bzl", "cpplint")
++load("//tools:apollo_package.bzl", "apollo_cc_library", "apollo_package")
++
++apollo_cc_library(
++    name = "apollo_statistics",
++    srcs = ["statistics.cc"],
++    hdrs = ["statistics.h"],
++    linkopts = ["-lbvar"],
++    deps = [
++        "//cyber/common:cyber_common",
++        "//cyber/proto:role_attributes_cc_proto",
++        "//cyber/time:cyber_time",
++        "@com_github_gflags_gflags//:gflags",
++    ],
++)
++
++apollo_package()
++
++cpplint()
+diff --git a/cyber/statistics/statistics.cc b/cyber/statistics/statistics.cc
+new file mode 100644
+index 0000000..f786473
+--- /dev/null
++++ b/cyber/statistics/statistics.cc
+@@ -0,0 +1,130 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#include "cyber/statistics/statistics.h"
++
++namespace apollo {
++namespace cyber {
++namespace statistics {
++
++Statistics::Statistics() {}
++
++bool Statistics::RegisterChanVar(const proto::RoleAttributes& role_attr) {
++  if (latency_map_.find(GetProcLatencyKey(role_attr)) != latency_map_.end()) {
++    AERROR << "Failed to create proc latency var: "
++             "reader with the same channel already exists.";
++    return false;
++  }
++
++  if (latency_map_.find(GetTranLatencyKey(role_attr)) != latency_map_.end()) {
++    AERROR << "Failed to create tran latency var: "
++             "reader with the same channel already exists.";
++    return false;
++  }
++
++  if (latency_map_.find(GetCyberLatencyKey(role_attr)) != latency_map_.end()) {
++    AERROR << "Failed to create cyber latency var: "
++             "reader with the same channel already exists.";
++    return false;
++  }
++
++  latency_map_[GetProcLatencyKey(role_attr)] =
++          std::make_shared<::bvar::LatencyRecorder>(
++                  role_attr.node_name() + "-"
++                  + role_attr.channel_name(), "proc");
++  if (role_attr.channel_name() != TIMER_COMPONENT_CHAN_NAME) {
++    latency_map_[GetTranLatencyKey(role_attr)] =
++          std::make_shared<::bvar::LatencyRecorder>(
++                  role_attr.node_name() + "-" +
++                  role_attr.channel_name(), "tran");
++    latency_map_[GetCyberLatencyKey(role_attr)] =
++          std::make_shared<::bvar::LatencyRecorder>(
++                  role_attr.node_name() + "-" +
++                  role_attr.channel_name(), "cyber");
++    status_map_[GetStartProcessStatusKey(role_attr)] =
++          std::make_shared<::bvar::Status<uint64_t>>(
++                  role_attr.node_name() + "-" +
++                  role_attr.channel_name() + "-process", 0);
++    status_map_[GetTotalMsgsStatusKey(role_attr)] =
++          std::make_shared<::bvar::Status<uint64_t>>(
++                  role_attr.node_name() + "-" +
++                  role_attr.channel_name() + "-total-msgs-nums", 0);
++    adder_map_[GetTotalRecvStatusKey(role_attr)] =
++          std::make_shared<::bvar::Adder<int32_t>>(
++                  role_attr.node_name() +
++                  "-" + role_attr.channel_name() + "-recv-msgs-nums");
++  }
++  return true;
++}
++
++StatusVarPtr Statistics::GetProcStatusVar(
++                          const proto::RoleAttributes& role_attr) {
++  auto v = status_map_.find(GetStartProcessStatusKey(role_attr));
++  if (v == status_map_.end()) {
++    return nullptr;
++  }
++  return v->second;
++}
++
++LatencyVarPtr Statistics::GetChanProcVar(
++                    const proto::RoleAttributes& role_attr) {
++  auto v = latency_map_.find(GetProcLatencyKey(role_attr));
++  if (v == latency_map_.end()) {
++    return nullptr;
++  }
++  return v->second;
++}
++
++LatencyVarPtr Statistics::GetChanTranVar(
++                    const proto::RoleAttributes& role_attr) {
++  auto v = latency_map_.find(GetTranLatencyKey(role_attr));
++  if (v == latency_map_.end()) {
++    return nullptr;
++  }
++  return v->second;
++}
++
++LatencyVarPtr Statistics::GetChanCyberVar(
++                    const proto::RoleAttributes& role_attr) {
++  auto v = latency_map_.find(GetCyberLatencyKey(role_attr));
++  if (v == latency_map_.end()) {
++    return nullptr;
++  }
++  return v->second;
++}
++
++StatusVarPtr Statistics::GetTotalMsgsStatusVar(
++                      const proto::RoleAttributes& role_attr) {
++  auto v = status_map_.find(GetTotalMsgsStatusKey(role_attr));
++  if (v == status_map_.end()) {
++    return nullptr;
++  }
++  return v->second;
++}
++
++AdderVarPtr Statistics::GetAdderVar(
++                      const proto::RoleAttributes& role_attr) {
++  auto v = adder_map_.find(GetTotalRecvStatusKey(role_attr));
++  if (v == adder_map_.end()) {
++    return nullptr;
++  }
++  return v->second;
++}
++
++
++}  // namespace statistics
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/statistics/statistics.h b/cyber/statistics/statistics.h
+new file mode 100644
+index 0000000..3d651da
+--- /dev/null
++++ b/cyber/statistics/statistics.h
+@@ -0,0 +1,314 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#pragma once
++
++#ifndef CYBER_STATISTICS_STATISTICS_H_
++#define CYBER_STATISTICS_STATISTICS_H_
++
++#include <limits.h>
++
++#include <memory>
++#include <mutex>
++#include <utility>
++#include <string>
++#include <unordered_map>
++
++#include "cyber/base/macros.h"
++#include "cyber/common/log.h"
++#include "cyber/proto/role_attributes.pb.h"
++#include "cyber/common/macros.h"
++#include "cyber/time/time.h"
++#include "third_party/var/bvar/bvar.h"
++
++namespace apollo {
++namespace cyber {
++namespace statistics {
++
++using LatencyVarPtr = std::shared_ptr<::bvar::LatencyRecorder>;
++using StatusVarPtr = std::shared_ptr<::bvar::Status<uint64_t>>;
++using AdderVarPtr = std::shared_ptr<::bvar::Adder<int32_t>>;
++
++struct SpanHandler {
++  std::string name;
++  uint64_t start_time;
++  uint64_t end_time;
++  std::shared_ptr<::bvar::LatencyRecorder> span_trace_node;
++  uint64_t min_ns = 0;
++};
++
++static const std::string TIMER_COMPONENT_CHAN_NAME = "_timer_component";    // NOLINT
++
++class Statistics {
++ public:
++  ~Statistics() {}
++  bool RegisterChanVar(const proto::RoleAttributes& role_attr);
++
++  inline bool CreateSpan(std::string name, uint64_t min_ns = 0);
++  inline bool StartSpan(std::string name);
++  inline bool EndSpan(std::string name);
++
++  inline void DisableChanVar() {
++    disable_chan_var_ = true;
++  }
++
++  template <typename SampleT>
++  std::shared_ptr<::bvar::Adder<SampleT>> CreateAdder(
++                        const proto::RoleAttributes& role_attr) {
++    std::string expose_name =
++      role_attr.node_name() + "-" + role_attr.channel_name();
++    return std::make_shared<::bvar::Adder<SampleT>>(expose_name);
++  }
++
++  template <typename SampleT>
++  bool SamplingProcLatency(
++        const proto::RoleAttributes& role_attr, SampleT sample) {
++    if (disable_chan_var_) {
++      return true;
++    }
++    auto var_ptr = GetChanProcVar(role_attr);
++    if (var_ptr != nullptr) {
++      (*var_ptr) << sample;
++    } else {
++      return false;
++    }
++    return true;
++  }
++
++  template <typename SampleT>
++  bool SamplingTranLatency(
++        const proto::RoleAttributes& role_attr, SampleT sample) {
++    if (disable_chan_var_) {
++      return true;
++    }
++    if (role_attr.channel_name() == TIMER_COMPONENT_CHAN_NAME) {
++      return true;
++    }
++    auto var_ptr = GetChanTranVar(role_attr);
++    if (var_ptr != nullptr) {
++      (*var_ptr) << sample;
++    } else {
++      return false;
++    }
++    return true;
++  }
++
++  template <typename SampleT>
++  bool SamplingCyberLatency(
++          const proto::RoleAttributes& role_attr, SampleT sample) {
++    if (disable_chan_var_) {
++      return true;
++    }
++    if (role_attr.channel_name() == TIMER_COMPONENT_CHAN_NAME) {
++      return true;
++    }
++    auto var_ptr = GetChanCyberVar(role_attr);
++    if (var_ptr != nullptr) {
++      (*var_ptr) << sample;
++    } else {
++      return false;
++    }
++    return true;
++  }
++
++  bool SetProcStatus(const proto::RoleAttributes& role_attr, uint64_t val) {
++    if (disable_chan_var_) {
++      return true;
++    }
++    if (role_attr.channel_name() == TIMER_COMPONENT_CHAN_NAME) {
++      return true;
++    }
++    auto var_ptr = GetProcStatusVar(role_attr);
++    if (var_ptr != nullptr) {
++      var_ptr->set_value(val);
++    } else {
++      return false;
++    }
++    return true;
++  }
++
++  bool GetProcStatus(const proto::RoleAttributes& role_attr, uint64_t* val) {
++    if (disable_chan_var_) {
++      *val = 0;
++      return true;
++    }
++    if (role_attr.channel_name() == TIMER_COMPONENT_CHAN_NAME) {
++      return false;
++    }
++    auto var_ptr = GetProcStatusVar(role_attr);
++    if (var_ptr != nullptr) {
++      *val = var_ptr->get_value();
++    } else {
++      return false;
++    }
++    return true;
++  }
++
++  bool SetTotalMsgsStatus(const proto::RoleAttributes& role_attr, int32_t val) {
++    if (disable_chan_var_) {
++      return true;
++    }
++    if (role_attr.channel_name() == TIMER_COMPONENT_CHAN_NAME) {
++      return true;
++    }
++    auto var_ptr = GetTotalMsgsStatusVar(role_attr);
++    if (var_ptr != nullptr) {
++      var_ptr->set_value(val);
++    } else {
++      return false;
++    }
++    return true;
++  }
++
++  bool AddRecvCount(const proto::RoleAttributes& role_attr, int total_msg_val) {
++    if (disable_chan_var_) {
++      return true;
++    }
++    if (role_attr.channel_name() == TIMER_COMPONENT_CHAN_NAME) {
++      return true;
++    }
++
++    auto var_ptr = GetAdderVar(role_attr);
++    if (var_ptr == nullptr) {
++      return true;
++    }
++
++    if cyber_unlikely(first_recv_) {
++      (*var_ptr) << total_msg_val;
++      first_recv_ = false;
++      return true;
++    }
++
++    (*var_ptr) << 1;
++
++    return true;
++  }
++
++ private:
++  LatencyVarPtr GetChanProcVar(const proto::RoleAttributes& role_attr);
++
++  LatencyVarPtr GetChanTranVar(const proto::RoleAttributes& role_attr);
++
++  LatencyVarPtr GetChanCyberVar(const proto::RoleAttributes& role_attr);
++
++  StatusVarPtr GetProcStatusVar(const proto::RoleAttributes& role_attr);
++
++  AdderVarPtr GetAdderVar(const proto::RoleAttributes& role_attr);
++
++  StatusVarPtr GetTotalMsgsStatusVar(const proto::RoleAttributes& role_attr);
++
++  inline uint64_t GetMicroTimeNow() const noexcept;
++
++  inline const std::string GetProcLatencyKey(
++                      const proto::RoleAttributes& role_attr) {
++    return role_attr.node_name() + "-" + role_attr.channel_name() + "proc";
++  }
++
++  inline const std::string GetTranLatencyKey(
++                      const proto::RoleAttributes& role_attr) {
++    return role_attr.node_name() + "-" + role_attr.channel_name() + "tran";
++  }
++
++  inline const std::string GetCyberLatencyKey(
++                      const proto::RoleAttributes& role_attr) {
++    return role_attr.node_name() + "-" + role_attr.channel_name() + "cyber";
++  }
++
++  inline const std::string GetStartProcessStatusKey(
++                      const proto::RoleAttributes& role_attr) {
++    return role_attr.node_name() + "-" + \
++            role_attr.channel_name() + "process-status";
++  }
++
++  inline const std::string GetTotalMsgsStatusKey(
++                      const proto::RoleAttributes& role_attr) {
++    return role_attr.node_name() + "-" + \
++          role_attr.channel_name() + "total-sended-msgs";
++  }
++
++  inline const std::string GetTotalRecvStatusKey(
++                      const proto::RoleAttributes& role_attr) {
++    return role_attr.node_name() + "-" + role_attr.channel_name() + "recv-msgs";
++  }
++
++  std::unordered_map<std::string, LatencyVarPtr> latency_map_;
++  std::unordered_map<std::string, StatusVarPtr> status_map_;
++  std::unordered_map<std::string, AdderVarPtr> adder_map_;
++
++  std::unordered_map<std::string, std::shared_ptr<SpanHandler>> span_handlers_;
++
++  bool first_recv_ = true;
++  bool disable_chan_var_ = false;
++
++  DECLARE_SINGLETON(Statistics)
++};
++
++inline uint64_t Statistics::GetMicroTimeNow() const noexcept {
++  return Time::Now().ToMicrosecond();
++}
++
++inline bool Statistics::CreateSpan(std::string name, uint64_t min_ns) {
++  if (cyber_unlikely(span_handlers_.find(name) != span_handlers_.end())) {
++    AERROR << "span handler " << name << "has been created!";
++    return false;
++  }
++  auto handler = std::make_shared<SpanHandler>();
++  handler->name = name;
++  handler->span_trace_node = std::move(
++          std::make_shared<::bvar::LatencyRecorder>(name, "user", 1200));
++  handler->min_ns = min_ns;
++
++  span_handlers_[name] = std::move(handler);
++  return true;
++}
++
++inline bool Statistics::StartSpan(std::string name) {
++  auto it = span_handlers_.find(name);
++  if (cyber_unlikely(it == span_handlers_.end())) {
++    AERROR << "span handler " << name << "not found!";
++    return false;
++  }
++  it->second->start_time = std::move(GetMicroTimeNow());
++  return true;
++}
++
++inline bool Statistics::EndSpan(std::string name) {
++  auto it = span_handlers_.find(name);
++  if (cyber_unlikely(it == span_handlers_.end())) {
++    AERROR << "span handler " << name << "not found!";
++    return false;
++  }
++  it->second->end_time = std::move(GetMicroTimeNow());
++  auto handler = it->second;
++  auto diff = handler->end_time - handler->start_time;
++  if (cyber_unlikely(diff < handler->min_ns)) {
++    AWARN << "Time span less than preset value: " \
++          << diff << " vs " << handler->min_ns;
++    return false;
++  }
++  if (cyber_unlikely(diff > INT32_MAX)) {
++    AWARN << "Time span is larger than INT32_MAX: " << diff << ", drop it...";
++    return false;
++  }
++  *(handler->span_trace_node) << diff;
++  return true;
++}
++
++}  // namespace statistics
++}  // namespace cyber
++}  // namespace apollo
++
++#endif  // CYBER_STATISTICS_STATISTICS_H_
+diff --git a/cyber/tools/cyber_launch/cyber_launch.py b/cyber/tools/cyber_launch/cyber_launch.py
+index 7b1df7d..c13d126 100755
+--- a/cyber/tools/cyber_launch/cyber_launch.py
++++ b/cyber/tools/cyber_launch/cyber_launch.py
+@@ -25,7 +25,7 @@ import subprocess
+ import sys
+ import time
+ import threading
+-import traceback
++from datetime import datetime
+ 
+ import xml.etree.ElementTree as ET
+ 
+@@ -48,13 +48,39 @@ COLOR_SEQ = "\033[1;%dm"
+ BOLD_SEQ = "\033[1m"
+ 
+ COLORS = {
+-    'INFO':     GREEN,
+-    'WARNING':  YELLOW,
+-    'DEBUG':    BLUE,
+-    'ERROR':    RED,
++    'INFO': GREEN,
++    'WARNING': YELLOW,
++    'DEBUG': BLUE,
++    'ERROR': RED,
+     'CRITICAL': YELLOW
+ }
+ 
++logger = logging.Logger(__name__)
++
++# file logger
++workspace_path = os.getenv('APOLLO_ENV_WORKROOT') or '/apollo'
++log_dir_path = os.path.join(workspace_path, 'data/log')
++if not os.path.exists(log_dir_path):
++    os.makedirs(log_dir_path)
++log_name = 'cyber_launch.log.INFO.{}.{}'.format(
++    datetime.now().strftime("%Y%m%d-%H%M%S"), str(g_process_pid))
++log_file_path = os.path.join(log_dir_path, log_name)
++file_formater = logging.Formatter(
++    '%(levelname)s [%(asctime)s] %(lineno)s: %(message)s')
++file_hd = logging.FileHandler(filename=log_file_path)
++file_hd.setFormatter(file_formater)
++file_hd.setLevel(logging.INFO)
++logger.addHandler(file_hd)
++link_log_file = os.path.join(log_dir_path, 'cyber_launch.INFO')
++try:
++    if os.path.exists(link_log_file) or os.path.islink(link_log_file):
++        os.remove(link_log_file)
++    os.symlink(log_name, link_log_file)
++except Exception as e:
++    # Maybe mulitple process create link, ignore it
++    pass
++
++
+ class ColoredFormatter(logging.Formatter):
+ 
+     def __init__(self, msg):
+@@ -79,7 +105,6 @@ class ColoredFormatter(logging.Formatter):
+ color_formatter = ColoredFormatter("[%(levelname)-18s] %(message)s")
+ console = logging.StreamHandler()
+ console.setFormatter(color_formatter)
+-logger = logging.Logger(__name__)
+ logger.addHandler(console)
+ 
+ 
+@@ -105,17 +130,22 @@ def module_monitor(mod):
+     while True:
+         line = mod.popen.stdout.readline()
+         if line:
+-            logger.debug('%s# %s' % (mod.name, line.decode('utf8').strip('\n')))
++            logger.debug('%s# %s' %
++                         (mod.name, line.decode('utf8').strip('\n')))
+             continue
+         time.sleep(0.01)
+ 
+ 
+ class ProcessWrapper(object):
+ 
+-    def __init__(self, binary_path, dag_num, dag_list, plugin_list, process_name, process_type,
+-                 sched_name, extra_args_list, exception_handler='', respawn_limit=g_default_respawn_limit):
++    def __init__(self, binary_path, dag_num, dag_list, plugin_list,
++                 process_name, process_type, sched_name, extra_args_list,
++                 exception_handler='', respawn_limit=g_default_respawn_limit,
++                 cpu_profile_file='', mem_profile_file='', nice=0):
+         self.time_of_death = None
+         self.started = False
++        self.cpu_profile = False
++        self.mem_profile = False
+         self.binary_path = binary_path
+         self.dag_num = dag_num
+         self.dag_list = dag_list
+@@ -131,6 +161,13 @@ class ProcessWrapper(object):
+         self.exception_handler = exception_handler
+         self.respawn_limit = respawn_limit
+         self.respawn_cnt = 0
++        self.cpu_profile_file = cpu_profile_file
++        self.mem_profile_file = mem_profile_file
++        if self.cpu_profile_file != '':
++            self.cpu_profile = True
++        if self.mem_profile_file != '':
++            self.mem_profile = True
++        self.nice = nice
+ 
+     def wait(self, timeout_secs=None):
+         """
+@@ -171,11 +208,19 @@ class ProcessWrapper(object):
+                 args_list.append(self.sched_name)
+             if len(self.extra_args_list) != 0:
+                 args_list.extend(self.extra_args_list)
++            if self.cpu_profile:
++                args_list.append('-c')
++                args_list.append('-o')
++                args_list.append(self.cpu_profile_file)
++            if self.mem_profile:
++                args_list.append('-H')
++                args_list.append('-O')
++                args_list.append(self.mem_profile_file)
+ 
+         self.args = args_list
+ 
+         try:
+-            self.popen = subprocess.Popen(args_list, stdout=subprocess.PIPE,
++            self.popen = subprocess.Popen(args_list, stdout=None,
+                                           stderr=subprocess.STDOUT)
+         except Exception as err:
+             logger.error('Subprocess Popen exception: ' + str(err))
+@@ -185,12 +230,23 @@ class ProcessWrapper(object):
+                 logger.error('Start process [%s] failed.', self.name)
+                 return 2
+ 
+-        th = threading.Thread(target=module_monitor, args=(self, ))
+-        th.setDaemon(True)
+-        th.start()
++        # th = threading.Thread(target=module_monitor, args=(self, ))
++        # th.setDaemon(True)
++        # th.start()
+         self.started = True
+         self.pid = self.popen.pid
+-        logger.info('Start process [%s] successfully. pid: %d', self.name, self.popen.pid)
++        if self.nice != 0:
++            sudo_check = subprocess.run(
++                ['sudo', '-n', 'true'], stdout=None, stderr=None)
++            if sudo_check.returncode == 0:
++                subprocess.run(
++                    ["sudo", "renice", "-n", str(self.nice), "-p", str(self.pid)],
++                    stdout=None, stderr=subprocess.STDOUT)
++            else:
++                logger.error(
++                    'Can not renice because users do not have sudo privileges')
++        logger.info(
++            'Start process [%s] successfully. pid: %d', self.name, self.popen.pid)
+         logger.info('-' * 120)
+         return 0
+ 
+@@ -248,9 +304,11 @@ class ProcessMonitor(object):
+         @type  p: L{Process}
+         """
+         if self.has_process(p.name):
+-            logger.error('Cannot add process due to duplicate name "%s".', p.name)
++            logger.error(
++                'Cannot add process due to duplicate name "%s".', p.name)
+         elif self.is_shutdown:
+-            logger.error('Cannot add process [%s] due to monitor has been stopped.', p.name)
++            logger.error(
++                'Cannot add process [%s] due to monitor has been stopped.', p.name)
+         else:
+             self.procs.append(p)
+ 
+@@ -274,13 +332,15 @@ class ProcessMonitor(object):
+                 continue
+             if pw.exception_handler == "respawn":
+                 if pw.respawn_cnt < pw.respawn_limit:
+-                    logger.warning('child process [%s][%d] exit, respawn!', pw.name, pw.pid)
++                    logger.warning(
++                        'child process [%s][%d] exit, respawn!', pw.name, pw.pid)
+                     pw.start()
+                     pw.respawn_cnt += 1
+                 else:
+                     dead_cnt += 1
+             elif pw.exception_handler == "exit":
+-                logger.warning('child process [%s][%d] exit, stop all', pw.name, pw.pid)
++                logger.warning(
++                    'child process [%s][%d] exit, stop all', pw.name, pw.pid)
+                 # stop and exit
+                 stop()
+             else:
+@@ -318,10 +378,12 @@ class ProcessMonitor(object):
+                 try:
+                     p.wait(force_stop_timeout_secs)
+                 except subprocess.TimeoutExpired as e:
+-                    logger.warning("Begin force kill process [%s][%s].", p.name, p.pid)
++                    logger.warning(
++                        "Begin force kill process [%s][%s].", p.name, p.pid)
+                     p.kill()
+                 p.wait()
+-                logger.info('Process [%s] has been stopped. dag_file: %s', p.name, p.dag_list)
++                logger.info(
++                    'Process [%s] has been stopped. dag_file: %s', p.name, p.dag_list)
+         # Reset members
+         self.procs = []
+         self.dead_cnt = 0
+@@ -386,37 +448,45 @@ def start(launch_file=''):
+     # start each process
+     for module in root.findall('module'):
+         module_name = get_param_value(module, 'name')
+-        process_name = get_param_value(module, 'process_name', 'mainboard_default_' + str(os.getpid()))
++        process_name = get_param_value(
++            module, 'process_name', 'mainboard_default_' + str(os.getpid()))
+         sched_name = get_param_value(module, 'sched_name', 'CYBER_DEFAULT')
+         process_type = get_param_value(module, 'type', 'library')
++        cpu_profile_file = get_param_value(module, 'cpuprofile')
++        mem_profile_file = get_param_value(module, 'memprofile')
+         exception_handler = get_param_value(module, 'exception_handler')
+         respawn_limit_txt = get_param_value(module, 'respawn_limit')
+         if respawn_limit_txt.isnumeric():
+             respawn_limit = int(respawn_limit_txt)
+         else:
+             respawn_limit = g_default_respawn_limit
++        nice_val = get_param_value(module, 'nice', 0)
+         logger.info('Load module [%s] %s: [%s] [%s] conf, exception_handler: [%s], respawn_limit: [%d]',
+                     module_name, process_type, process_name, sched_name, exception_handler, respawn_limit)
+ 
+         if process_type == 'binary':
+             if len(process_name) == 0:
+-                logger.error('Start binary failed. Binary process_name is null.')
++                logger.error(
++                    'Start binary failed. Binary process_name is null.')
+                 continue
+             pw = ProcessWrapper(process_name.split()[0], 0, [""], [], process_name, process_type,
+-                                sched_name, [], exception_handler, respawn_limit)
++                                sched_name, [], exception_handler, respawn_limit, nice=nice_val)
+         # Default is library
+         else:
+             dag_list = get_param_list(module, 'dag_conf')
+             if not dag_list:
+-                logger.error('module [%s] library dag conf is null.', module_name)
++                logger.error(
++                    'module [%s] library dag conf is null.', module_name)
+                 continue
+             plugin_list = get_param_list(module, 'plugin')
+             extra_args_list = []
+             extra_args = module.attrib.get('extra_args')
+             if extra_args is not None:
+                 extra_args_list = extra_args.split()
+-            pw = ProcessWrapper(g_binary_name, 0, dag_list, plugin_list, process_name, process_type,
+-                                sched_name, extra_args_list, exception_handler, respawn_limit)
++            pw = ProcessWrapper(g_binary_name, 0, dag_list, plugin_list,
++                                process_name, process_type, sched_name,
++                                extra_args_list, exception_handler, respawn_limit,
++                                 cpu_profile_file, mem_profile_file, nice_val)
+         result = pw.start()
+         if result != 0:
+             logger.error('Start manager [%s] failed. Stop all!', process_name)
+diff --git a/cyber/tools/cyber_monitor/general_channel_message.cc b/cyber/tools/cyber_monitor/general_channel_message.cc
+index db43ed3..bb26ef8 100644
+--- a/cyber/tools/cyber_monitor/general_channel_message.cc
++++ b/cyber/tools/cyber_monitor/general_channel_message.cc
+@@ -21,6 +21,7 @@
+ #include <string>
+ #include <vector>
+ 
++#include "cyber/common/global_data.h"
+ #include "cyber/record/record_message.h"
+ #include "cyber/tools/cyber_monitor/general_message.h"
+ #include "cyber/tools/cyber_monitor/screen.h"
+@@ -121,9 +122,10 @@ GeneralChannelMessage* GeneralChannelMessage::OpenChannel(
+   }
+ 
+   auto callback =
+-      [this](
++      [this, channel_name](
+           const std::shared_ptr<apollo::cyber::message::RawMessage>& raw_msg) {
+         UpdateRawMessage(raw_msg);
++        UpdateChannelName(channel_name);
+       };
+ 
+   channel_reader_ =
+diff --git a/cyber/tools/cyber_monitor/general_channel_message.h b/cyber/tools/cyber_monitor/general_channel_message.h
+index e56f2d4..f16aa85 100644
+--- a/cyber/tools/cyber_monitor/general_channel_message.h
++++ b/cyber/tools/cyber_monitor/general_channel_message.h
+@@ -151,6 +151,10 @@ class GeneralChannelMessage : public GeneralMessageBase {
+     channel_message_.reset();
+     channel_message_ = raw_msg;
+   }
++  void UpdateChannelName(const std::string& channel_name) {
++    std::lock_guard<std::mutex> _g(inner_lock_);
++    channel_name_ = channel_name;
++  }
+ 
+   std::shared_ptr<apollo::cyber::message::RawMessage> CopyMsgPtr(void) const {
+     decltype(channel_message_) channel_msg;
+@@ -185,6 +189,7 @@ class GeneralChannelMessage : public GeneralMessageBase {
+   std::vector<std::string> writers_;
+ 
+   std::shared_ptr<apollo::cyber::message::RawMessage> channel_message_;
++  std::string channel_name_;
+   std::shared_ptr<apollo::cyber::Reader<apollo::cyber::message::RawMessage>>
+       channel_reader_;
+   mutable std::mutex inner_lock_;
+diff --git a/cyber/tools/cyber_monitor/main.cc b/cyber/tools/cyber_monitor/main.cc
+index f7777ea..79fb7db 100644
+--- a/cyber/tools/cyber_monitor/main.cc
++++ b/cyber/tools/cyber_monitor/main.cc
+@@ -19,6 +19,7 @@
+ 
+ #include "cyber/init.h"
+ #include "cyber/service_discovery/topology_manager.h"
++#include "cyber/task/task.h"
+ #include "cyber/tools/cyber_monitor/cyber_topology_message.h"
+ #include "cyber/tools/cyber_monitor/general_channel_message.h"
+ #include "cyber/tools/cyber_monitor/screen.h"
+@@ -82,8 +83,7 @@ int main(int argc, char *argv[]) {
+     case HELP:
+       printHelp(argv[0]);
+       return 0;
+-    default: {
+-    }
++    default: {}
+   }
+ 
+   apollo::cyber::Init(argv[0]);
+@@ -95,12 +95,18 @@ int main(int argc, char *argv[]) {
+ 
+   auto topology_callback =
+       [&topology_msg](const apollo::cyber::proto::ChangeMsg &change_msg) {
+-        topology_msg.TopologyChanged(change_msg);
++        apollo::cyber::Async([&topology_msg, change_msg] {
++          topology_msg.TopologyChanged(change_msg);
++        });
+       };
+ 
+   auto channel_manager =
+       apollo::cyber::service_discovery::TopologyManager::Instance()
+           ->channel_manager();
++  if (channel_manager == nullptr) {
++    AERROR << "Cyber Service Discovery is not ready.";
++    return -1;
++  }
+   channel_manager->AddChangeListener(topology_callback);
+ 
+   std::vector<apollo::cyber::proto::RoleAttributes> role_vec;
+diff --git a/cyber/tools/cyber_performance/BUILD b/cyber/tools/cyber_performance/BUILD
+new file mode 100644
+index 0000000..1e68ff3
+--- /dev/null
++++ b/cyber/tools/cyber_performance/BUILD
+@@ -0,0 +1,13 @@
++load("//tools/proto:proto.bzl", "apollo_py_binary")
++load("//tools:apollo_package.bzl", "apollo_package")
++
++package(
++    default_visibility = ["//visibility:public"],
++)
++
++apollo_py_binary(
++    name = "cyber_performance",
++    srcs = ["cyber_performance.py"],
++)
++
++apollo_package()
+\ No newline at end of file
+diff --git a/cyber/tools/cyber_performance/cyber_performance.launch b/cyber/tools/cyber_performance/cyber_performance.launch
+new file mode 100755
+index 0000000..2fe3b88
+--- /dev/null
++++ b/cyber/tools/cyber_performance/cyber_performance.launch
+@@ -0,0 +1,11 @@
++<cyber>
++    <module>
++        <name>cyber_performance</name>
++        <dag_conf></dag_conf>
++        <type>binary</type>
++        <process_name>
++            cyber_performance
++        </process_name>
++        <exception_handler>respawn</exception_handler>
++    </module>
++</cyber>
+\ No newline at end of file
+diff --git a/cyber/tools/cyber_performance/cyber_performance.py b/cyber/tools/cyber_performance/cyber_performance.py
+new file mode 100644
+index 0000000..d0f4a05
+--- /dev/null
++++ b/cyber/tools/cyber_performance/cyber_performance.py
+@@ -0,0 +1,789 @@
++#!/usr/bin/env python3
++# ****************************************************************************
++# Copyright 2024 The Apollo Authors. All Rights Reserved.
++#
++# Licensed under the Apache License, Version 2.0 (the "License");
++# you may not use this file except in compliance with the License.
++#  You may obtain a copy of the License at
++#
++# http://www.apache.org/licenses/LICENSE-2.0
++#
++# Unless required by applicable law or agreed to in writing, software
++# distributed under the License is distributed on an "AS IS" BASIS,
++# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++# See the License for the specific language governing permissions and
++# limitations under the License.
++# ****************************************************************************
++
++import time
++import json
++import os
++import re
++import threading
++import platform
++import subprocess
++from queue import Queue
++from datetime import datetime
++from flask import Flask, jsonify, render_template_string
++from watchdog.observers import Observer
++from watchdog.events import FileSystemEventHandler
++from cyber.python.cyber_py3 import cyber
++
++app = Flask(__name__)
++data_history = {
++    "time": Queue(maxsize = 20),
++    "data": {},
++}
++today = datetime.now()
++data_lock = threading.Lock()
++if 'APOLLO_ENV_WORKROOT' in os.environ:
++    DIRECTORY_TO_WATCH = os.path.join(os.environ['APOLLO_ENV_WORKROOT'], "dumps")
++    PERFORMANCE_TO_WRITE = os.path.join(os.environ['APOLLO_ENV_WORKROOT'], "data")
++else:
++    DIRECTORY_TO_WATCH = os.path.join("/apollo", "dumps")
++    PERFORMANCE_TO_WRITE = os.path.join("/apollo", "data")
++if not os.path.exists(DIRECTORY_TO_WATCH):
++    os.mkdir(DIRECTORY_TO_WATCH)
++if not os.path.exists(PERFORMANCE_TO_WRITE):
++    os.mkdir(PERFORMANCE_TO_WRITE)
++dumps_fio = open(
++  os.path.join(PERFORMANCE_TO_WRITE,
++    "performance_dumps.{}.json".format(today.strftime("%m-%d-%Y"))), "a+")
++sample_times = 0
++response = {}
++update_time = 5000
++chasis_channle = "/apollo/canbus/chassis"
++iface_path = "/sys/class/net"
++autodrive = False
++machine = platform.machine()
++nethogs_buf = ""
++process_network_io = {}
++network_data_lock = threading.Lock()
++
++sudo_prv = subprocess.run(
++    ['sudo', '-n', 'true'], stdout=None, stderr=None).returncode == 0
++
++remove_list = []
++for i in os.listdir(DIRECTORY_TO_WATCH):
++    if i.startswith("performance_dumps"):
++        date_str = i.split(".")[1]
++        try:
++            file_save_date = datetime.strptime(date_str, "%m-%d-%Y")
++        except:
++            remove_list.append(os.path.join(DIRECTORY_TO_WATCH, i))
++            continue 
++        if (today - file_save_date).days > 30:
++            remove_list.append(os.path.join(DIRECTORY_TO_WATCH, i))
++for i in remove_list:
++    os.remove(i)
++
++cyber_instance = None
++debounce_period = 1
++last_modified = {}
++
++class CyberChannelecho(object):
++
++    def __init__(self, channel_name):
++        cyber.init()
++        self.pattern = r"driving_mode:\s*(\w+)"
++        self.channel_name = channel_name
++        self.node = cyber.Node("listener_node_echo")
++        self.node.create_rawdata_reader(channel_name, self.callback)
++
++    def callback(self, raw_data):
++        global autodrive
++        msgtype = cyber.ChannelUtils.get_msgtype(self.channel_name, 0).decode('utf-8')
++        text = cyber.ChannelUtils.get_debugstring_rawmsgdata(msgtype, raw_data).decode('utf-8')
++        match = re.search(self.pattern, text)
++        if match:
++            ret = match.group(1)
++            if ret == "COMPLETE_AUTO_DRIVE":
++                autodrive = True
++            else:
++                autodrive = False 
++
++def cyber_task():
++    global cyber_instance
++    cyber_instance = CyberChannelecho(chasis_channle)
++
++def watcher_run():
++    global DIRECTORY_TO_WATCH
++    event_handler = Handler()
++    observer = Observer()
++    
++    observer.schedule(event_handler, DIRECTORY_TO_WATCH)
++    observer.start()
++    try:
++        while True:
++            time.sleep(5)
++    except KeyboardInterrupt:
++        observer.stop()
++    observer.join()
++
++def gpu_memory_usage(pid):
++    gpu_mem_kernel_file = "/sys/kernel/debug/nvmap/iovmm/maps"
++    gpu_mem = 0
++
++    if pid == -1:
++        return gpu_mem
++    if machine == "aarch64":
++        total, processes = read_process_table(gpu_mem_kernel_file)
++        if total is not None:
++            for p in processes:
++                if pid == int(p[0]):
++                    gpu_mem = int(p[3])
++                    break
++    else:
++        query_cmd = "nvidia-smi --query-compute-apps=pid,used_memory --format=csv,noheader,nounits"
++        p = subprocess.run(query_cmd, shell=True,
++                stdout=subprocess.PIPE, stderr=subprocess.PIPE)
++        stdout = p.stdout.decode("utf-8").strip().splitlines()
++        for line in stdout:
++            eles = [i.strip() for i in line.split(",")]
++            if len(eles) < 2:
++                break
++            if int(eles[0]) == pid:
++                gpu_mem = int(eles[1])
++                break
++    return gpu_mem
++
++def read_process_table(path_table):
++    """
++    This method list all processes working with GPU
++
++    ========== ============ ======== =============
++    user       process      PID      size
++    ========== ============ ======== =============
++    user       name process number   dictionary
++    ========== ============ ======== =============
++
++    :return: list of all processes
++    :type spin: list
++    """
++    if not os.path.exists(path_table):
++        return None, None
++    if not os.access(path_table, os.R_OK):
++        return None, None
++    MEM_TABLE_REG = re.compile(r'^(?P<user>\w+)\s+(?P<process>[^ ]+)\s+(?P<PID>\d+)\s+(?P<size>\d+)(?P<unit>\w)\n')
++    TOT_TABLE_REG = re.compile(r'total\s+(?P<size>\d+)(?P<unit>\w)')
++
++    table = []
++    total = {}
++    with open(path_table, "r") as fp:
++        for line in fp:
++            # Search line
++            match = re.search(MEM_TABLE_REG, line)
++            if match:
++                parsed_line = match.groupdict()
++                data = [
++                    parsed_line['PID'],
++                    parsed_line['user'],
++                    parsed_line['process'],
++                    int(parsed_line['size']),
++                ]
++                table += [data]
++                continue
++            # Find total on table
++            match = re.search(TOT_TABLE_REG, line)
++            if match:
++                parsed_line = match.groupdict()
++                total = int(parsed_line['size'])
++                continue
++    # return total and table
++    return total, table
++
++class Handler(FileSystemEventHandler):
++    @staticmethod
++    def on_any_event(event):
++        global data_history 
++        global data_lock
++        global autodrive
++        global network_data_lock, process_network_io
++
++        if event.is_directory:
++            return None
++
++        elif event.event_type == 'created' or event.event_type == 'modified':
++            if not event.src_path.endswith(".system.data"):
++                return None
++
++            current_time = time.time()
++            last_mod_time = last_modified.get(event.src_path, 0)
++
++            if current_time - last_mod_time <= debounce_period:
++                return None
++            else:
++                last_modified[event.src_path] = current_time
++            
++            print(f'Event type: {event.event_type}  path : {event.src_path}')
++            file_name = event.src_path.replace(DIRECTORY_TO_WATCH + "/", "")
++            process_name = file_name.replace(".system.data", "")
++            pid_file_name = event.src_path.replace(".system.data", ".data")
++            latency_file_name = event.src_path.replace(".system.data", ".latency.data") 
++            while True:
++                with open(event.src_path, 'r') as f:
++                    current_data = {}
++                    current_data["autodrive"] = autodrive
++                    contents = f.read().split("\n")
++                    if len(contents) == 0:
++                        continue
++                    elif len(contents) == 1 and contents[0] == "":
++                        continue
++                    for line in contents:
++                        if line == "":
++                            continue
++                        instance = line.strip().split(" : ")
++                        if len(instance) == 1:
++                            continue
++                        
++                        if instance[0].endswith("cpu_usage"):
++                            current_data["BASIC - cpu_usage(%, single-core)"] = float(instance[1]) * 100
++                        elif instance[0].endswith("memory_resident"):
++                            current_data["BASIC - memory(MB)"] = int(instance[1]) / 1024 / 1024
++                        elif instance[0].endswith("disk_read_bytes_second"):
++                            current_data["BLOCK_DEVICE_IO - block_device_io_read(rkB/s)"] = int(instance[1]) / 1024
++                        elif instance[0].endswith("disk_write_bytes_second"):
++                            current_data["BLOCK_DEVICE_IO - block_device_io_write(wkB/s)"] = int(instance[1]) / 1024
++                        else:
++                            continue
++                    break
++            pid = -1
++
++            with open(pid_file_name, "r") as pf:
++                contents = pf.readlines()
++                for line in contents:
++                    if line == "":
++                        continue
++                    instance = line.strip().split(" : ")
++                    if len(instance) == 1:
++                        continue
++                    if instance[0].endswith("_pid"):
++                        pid = int(instance[1])
++                        break
++            gpu_mem = gpu_memory_usage(pid)
++
++            with open(latency_file_name, "r") as lf:
++                contents = lf.readlines()
++                has_proc_info = False
++                for line in contents:
++                    if "proc_latency :" in line:
++                        instance = line.split(" : ")
++                        latency_name = instance[0].replace("mainboard_", "")
++                        latency_val = float((instance[1].strip())) / 1000
++                    else:
++                        continue
++                    has_proc_info = True
++                    current_data[f"E2E_LATENCY - {latency_name}(ms)"] = latency_val
++            if not has_proc_info:
++                return 
++            with network_data_lock:
++                if pid in process_network_io:
++                    current_data["ETHERNET_DEVICE_IO - ethernet_device_io_write(wkB/s)"] = process_network_io[pid]["tx"]
++                    current_data["ETHERNET_DEVICE_IO - ethernet_device_io_read(rkB/s)"] = process_network_io[pid]["rx"] 
++                else:
++                    current_data["ETHERNET_DEVICE_IO - ethernet_device_io_write(wkB/s)"] = 0
++                    current_data["ETHERNET_DEVICE_IO - ethernet_device_io_read(rkB/s)"] = 0  
++            
++            current_data["BASIC - gpu_memory(MB)"] = gpu_mem / 1024
++                    
++            with data_lock:
++                if process_name not in data_history["data"]:  
++                    data_history["data"][process_name] = {}
++                    data_history["data"][process_name]["time"] = Queue(maxsize = 20)
++                
++                for key in current_data:
++                    if key not in data_history["data"][process_name]:
++                        data_history["data"][process_name][key] = Queue(maxsize = 20)
++
++                time_format = datetime.now().strftime("%m/%d/%Y, %H:%M:%S")
++                if data_history["data"][process_name]["time"].full():
++                    data_history["data"][process_name]["time"].get()
++                data_history["data"][process_name]["time"].put(time_format)
++
++                for key, value in current_data.items():
++                    if data_history["data"][process_name][key].full():
++                        data_history["data"][process_name][key].get()
++                    data_history["data"][process_name][key].put(value)
++
++
++def sample_task():
++  global data_history 
++  global sample_times
++  global dumps_fio
++  global response
++  global autodrive
++
++  p = subprocess.run(
++      "which tegrastats", shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
++
++  tegrastats = None
++  if p.returncode == 0:
++      tegrastats = p.stdout.decode("utf-8").strip()
++
++  system_info = {
++    "system-cpu": Queue(maxsize = 20),
++    "system-memory": Queue(maxsize = 20),
++    "system-gpu": Queue(maxsize = 20),
++    "time": Queue(maxsize = 20),
++    "system-io-usage": Queue(maxsize = 20),
++    "autodrive": Queue(maxsize = 20),
++    "block-device-io" : {},
++    "ethernet-device-io": {}
++  }
++  
++  while True:
++      sample_times = sample_times + 1
++      system_cpu = None
++      system_memory = None
++      system_gpu = None
++      system_io_usage = None
++      if tegrastats is not None:
++          time_format = datetime.now().strftime("%m/%d/%Y, %H:%M:%S")
++          p = subprocess.run(
++              " ".join(["timeout", "2", tegrastats]), shell=True, 
++              stdout=subprocess.PIPE, stderr=subprocess.PIPE)
++          stdout = p.stdout.decode("utf-8").strip()
++
++          cpu_usage_pattern = re.compile(r'\bCPU \[(.*?)\]')
++          match_result = cpu_usage_pattern.findall(stdout)
++          if len(match_result) > 0:
++              usages = re.findall(r'(\d+)%@', match_result[0])
++              system_cpu = 0
++              for usage in usages:
++                  system_cpu += float(usage)
++              system_cpu = system_cpu / len(usages)
++          
++          gpu_usage_pattern = re.compile(r'GR3D_FREQ (\d+)%')
++          match_result = gpu_usage_pattern.findall(stdout)
++          if len(match_result) > 0:
++              system_gpu = float(match_result[0])
++
++          p = subprocess.run(
++              "vmstat 1 2 | awk '{print $16}' | tail -n 1", shell=True, 
++              stdout=subprocess.PIPE, stderr=subprocess.PIPE)
++          stdout = p.stdout.decode("utf-8").strip()
++          system_io_usage = float(stdout)
++      else:
++          p = subprocess.run(
++              "top -bn2 | grep Cpu | awk '{print $8}' | tail -n 1", shell=True, 
++              stdout=subprocess.PIPE, stderr=subprocess.PIPE)
++          stdout = p.stdout.decode("utf-8").strip()
++          time_format = datetime.now().strftime("%m/%d/%Y, %H:%M:%S")
++          system_cpu = 100 - float(stdout) 
++
++          system_gpu = 0 
++
++          p = subprocess.run(
++              "vmstat | awk '{print $16}' | tail -n 1", shell=True, 
++              stdout=subprocess.PIPE, stderr=subprocess.PIPE)
++          stdout = p.stdout.decode("utf-8").strip()
++          system_io_usage = float(stdout)
++      p = subprocess.run("cat /proc/meminfo",
++          shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
++      stdout = p.stdout.decode("utf-8").strip().splitlines()
++      meminfo = {}
++      for i in stdout:
++          k, v = i.split(":")[0].strip().lower(), i.split(":")[1].strip()
++          value = round(int(v.strip().split(' ')[0]) / 1024, 2)
++          meminfo[k] = value
++      
++      total = meminfo["memtotal"]
++      buffers = meminfo["buffers"]
++      cached = meminfo["cached"]
++      sreclaimable = meminfo["sreclaimable"]
++      free = meminfo["memfree"]
++      shm = meminfo["shmem"]
++      if "memavailable" not in meminfo:
++          used_without_shm = total - buffers - cached - sreclaimable
++          used = used_without_shm + shm
++      else:
++          available = meminfo["memavailable"]
++          used = total - available
++      system_memory = used 
++          
++      if system_cpu is not None \
++            and system_gpu is not None \
++            and system_memory is not None \
++            and system_io_usage is not None:
++          if system_info["time"].full():
++              system_info["time"].get()
++          system_info["time"].put(time_format) 
++          if system_info["system-cpu"].full():
++              system_info["system-cpu"].get()
++          system_info["system-cpu"].put(system_cpu) 
++          if system_info["system-gpu"].full():
++              system_info["system-gpu"].get()
++          system_info["system-gpu"].put(system_gpu)
++          if system_info["system-memory"].full():
++              system_info["system-memory"].get()
++          system_info["system-memory"].put(system_memory)
++          if system_info["system-io-usage"].full():
++              system_info["system-io-usage"].get()
++          system_info["system-io-usage"].put(system_io_usage)
++          if system_info["autodrive"].full():
++              system_info["autodrive"].get()
++          system_info["autodrive"].put(autodrive) 
++      
++      p = subprocess.run(
++          "lsblk -o NAME,TYPE,SIZE,TRAN --json", shell=True, 
++          stdout=subprocess.PIPE, stderr=subprocess.PIPE)
++      stdout = p.stdout.decode("utf-8").strip()
++      blk_devices = json.loads(stdout)
++      blk_monitor_devices = []
++      try:
++          for dev in blk_devices["blockdevices"]:
++              if dev["type"] != "disk":
++                  continue
++                
++              if dev["tran"] == "nvme" or dev["tran"] == "sata": 
++                  blk_monitor_devices.append(dev["name"])
++              elif dev["tran"] == "null" and "children" in dev:
++                  blk_monitor_devices.append(dev["name"])
++          blk_monitor_devices = list(filter(
++              lambda x: os.path.exists(f"/dev/{x}"), blk_monitor_devices))
++      except Exception as ex:
++          blk_monitor_devices = []
++
++      if len(blk_monitor_devices) > 0:
++          for dev in blk_monitor_devices:
++              if dev not in system_info["block-device-io"]:
++                  system_info["block-device-io"][dev] = {
++                      "rkB/s": Queue(maxsize = 20),
++                      "wkB/s": Queue(maxsize = 20),
++                      "r/s": Queue(maxsize = 20),
++                      "w/s": Queue(maxsize = 20),
++                      "r_await": Queue(maxsize = 20),
++                      "w_await": Queue(maxsize = 20),
++                      "aqu-sz": Queue(maxsize = 20)
++                  }
++
++          query_devices = " ".join(blk_monitor_devices)
++          stat_length = len(blk_monitor_devices) + 1
++          query_cmd = f"iostat -xk 1 2 {query_devices} | grep -v '^$' | tail -n {stat_length}"
++
++          p = subprocess.run(query_cmd, shell=True, 
++              stdout=subprocess.PIPE, stderr=subprocess.PIPE)
++          stdout = p.stdout.decode("utf-8").strip().splitlines()
++          
++          monitor_items = list(filter(lambda x: x != "", stdout[0].split(" ")))
++          for i in range(1, len(stdout)):
++              dev_res = list(filter(lambda x: x != "", stdout[i].split(" ")))
++              dev_name = dev_res[0]
++              for j in range(1, len(monitor_items)):
++                  if monitor_items[j] not in system_info["block-device-io"][dev_name]:
++                      continue
++                  monitor_item = monitor_items[j]
++                  if system_info["block-device-io"][dev_name][monitor_item].full():
++                      system_info["block-device-io"][dev_name][monitor_item].get()
++                  system_info["block-device-io"][dev_name][monitor_item].put(dev_res[j])
++      
++      eth_devices = []
++      for i in os.listdir(iface_path):
++          if os.path.exists(os.path.join(iface_path, i, "device", "driver")):
++              eth_devices.append(i)
++      if len(eth_devices) > 0:
++          for dev in eth_devices:
++              if dev not in system_info["ethernet-device-io"]:
++                  system_info["ethernet-device-io"][dev] = {
++                      "rxkB/s": Queue(maxsize = 20),
++                      "txkB/s": Queue(maxsize = 20),
++                      "%ifutil": Queue(maxsize = 20)
++                  }
++          query_cmd = "sar -n DEV 1 1 | grep --color=never Average"
++          p = subprocess.run(query_cmd, shell=True, 
++              stdout=subprocess.PIPE, stderr=subprocess.PIPE)
++          stdout = p.stdout.decode("utf-8").strip().splitlines()
++
++          monitor_items = list(filter(lambda x: x != "", stdout[0].split(" ")))
++          for i in range(1, len(stdout)):
++              dev_res = list(filter(lambda x: x != "", stdout[i].split(" ")))
++              dev_name = dev_res[1]
++              if dev_name not in system_info["ethernet-device-io"]:
++                  continue
++              for j in range(2, len(monitor_items)):
++                  if monitor_items[j] not in system_info["ethernet-device-io"][dev_name]:
++                      continue
++                  monitor_item = monitor_items[j]
++                  if system_info["ethernet-device-io"][dev_name][monitor_item].full():
++                      system_info["ethernet-device-io"][dev_name][monitor_item].get()
++                  system_info["ethernet-device-io"][dev_name][monitor_item].put(dev_res[j]) 
++
++      # system metrics
++      response = {
++          "data": {"system": {}}
++      }
++
++      # status
++      response["data"]["system"]["time"] = list(system_info["time"].queue)
++      response["data"]["system"]["autodrive"] = list(system_info["autodrive"].queue)
++      
++      # basic performance metrics
++      response["data"]["system"]["BASIC - system - cpu_usage(%, all-core)"] = list(system_info["system-cpu"].queue)
++      response["data"]["system"]["BASIC - system - gpu_usage(%)"] = list(system_info["system-gpu"].queue)
++      response["data"]["system"]["BASIC - system - memory(MB)"] = list(system_info["system-memory"].queue)
++
++      # io metrics
++      response["data"]["system"]["BLOCK_DEVICE_IO - system - io_wait_usage(%)"] = list(system_info["system-io-usage"].queue)
++      for dev in system_info["block-device-io"]:
++          for io_metric in system_info["block-device-io"][dev]:
++              response["data"]["system"][f"BLOCK_DEVICE_IO - {dev} - {io_metric}"] = \
++                  list(system_info["block-device-io"][dev][io_metric].queue)
++      for dev in system_info["ethernet-device-io"]:
++          for io_metric in system_info["ethernet-device-io"][dev]:
++              response["data"]["system"][f"ETHERNET_DEVICE_IO - {dev} - {io_metric}"] = \
++                  list(system_info["ethernet-device-io"][dev][io_metric].queue)
++    
++      # process metrics
++      for p in data_history["data"]:
++          response["data"][p] = {}
++          for monitor_instance in data_history["data"][p]:
++              response["data"][p][monitor_instance] = list(
++                  data_history["data"][p][monitor_instance].queue)
++
++      if sample_times >= 20:
++          dumps_fio.write(json.dumps(response))
++          dumps_fio.write('\n')
++          dumps_fio.flush()
++          sample_times = 0
++
++      time.sleep(update_time / 1000)
++@app.route('/get_data', methods=['GET'])  
++def get_data():  
++  global response 
++  
++  return jsonify(response)
++  
++@app.route('/')  
++def index():  
++    return render_template_string('''
++<!DOCTYPE html>
++<html lang="en">
++<head>
++  <meta charset="UTF-8">
++  <meta name="viewport" content="width=device-width, initial-scale=1.0">
++  <title>cyber_performance</title>
++  <!-- Include Chart.js -->
++  <script src="https://apollo-system.cdn.bcebos.com/archive/9.0/chart.js"></script>
++  <style>
++    .chart-container {
++      display: flex;
++      flex-wrap: wrap;
++      justify-content: flex-start; /* Align charts to the start of the container */
++    }
++
++    .chart-item {
++      width: calc(33.33% - 20px); /* Adjusted to make each chart take up one-third of the container width with some spacing */
++      margin: 10px; /* Add margin for spacing between charts */
++      max-width: calc(33.33% - 20px); /* Set max-width to ensure charts don't exceed one-third of the container width */
++    }
++
++    canvas {
++      max-width: 100%;
++    }
++  </style>
++</head>
++<body>
++  <select id="processSelector">
++        <!-- dynamically added by JS code -->
++  </select>
++  <div class="chart-container" id="chartsContainer"></div>
++  
++
++  <script>
++    let selectedProcess = 'system';
++    let chartMap = {};
++
++    // Function to update the process selection dropdown
++    function updateProcessSelection(processNames) {
++      const processSelector = document.getElementById('processSelector');
++      processSelector.innerHTML = ''; // Should we clear current option?
++      processNames.forEach(processName => {
++        const option = document.createElement('option');
++        option.value = processName;
++        option.textContent = processName;
++        if (processName === selectedProcess) {
++          option.selected = true;
++        }
++        processSelector.appendChild(option);
++      });
++    }
++
++    // Function to handle process selection changes
++    function onProcessSelectionChange() {
++      const processSelector = document.getElementById('processSelector');
++      if (selectedProcess !== processSelector.value) {
++        selectedProcess = processSelector.value;
++        const chartsContainer = document.getElementById('chartsContainer');
++        chartsContainer.innerHTML = ''; // Remove all child elements (charts)
++        chartMap = {}; // Reset the chartMap since all charts are removed
++      }
++      updateCharts();
++    }
++
++    async function updateCharts() {
++      const data = await fetchData();
++      if (!data || !data.data) {
++        return;
++      }
++      const time = data.time;
++      const processData = data.data;
++
++      const processNames = Object.keys(processData);
++
++      const chartsContainer = document.getElementById('chartsContainer');
++
++      processNames.forEach(processName => {
++        const monitoringItems = Object.keys(processData[processName]);
++        if (processName === selectedProcess) { 
++          // Only proceed if process is selected
++          // Existing code to create/update charts
++          monitoringItems.filter(item => item !== 'time' && item !== 'autodrive').forEach(item => {
++            const chartId = processName + '-' + item + 'Chart';
++
++            if (chartMap[chartId]) {
++              // Update existing chart
++              const chart = chartMap[chartId];
++              chart.data.labels = processData[processName]['time'];
++              chart.data.datasets[0].data = processData[processName][item];
++              chart.update();
++            } else {
++              // Create new chart container and canvas
++              const chartItem = document.createElement('div');
++              chartItem.classList.add('chart-item');
++              chartsContainer.appendChild(chartItem);
++
++              const canvas = document.createElement('canvas');
++              canvas.id = chartId;
++              chartItem.appendChild(canvas);
++
++              // Initialize chart data object
++              const chartData = {
++                labels: processData[processName]['time'],
++                datasets: [{
++                  label: item,
++                  data: processData[processName][item],
++                  borderColor: getRandomColor(),
++                  backgroundColor: 'rgba(255, 255, 255, 0)', // Transparent background
++                  borderWidth: 1
++                }]
++              };
++
++              // Create new chart and save reference
++              const ctx = canvas.getContext('2d');
++              const newChart = new Chart(ctx, {
++                type: 'line',
++                data: chartData,
++                options: {
++                  scales: {
++                    xAxes: [{
++                      type: 'category', // Set type to 'category' for string labels
++                      position: 'bottom',
++                      ticks: {
++                        stepSize: 1,
++                        beginAtZero: true
++                      }
++                    }],
++                    yAxes: [{
++                      ticks: {
++                        beginAtZero: true
++                      }
++                    }]
++                  },
++                  plugins: [{
++                    afterDraw: function(chart) {
++                      const ctx = chart.ctx;
++                      ctx.save();
++                      ctx.textAlign = 'center';
++                      ctx.textBaseline = 'middle';
++                      ctx.fillStyle = 'rgba(0, 0, 0, 0.7)';
++                      ctx.font = '12px Arial';
++                      ctx.fillText('Memory (MB)', chart.chartArea.right + 20, chart.chartArea.top + (chart.chartArea.bottom - chart.chartArea.top) / 2);
++                      ctx.restore();
++                    }
++                  }]
++                }
++              });
++
++              chartMap[chartId] = newChart;
++            }
++          });
++        }
++
++      });
++    }
++
++    document.getElementById('processSelector').addEventListener('change', onProcessSelectionChange);
++
++    // Function to fetch data from backend API
++    async function fetchData() {
++      const response = await fetch('/get_data');
++      const data = await response.json();
++      if (data && data.data) {
++        const processNames = Object.keys(data.data);
++        updateProcessSelection(processNames);
++      }
++      return data;
++    }
++
++    // Function to generate random color
++    function getRandomColor() {
++      const letters = '0123456789ABCDEF';
++      let color = '#';
++      for (let i = 0; i < 6; i++) {
++        color += letters[Math.floor(Math.random() * 16)];
++      }
++      return color;
++    }
++
++    // Update charts every 5 seconds
++    setInterval(updateCharts, 5000);
++
++    // Initial call to update charts
++    updateCharts();
++  </script>
++</body>
++</html>
++    ''')  
++
++if __name__ == '__main__':
++    system_sample_thread = threading.Thread(target=sample_task)
++    system_sample_thread.daemon = True
++    system_sample_thread.start()
++    
++    watchdog_thread = threading.Thread(target=watcher_run)
++    watchdog_thread.daemon = True
++    watchdog_thread.start()
++
++    if sudo_prv:
++        nethogs_process = subprocess.Popen(
++            ['sudo', 'nethogs', '-t'], stdout=subprocess.PIPE,
++            stderr=subprocess.PIPE, bufsize=1, universal_newlines=True)
++
++        def parse_nethogs_output():
++            global nethogs_buf, process_network_io, network_data_lock
++            for line in iter(nethogs_process.stdout.readline, ''):
++                if line.startswith("Refreshing:"):
++                    with network_data_lock:
++                        process_network_io = {}
++                        nethogs_buf_list = list(filter(lambda x: x!= "", nethogs_buf.split("\n")))
++                        for i in nethogs_buf_list:
++                            raw_line = list(filter(lambda x: x != "", i.split(" ")))
++                            raw_process_info = raw_line[0].split("\t")
++                            process_info = raw_process_info[0].split("/")
++                            if len(process_info) < 3 or int(process_info[-2]) == 0:
++                                continue
++                            process_network_io[int(process_info[-2])] = {} 
++                            process_network_io[int(process_info[-2])]["rx"] = float(raw_process_info[2])
++                            process_network_io[int(process_info[-2])]["tx"] = float(raw_process_info[1])
++                    nethogs_buf = ""
++                else:
++                    nethogs_buf = nethogs_buf + line
++        
++        network_sample_thread = threading.Thread(target=parse_nethogs_output)
++        network_sample_thread.daemon = True
++        network_sample_thread.start()
++
++    cyber_task()
++    
++    app.run(host="0.0.0.0", threaded=True)
++
+diff --git a/cyber/tools/cyber_recorder/BUILD b/cyber/tools/cyber_recorder/BUILD
+index a53af19..14c1e0f 100644
+--- a/cyber/tools/cyber_recorder/BUILD
++++ b/cyber/tools/cyber_recorder/BUILD
+@@ -8,7 +8,11 @@ apollo_cc_binary(
+     srcs = [
+         "main.cc",
+     ],
+-    linkopts = ["-pthread"],
++    linkopts = [
++        "-pthread",
++        "-lprofiler",
++        "-ltcmalloc",
++    ],
+     deps = [
+         ":recorder",
+         "//cyber",
+@@ -34,7 +38,7 @@ apollo_cc_library(
+         "//cyber",
+         "//cyber/common:cyber_common",
+         "//cyber/proto:record_cc_proto",
+-        "@fastrtps",
++        "@fastdds",
+     ],
+ )
+ 
+diff --git a/cyber/tools/cyber_recorder/main.cc b/cyber/tools/cyber_recorder/main.cc
+index b43396b..1136b98 100644
+--- a/cyber/tools/cyber_recorder/main.cc
++++ b/cyber/tools/cyber_recorder/main.cc
+@@ -15,12 +15,15 @@
+  *****************************************************************************/
+ 
+ #include <getopt.h>
++#include <csignal>
+ #include <cstddef>
++#include <filesystem>
+ #include <memory>
+ #include <stdexcept>
+ #include <string>
+ #include <vector>
+ 
++#include "cyber/common/environment.h"
+ #include "cyber/common/file.h"
+ #include "cyber/common/time_conversion.h"
+ #include "cyber/init.h"
+@@ -30,6 +33,11 @@
+ #include "cyber/tools/cyber_recorder/recoverer.h"
+ #include "cyber/tools/cyber_recorder/spliter.h"
+ 
++#include "gflags/gflags.h"
++#include "gperftools/heap-profiler.h"
++#include "gperftools/malloc_extension.h"
++#include "gperftools/profiler.h"
++
+ using apollo::cyber::common::GetFileName;
+ using apollo::cyber::common::StringToUnixSeconds;
+ using apollo::cyber::common::UnixSecondsToString;
+@@ -42,7 +50,7 @@ using apollo::cyber::record::Recoverer;
+ using apollo::cyber::record::Spliter;
+ 
+ const char INFO_OPTIONS[] = "h";
+-const char RECORD_OPTIONS[] = "o:ac:k:i:m:h";
++const char RECORD_OPTIONS[] = "o:ac:k:i:m:hCH";
+ const char PLAY_OPTIONS[] = "f:ac:k:lr:b:e:s:d:p:h";
+ const char SPLIT_OPTIONS[] = "f:o:c:k:b:e:h";
+ const char RECOVER_OPTIONS[] = "f:o:h";
+@@ -148,6 +156,13 @@ void DisplayUsage(const std::string& binary, const std::string& command,
+       case 'h':
+         std::cout << "\t-h, --help\t\t\t\tshow help message" << std::endl;
+         break;
++      case 'H':
++        std::cout << "\t-H, --heap-profule\t\t\t\tprofile heap info"
++                  << std::endl;
++        break;
++      case 'C':
++        std::cout << "\t-C, --cpu-profule\t\t\t\tprofile cpu info" << std::endl;
++        break;
+       case ':':
+         break;
+       default:
+@@ -170,7 +185,7 @@ int main(int argc, char** argv) {
+   }
+ 
+   int long_index = 0;
+-  const std::string short_opts = "f:c:k:o:alr:b:e:s:d:p:i:m:h";
++  const std::string short_opts = "f:c:k:o:alr:b:e:s:d:p:i:m:hCH";
+   static const struct option long_opts[] = {
+       {"files", required_argument, nullptr, 'f'},
+       {"white-channel", required_argument, nullptr, 'c'},
+@@ -186,12 +201,16 @@ int main(int argc, char** argv) {
+       {"preload", required_argument, nullptr, 'p'},
+       {"segment-interval", required_argument, nullptr, 'i'},
+       {"segment-size", required_argument, nullptr, 'm'},
+-      {"help", no_argument, nullptr, 'h'}};
++      {"help", no_argument, nullptr, 'h'},
++      {"cpu-profile", no_argument, nullptr, 'C'},
++      {"heap-profule", no_argument, nullptr, 'H'}};
+ 
+   std::vector<std::string> opt_file_vec;
+   std::vector<std::string> opt_output_vec;
+   std::vector<std::string> opt_white_channels;
+   std::vector<std::string> opt_black_channels;
++  static bool enable_cpu_profile = false;
++  static bool enable_heap_profile = false;
+   bool opt_all = false;
+   bool opt_loop = false;
+   float opt_rate = 1.0f;
+@@ -209,11 +228,37 @@ int main(int argc, char** argv) {
+       break;
+     }
+     switch (opt) {
++      case 'C':
++        enable_cpu_profile = true;
++        break;
++      case 'H':
++        enable_heap_profile = true;
++        break;
+       case 'f':
+-        opt_file_vec.emplace_back(std::string(optarg));
++        if (!apollo::cyber::common::PathIsAbsolute(std::string(optarg))) {
++          auto opt_file_abs_path =
++              apollo::cyber::common::GetEnv("PWD") + "/" + std::string(optarg);
++          if (apollo::cyber::common::PathExists(opt_file_abs_path)) {
++            opt_file_vec.emplace_back(opt_file_abs_path);
++          } else {
++            opt_file_vec.emplace_back(std::string(optarg));
++          }
++        } else {
++          opt_file_vec.emplace_back(std::string(optarg));
++        }
+         for (int i = optind; i < argc; i++) {
+           if (*argv[i] != '-') {
+-            opt_file_vec.emplace_back(std::string(argv[i]));
++            if (!apollo::cyber::common::PathIsAbsolute(std::string(argv[i]))) {
++              auto opt_file_abs_path = apollo::cyber::common::GetEnv("PWD") +
++                                       "/" + std::string(argv[i]);
++              if (apollo::cyber::common::PathExists(opt_file_abs_path)) {
++                opt_file_vec.emplace_back(opt_file_abs_path);
++              } else {
++                opt_file_vec.emplace_back(std::string(argv[i]));
++              }
++            } else {
++              opt_file_vec.emplace_back(std::string(argv[i]));
++            }
+           } else {
+             break;
+           }
+@@ -240,7 +285,13 @@ int main(int argc, char** argv) {
+         }
+         break;
+       case 'o':
+-        opt_output_vec.push_back(std::string(optarg));
++        if (!apollo::cyber::common::PathIsAbsolute(std::string(optarg))) {
++          auto opt_output_file_abs_path =
++              apollo::cyber::common::GetEnv("PWD") + "/" + std::string(optarg);
++          opt_output_vec.push_back(opt_output_file_abs_path);
++        } else {
++          opt_output_vec.push_back(std::string(optarg));
++        }
+         break;
+       case 'a':
+         opt_all = true;
+@@ -360,6 +411,13 @@ int main(int argc, char** argv) {
+       std::cout << "usage: cyber_recorder info file" << std::endl;
+       return -1;
+     }
++    if (!apollo::cyber::common::PathIsAbsolute(file_path)) {
++      auto file_path_abs =
++          apollo::cyber::common::GetEnv("PWD") + "/" + std::string(file_path);
++      if (std::filesystem::exists(file_path_abs)) {
++        file_path = file_path_abs;
++      }
++    }
+     ::apollo::cyber::Init(argv[0]);
+     Info info;
+     bool info_result = info.Display(file_path);
+@@ -388,7 +446,7 @@ int main(int argc, char** argv) {
+       std::cout << "MUST specify file option (-f)." << std::endl;
+       return -1;
+     }
+-    ::apollo::cyber::Init(argv[0]);
++    ::apollo::cyber::Init(argv[0], "cyber_recorder");
+     PlayParam play_param;
+     play_param.is_play_all_channels = opt_all || opt_white_channels.empty();
+     play_param.is_loop_playback = opt_loop;
+@@ -419,6 +477,7 @@ int main(int argc, char** argv) {
+     }
+     if (opt_output_vec.empty()) {
+       std::string default_output_file =
++          apollo::cyber::common::GetEnv("PWD") + "/" +
+           UnixSecondsToString(time(nullptr), "%Y%m%d%H%M%S") + ".record";
+       opt_output_vec.push_back(default_output_file);
+     }
+@@ -426,6 +485,35 @@ int main(int argc, char** argv) {
+     auto recorder = std::make_shared<Recorder>(opt_output_vec[0], opt_all,
+                                                opt_white_channels,
+                                                opt_black_channels, opt_header);
++    std::signal(SIGTERM, [](int sig) {
++      apollo::cyber::OnShutdown(sig);
++      if (enable_cpu_profile) {
++        ProfilerStop();
++      }
++      if (enable_heap_profile) {
++        HeapProfilerDump("Befor shutdown");
++        HeapProfilerStop();
++      }
++    });
++
++    std::signal(SIGINT, [](int sig) {
++      apollo::cyber::OnShutdown(sig);
++      if (enable_cpu_profile) {
++        ProfilerStop();
++      }
++      if (enable_heap_profile) {
++        HeapProfilerDump("Befor shutdown");
++        HeapProfilerStop();
++      }
++    });
++
++    auto base_name = std::string(argv[0]) + std::string(".prof");
++    if (enable_cpu_profile) {
++      ProfilerStart(base_name.c_str());
++    }
++    if (enable_heap_profile) {
++      HeapProfilerStart(base_name.c_str());
++    }
+     bool record_result = recorder->Start();
+     if (record_result) {
+       while (!::apollo::cyber::IsShutdown()) {
+diff --git a/cyber/transport/BUILD b/cyber/transport/BUILD
+index eb81b20..1e920a0 100644
+--- a/cyber/transport/BUILD
++++ b/cyber/transport/BUILD
+@@ -1,53 +1,105 @@
+ load("//tools:cpplint.bzl", "cpplint")
+-load("//tools:apollo_package.bzl", "apollo_cc_library", "apollo_package", "apollo_cc_test")
++load("//tools:apollo_package.bzl", "apollo_cc_library", "apollo_cc_test", "apollo_package")
+ 
+ package(default_visibility = ["//visibility:public"])
+ 
+ apollo_cc_library(
+     name = "cyber_transport",
+     srcs = [
+-        'transport.cc', 'shm/segment.cc', 'shm/condition_notifier.cc', 
+-        'shm/segment_factory.cc', 'shm/posix_segment.cc', 'shm/state.cc', 
+-        'shm/multicast_notifier.cc', 'shm/block.cc', 'shm/shm_conf.cc', 
+-        'shm/xsi_segment.cc', 'shm/readable_info.cc', 'shm/notifier_factory.cc', 
+-        'qos/qos_profile_conf.cc', 'common/identity.cc', 'common/endpoint.cc', 
+-        'dispatcher/intra_dispatcher.cc', 'dispatcher/shm_dispatcher.cc', 
+-        'dispatcher/rtps_dispatcher.cc', 'dispatcher/dispatcher.cc', 
+-        'message/message_info.cc', 'rtps/participant.cc', 'rtps/attributes_filler.cc', 
+-        'rtps/sub_listener.cc', 'rtps/underlay_message_type.cc', 
+-        'rtps/underlay_message.cc'
++        "common/endpoint.cc",
++        "common/identity.cc",
++        "dispatcher/dispatcher.cc",
++        "dispatcher/intra_dispatcher.cc",
++        "dispatcher/rtps_dispatcher.cc",
++        "dispatcher/subscriber_listener.cc",
++        "dispatcher/shm_dispatcher.cc",
++        "message/message_info.cc",
++        "qos/qos_profile_conf.cc",
++        "qos/qos_filler.cc", 
++        "rtps/attributes_filler.cc",
++        "rtps/participant.cc",
++        "rtps/publisher.cc",
++        "rtps/subscriber.cc",
++        "rtps/underlay_message.cc",
++        "rtps/underlay_message_type.cc",
++        "shm/arena_address_allocator.cc",
++        "shm/block.cc",
++        "shm/condition_notifier.cc",
++        "shm/multicast_notifier.cc",
++        "shm/notifier_factory.cc",
++        "shm/posix_segment.cc",
++        "shm/protobuf_arena_manager.cc",
++        "shm/readable_info.cc",
++        "shm/segment.cc",
++        "shm/segment_factory.cc",
++        "shm/shm_conf.cc",
++        "shm/state.cc",
++        "shm/xsi_segment.cc",
++        "transport.cc",
+     ],
+     hdrs = [
+-        'transport.h', 'shm/state.h', 'shm/xsi_segment.h', 
+-        'shm/notifier_factory.h', 'shm/block.h', 'shm/shm_conf.h', 
+-        'shm/readable_info.h', 'shm/posix_segment.h', 'shm/segment_factory.h', 
+-        'shm/multicast_notifier.h', 'shm/segment.h', 'shm/notifier_base.h', 
+-        'shm/condition_notifier.h', 'qos/qos_profile_conf.h', 'common/identity.h', 
+-        'common/endpoint.h', 'receiver/hybrid_receiver.h', 'receiver/shm_receiver.h', 
+-        'receiver/receiver.h', 'receiver/intra_receiver.h', 'receiver/rtps_receiver.h', 
+-        'transmitter/rtps_transmitter.h', 'transmitter/transmitter.h', 
+-        'transmitter/shm_transmitter.h', 'transmitter/hybrid_transmitter.h', 
+-        'transmitter/intra_transmitter.h', 'dispatcher/dispatcher.h', 
+-        'dispatcher/intra_dispatcher.h', 'dispatcher/rtps_dispatcher.h', 
+-        'dispatcher/shm_dispatcher.h', 'message/history.h', 'message/listener_handler.h', 
+-        'message/history_attributes.h', 'message/message_info.h', 
+-        'rtps/attributes_filler.h', 'rtps/underlay_message.h', 'rtps/participant.h', 
+-        'rtps/sub_listener.h', 'rtps/underlay_message_type.h'
++        "common/endpoint.h",
++        "common/identity.h",
++        "common/common_type.h",
++        "dispatcher/dispatcher.h",
++        "dispatcher/intra_dispatcher.h",
++        "dispatcher/rtps_dispatcher.h",
++        "dispatcher/shm_dispatcher.h",
++        "dispatcher/subscriber_listener.h",
++        "message/history.h",
++        "message/history_attributes.h",
++        "message/listener_handler.h",
++        "message/message_info.h",
++        "qos/qos_profile_conf.h",
++        "qos/qos_filler.h",
++        "receiver/hybrid_receiver.h",
++        "receiver/intra_receiver.h",
++        "receiver/receiver.h",
++        "receiver/rtps_receiver.h",
++        "receiver/shm_receiver.h",
++        "rtps/attributes_filler.h",
++        "rtps/participant.h",
++        "rtps/subscriber.h",
++        "rtps/publisher.h",
++        "rtps/underlay_message.h",
++        "rtps/underlay_message_type.h",
++        "shm/arena_address_allocator.h",
++        "shm/block.h",
++        "shm/condition_notifier.h",
++        "shm/multicast_notifier.h",
++        "shm/notifier_base.h",
++        "shm/notifier_factory.h",
++        "shm/posix_segment.h",
++        "shm/protobuf_arena_manager.h",
++        "shm/readable_info.h",
++        "shm/segment.h",
++        "shm/segment_factory.h",
++        "shm/shm_conf.h",
++        "shm/state.h",
++        "shm/xsi_segment.h",
++        "transmitter/hybrid_transmitter.h",
++        "transmitter/intra_transmitter.h",
++        "transmitter/rtps_transmitter.h",
++        "transmitter/shm_transmitter.h",
++        "transmitter/transmitter.h",
++        "transport.h",
+     ],
+     linkopts = ["-lrt"],
+     deps = [
+-        "@fastrtps",
+-        "@uuid",
+-        "//cyber/service_discovery:cyber_service_discovery_role",
+-        "//cyber/task:cyber_task",
++        "//cyber/base:cyber_base",
+         "//cyber/common:cyber_common",
+-        "//cyber/proto:role_attributes_cc_proto",
++        "//cyber/event:cyber_event",
+         "//cyber/message:cyber_message",
+         "//cyber/proto:proto_desc_cc_proto",
+-        "//cyber/scheduler:cyber_scheduler",
+         "//cyber/proto:qos_profile_cc_proto",
+-        "//cyber/base:cyber_base",
+-        "//cyber/event:cyber_event",
++        "//cyber/proto:role_attributes_cc_proto",
++        "//cyber/scheduler:cyber_scheduler",
++        "//cyber/service_discovery:cyber_service_discovery_role",
++        "//cyber/service_discovery:subscriber_listener",
++        "//cyber/statistics:apollo_statistics",
++        "//cyber/task:cyber_task",
++        "@fastdds",
++        "@uuid",
+     ],
+ )
+ 
+@@ -55,12 +107,12 @@ apollo_cc_test(
+     name = "condition_notifier_test",
+     size = "small",
+     srcs = ["shm/condition_notifier_test.cc"],
++    linkstatic = True,
+     tags = ["exclusive"],
+     deps = [
+         "//cyber",
+         "@com_google_googletest//:gtest_main",
+     ],
+-    linkstatic = True,
+ )
+ 
+ apollo_cc_test(
+@@ -70,7 +122,7 @@ apollo_cc_test(
+     deps = [
+         "//cyber",
+         "@com_google_googletest//:gtest_main",
+-        "@fastrtps",
++        "@fastdds",
+     ],
+ )
+ 
+@@ -78,22 +130,22 @@ apollo_cc_test(
+     name = "message_info_test",
+     size = "small",
+     srcs = ["message/message_info_test.cc"],
++    linkstatic = True,
+     deps = [
+         "//cyber",
+         "@com_google_googletest//:gtest_main",
+     ],
+-    linkstatic = True,
+ )
+ 
+ apollo_cc_test(
+     name = "message_test",
+     size = "small",
+     srcs = ["message/message_test.cc"],
++    linkstatic = True,
+     deps = [
+         "//cyber",
+         "@com_google_googletest//:gtest_main",
+     ],
+-    linkstatic = True,
+ )
+ 
+ apollo_cc_test(
+@@ -172,4 +224,5 @@ apollo_cc_test(
+ )
+ 
+ apollo_package()
++
+ cpplint()
+diff --git a/cyber/transport/common/common_type.h b/cyber/transport/common/common_type.h
+new file mode 100644
+index 0000000..b60365c
+--- /dev/null
++++ b/cyber/transport/common/common_type.h
+@@ -0,0 +1,36 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++#ifndef CYBER_TRANSPORT_RTPS_COMMON_TYPE_H
++#define CYBER_TRANSPORT_RTPS_COMMON_TYPE_H
++
++#include <functional>
++#include <memory>
++#include <string>
++
++#include "cyber/transport/message/message_info.h"
++namespace apollo {
++namespace cyber {
++namespace transport {
++namespace rtps {
++using subsciber_callback =
++    std::function<void(const std::shared_ptr<std::string>& msg_str,
++                       uint64_t channel_id, const MessageInfo& msg_info)>;
++}  // namespace rtps
++}  // namespace transport
++}  // namespace cyber
++}  // namespace apollo
++
++#endif  // CYBER_TRANSPORT_RTPS_COMMON_TYPE_H
+diff --git a/cyber/transport/dispatcher/dispatcher.h b/cyber/transport/dispatcher/dispatcher.h
+index e37c366..0ea54ef 100644
+--- a/cyber/transport/dispatcher/dispatcher.h
++++ b/cyber/transport/dispatcher/dispatcher.h
+@@ -25,11 +25,12 @@
+ #include <string>
+ #include <unordered_map>
+ 
++#include "cyber/proto/role_attributes.pb.h"
++
+ #include "cyber/base/atomic_hash_map.h"
+ #include "cyber/base/atomic_rw_lock.h"
+ #include "cyber/common/global_data.h"
+ #include "cyber/common/log.h"
+-#include "cyber/proto/role_attributes.pb.h"
+ #include "cyber/transport/message/listener_handler.h"
+ #include "cyber/transport/message/message_info.h"
+ 
+diff --git a/cyber/transport/dispatcher/intra_dispatcher.h b/cyber/transport/dispatcher/intra_dispatcher.h
+index 37bc046..82a40b0 100644
+--- a/cyber/transport/dispatcher/intra_dispatcher.h
++++ b/cyber/transport/dispatcher/intra_dispatcher.h
+@@ -29,6 +29,8 @@
+ #include "cyber/common/macros.h"
+ #include "cyber/message/message_traits.h"
+ #include "cyber/message/raw_message.h"
++#include "cyber/statistics/statistics.h"
++#include "cyber/time/time.h"
+ #include "cyber/transport/dispatcher/dispatcher.h"
+ 
+ namespace apollo {
+@@ -357,9 +359,12 @@ void IntraDispatcher::AddListener(const RoleAttributes& self_attr,
+ 
+   auto handler = GetHandler<MessageT>(self_attr.channel_id());
+   if (handler && created) {
+-    auto listener_wrapper = [this, self_id, channel_id, message_type](
++    auto listener_wrapper =
++                      [this, self_id, channel_id, message_type, self_attr](
+                                 const std::shared_ptr<MessageT>& message,
+                                 const MessageInfo& message_info) {
++      auto recv_time = Time::Now().ToMicrosecond();
++      statistics::Statistics::Instance()->SetProcStatus(self_attr, recv_time);
+       this->chain_->Run<MessageT>(self_id, channel_id, message_type, message,
+                                   message_info);
+     };
+@@ -385,9 +390,12 @@ void IntraDispatcher::AddListener(const RoleAttributes& self_attr,
+ 
+   auto handler = GetHandler<MessageT>(self_attr.channel_id());
+   if (handler && created) {
+-    auto listener_wrapper = [this, self_id, oppo_id, channel_id, message_type](
++    auto listener_wrapper =
++              [this, self_id, oppo_id, channel_id, message_type, self_attr](
+                                 const std::shared_ptr<MessageT>& message,
+                                 const MessageInfo& message_info) {
++      auto recv_time = Time::Now().ToMicrosecond();
++      statistics::Statistics::Instance()->SetProcStatus(self_attr, recv_time);
+       this->chain_->Run<MessageT>(self_id, oppo_id, channel_id, message_type,
+                                   message, message_info);
+     };
+diff --git a/cyber/transport/dispatcher/rtps_dispatcher.cc b/cyber/transport/dispatcher/rtps_dispatcher.cc
+index 7e7da27..f2f494e 100644
+--- a/cyber/transport/dispatcher/rtps_dispatcher.cc
++++ b/cyber/transport/dispatcher/rtps_dispatcher.cc
+@@ -16,6 +16,11 @@
+ 
+ #include "cyber/transport/dispatcher/rtps_dispatcher.h"
+ 
++#include "cyber/common/log.h"
++#include "cyber/statistics/statistics.h"
++#include "cyber/transport/common/endpoint.h"
++#include "cyber/transport/dispatcher/dispatcher.h"
++
+ namespace apollo {
+ namespace cyber {
+ namespace transport {
+@@ -32,7 +37,7 @@ void RtpsDispatcher::Shutdown() {
+   {
+     std::lock_guard<std::mutex> lock(subs_mutex_);
+     for (auto& item : subs_) {
+-      item.second.sub = nullptr;
++      item.second = nullptr;
+     }
+   }
+ 
+@@ -47,25 +52,27 @@ void RtpsDispatcher::AddSubscriber(const RoleAttributes& self_attr) {
+ 
+   uint64_t channel_id = self_attr.channel_id();
+   std::lock_guard<std::mutex> lock(subs_mutex_);
++  // subscriber exsit
+   if (subs_.count(channel_id) > 0) {
+     return;
+   }
+ 
+-  Subscriber new_sub;
+-  eprosima::fastrtps::SubscriberAttributes sub_attr;
++  auto listener_adapter =
++      [this, self_attr](const std::shared_ptr<std::string>& msg_str,
++                        uint64_t channel_id, const MessageInfo& msg_info) {
++        statistics::Statistics::Instance()->AddRecvCount(self_attr,
++                                                         msg_info.seq_num());
++        statistics::Statistics::Instance()->SetTotalMsgsStatus(
++            self_attr, msg_info.seq_num());
++        this->OnMessage(channel_id, msg_str, msg_info);
++      };
++
+   auto& qos = self_attr.qos_profile();
+-  RETURN_IF(!AttributesFiller::FillInSubAttr(self_attr.channel_name(), qos,
+-                                             &sub_attr));
+-
+-  new_sub.sub_listener = std::make_shared<SubListener>(
+-      std::bind(&RtpsDispatcher::OnMessage, this, std::placeholders::_1,
+-                std::placeholders::_2, std::placeholders::_3));
+-
+-  new_sub.sub = eprosima::fastrtps::Domain::createSubscriber(
+-      participant_->fastrtps_participant(), sub_attr,
+-      new_sub.sub_listener.get());
+-  RETURN_IF_NULL(new_sub.sub);
+-  subs_[channel_id] = new_sub;
++  auto subscriber_ptr = participant_->CreateSubscriber(self_attr.channel_name(),
++                                                       qos, listener_adapter);
++  RETURN_IF_NULL(subscriber_ptr);
++
++  subs_[channel_id] = subscriber_ptr;
+ }
+ 
+ void RtpsDispatcher::OnMessage(uint64_t channel_id,
+diff --git a/cyber/transport/dispatcher/rtps_dispatcher.h b/cyber/transport/dispatcher/rtps_dispatcher.h
+index 656fea2..e73d571 100644
+--- a/cyber/transport/dispatcher/rtps_dispatcher.h
++++ b/cyber/transport/dispatcher/rtps_dispatcher.h
+@@ -17,6 +17,7 @@
+ #ifndef CYBER_TRANSPORT_DISPATCHER_RTPS_DISPATCHER_H_
+ #define CYBER_TRANSPORT_DISPATCHER_RTPS_DISPATCHER_H_
+ 
++#include <cstdint>
+ #include <iostream>
+ #include <memory>
+ #include <mutex>
+@@ -26,25 +27,25 @@
+ #include "cyber/common/log.h"
+ #include "cyber/common/macros.h"
+ #include "cyber/message/message_traits.h"
++#include "cyber/statistics/statistics.h"
++#include "cyber/time/time.h"
+ #include "cyber/transport/dispatcher/dispatcher.h"
++#include "cyber/transport/dispatcher/subscriber_listener.h"
++#include "cyber/transport/qos/qos_filler.h"
+ #include "cyber/transport/rtps/attributes_filler.h"
+ #include "cyber/transport/rtps/participant.h"
+-#include "cyber/transport/rtps/sub_listener.h"
++#include "cyber/transport/rtps/subscriber.h"
+ 
+ namespace apollo {
+ namespace cyber {
+ namespace transport {
+ 
+-struct Subscriber {
+-  Subscriber() : sub(nullptr), sub_listener(nullptr) {}
+-
+-  eprosima::fastrtps::Subscriber* sub;
+-  SubListenerPtr sub_listener;
+-};
+-
+ class RtpsDispatcher;
+ using RtpsDispatcherPtr = RtpsDispatcher*;
+ 
++using ParticipantPtr =
++    std::shared_ptr<Participant>;
++
+ class RtpsDispatcher : public Dispatcher {
+  public:
+   virtual ~RtpsDispatcher();
+@@ -60,7 +61,7 @@ class RtpsDispatcher : public Dispatcher {
+                    const RoleAttributes& opposite_attr,
+                    const MessageListener<MessageT>& listener);
+ 
+-  void set_participant(const ParticipantPtr& participant) {
++  void SetParticipant(const ParticipantPtr& participant) {
+     participant_ = participant;
+   }
+ 
+@@ -70,7 +71,9 @@ class RtpsDispatcher : public Dispatcher {
+                  const MessageInfo& msg_info);
+   void AddSubscriber(const RoleAttributes& self_attr);
+   // key: channel_id
+-  std::unordered_map<uint64_t, Subscriber> subs_;
++  std::unordered_map<uint64_t,
++                     std::shared_ptr<transport::Subscriber>>
++      subs_;
+   std::mutex subs_mutex_;
+ 
+   ParticipantPtr participant_;
+@@ -81,11 +84,23 @@ class RtpsDispatcher : public Dispatcher {
+ template <typename MessageT>
+ void RtpsDispatcher::AddListener(const RoleAttributes& self_attr,
+                                  const MessageListener<MessageT>& listener) {
+-  auto listener_adapter = [listener](
++  auto listener_adapter = [listener, self_attr](
+                               const std::shared_ptr<std::string>& msg_str,
+                               const MessageInfo& msg_info) {
+     auto msg = std::make_shared<MessageT>();
+     RETURN_IF(!message::ParseFromString(*msg_str, msg.get()));
++    uint64_t recv_time = Time::Now().ToNanosecond();
++    uint64_t send_time = msg_info.send_time();
++    if (send_time > recv_time) {
++      AWARN << "The message is received (" << recv_time
++            << ") earlier than the message is sent (" << send_time << ")";
++    } else {
++      uint64_t diff = recv_time - send_time;
++      // sample transport latency in microsecond
++      statistics::Statistics::Instance()->SamplingTranLatency<uint64_t>(
++          self_attr, diff);
++    }
++    statistics::Statistics::Instance()->SetProcStatus(self_attr, recv_time);
+     listener(msg, msg_info);
+   };
+ 
+@@ -97,11 +112,23 @@ template <typename MessageT>
+ void RtpsDispatcher::AddListener(const RoleAttributes& self_attr,
+                                  const RoleAttributes& opposite_attr,
+                                  const MessageListener<MessageT>& listener) {
+-  auto listener_adapter = [listener](
++  auto listener_adapter = [listener, self_attr](
+                               const std::shared_ptr<std::string>& msg_str,
+                               const MessageInfo& msg_info) {
+     auto msg = std::make_shared<MessageT>();
+     RETURN_IF(!message::ParseFromString(*msg_str, msg.get()));
++    uint64_t recv_time = Time::Now().ToNanosecond();
++    uint64_t send_time = msg_info.send_time();
++    if (send_time > recv_time) {
++      AWARN << "The message is received (" << recv_time
++            << ") earlier than the message is sent (" << send_time << ")";
++    } else {
++      uint64_t diff = recv_time - send_time;
++      // sample transport latency in microsecond
++      statistics::Statistics::Instance()->SamplingTranLatency<uint64_t>(
++          self_attr, diff);
++    }
++    statistics::Statistics::Instance()->SetProcStatus(self_attr, recv_time);
+     listener(msg, msg_info);
+   };
+ 
+diff --git a/cyber/transport/dispatcher/shm_dispatcher.cc b/cyber/transport/dispatcher/shm_dispatcher.cc
+index 9032870..383091f 100644
+--- a/cyber/transport/dispatcher/shm_dispatcher.cc
++++ b/cyber/transport/dispatcher/shm_dispatcher.cc
+@@ -15,6 +15,7 @@
+  *****************************************************************************/
+ 
+ #include "cyber/transport/dispatcher/shm_dispatcher.h"
++
+ #include "cyber/common/global_data.h"
+ #include "cyber/common/util.h"
+ #include "cyber/scheduler/scheduler_factory.h"
+@@ -54,6 +55,7 @@ void ShmDispatcher::AddSegment(const RoleAttributes& self_attr) {
+   auto segment = SegmentFactory::CreateSegment(channel_id);
+   segments_[channel_id] = segment;
+   previous_indexes_[channel_id] = UINT32_MAX;
++  arena_previous_indexes_[channel_id] = UINT32_MAX;
+ }
+ 
+ void ShmDispatcher::ReadMessage(uint64_t channel_id, uint32_t block_index) {
+@@ -82,6 +84,32 @@ void ShmDispatcher::ReadMessage(uint64_t channel_id, uint32_t block_index) {
+   segments_[channel_id]->ReleaseReadBlock(*rb);
+ }
+ 
++void ShmDispatcher::ReadArenaMessage(uint64_t channel_id,
++                                     uint32_t arena_block_index) {
++  ADEBUG << "Reading sharedmem arena message: "
++         << GlobalData::GetChannelById(channel_id)
++         << " from block: " << arena_block_index;
++  auto rb = std::make_shared<ReadableBlock>();
++  rb->index = arena_block_index;
++  if (!segments_[channel_id]->AcquireArenaBlockToRead(rb.get())) {
++    AWARN << "fail to acquire block, channel: "
++          << GlobalData::GetChannelById(channel_id)
++          << " index: " << arena_block_index;
++    return;
++  }
++
++  MessageInfo msg_info;
++  const char* msg_info_addr =
++      reinterpret_cast<char*>(rb->buf) + rb->block->msg_size();
++  if (msg_info.DeserializeFrom(msg_info_addr, rb->block->msg_info_size())) {
++    OnArenaMessage(channel_id, rb, msg_info);
++  } else {
++    AERROR << "error msg info of channel:"
++           << GlobalData::GetChannelById(channel_id);
++  }
++  segments_[channel_id]->ReleaseArenaReadBlock(*rb);
++}
++
+ void ShmDispatcher::OnMessage(uint64_t channel_id,
+                               const std::shared_ptr<ReadableBlock>& rb,
+                               const MessageInfo& msg_info) {
+@@ -94,8 +122,29 @@ void ShmDispatcher::OnMessage(uint64_t channel_id,
+         *handler_base);
+     handler->Run(rb, msg_info);
+   } else {
+-    AERROR << "Cannot find " << GlobalData::GetChannelById(channel_id)
+-           << "'s handler.";
++    if (!arena_msg_listeners_.Get(channel_id, &handler_base)) {
++      AERROR << "Cannot find " << GlobalData::GetChannelById(channel_id)
++             << "'s handler.";
++    }
++  }
++}
++
++void ShmDispatcher::OnArenaMessage(uint64_t channel_id,
++                                   const std::shared_ptr<ReadableBlock>& rb,
++                                   const MessageInfo& msg_info) {
++  if (is_shutdown_.load()) {
++    return;
++  }
++  ListenerHandlerBasePtr* handler_base = nullptr;
++  if (arena_msg_listeners_.Get(channel_id, &handler_base)) {
++    auto handler = std::dynamic_pointer_cast<ListenerHandler<ReadableBlock>>(
++        *handler_base);
++    handler->Run(rb, msg_info);
++  } else {
++    if (!msg_listeners_.Get(channel_id, &handler_base)) {
++      AERROR << "Cannot find " << GlobalData::GetChannelById(channel_id)
++             << "'s handler.";
++    }
+   }
+ }
+ 
+@@ -113,33 +162,57 @@ void ShmDispatcher::ThreadFunc() {
+     }
+ 
+     uint64_t channel_id = readable_info.channel_id();
+-    uint32_t block_index = readable_info.block_index();
++    int32_t block_index = readable_info.block_index();
++    int32_t arena_block_index = readable_info.arena_block_index();
+ 
+     {
+       ReadLockGuard<AtomicRWLock> lock(segments_lock_);
+       if (segments_.count(channel_id) == 0) {
+         continue;
+       }
+-      // check block index
+-      if (previous_indexes_.count(channel_id) == 0) {
+-        previous_indexes_[channel_id] = UINT32_MAX;
+-      }
+-      uint32_t& previous_index = previous_indexes_[channel_id];
+-      if (block_index != 0 && previous_index != UINT32_MAX) {
+-        if (block_index == previous_index) {
+-          ADEBUG << "Receive SAME index " << block_index << " of channel "
+-                 << channel_id;
+-        } else if (block_index < previous_index) {
+-          ADEBUG << "Receive PREVIOUS message. last: " << previous_index
+-                 << ", now: " << block_index;
+-        } else if (block_index - previous_index > 1) {
+-          ADEBUG << "Receive JUMP message. last: " << previous_index
+-                 << ", now: " << block_index;
++
++      if (block_index != -1) {
++        // check block index
++        if (previous_indexes_.count(channel_id) == 0) {
++          previous_indexes_[channel_id] = UINT32_MAX;
+         }
++        uint32_t& previous_index = previous_indexes_[channel_id];
++        if (block_index != 0 && previous_index != UINT32_MAX) {
++          if (block_index == previous_index) {
++            ADEBUG << "Receive SAME index " << block_index << " of channel "
++                   << channel_id;
++          } else if (block_index < previous_index) {
++            ADEBUG << "Receive PREVIOUS message. last: " << previous_index
++                   << ", now: " << block_index;
++          } else if (block_index - previous_index > 1) {
++            ADEBUG << "Receive JUMP message. last: " << previous_index
++                   << ", now: " << block_index;
++          }
++        }
++        previous_index = block_index;
++        ReadMessage(channel_id, block_index);
+       }
+-      previous_index = block_index;
+ 
+-      ReadMessage(channel_id, block_index);
++      if (arena_block_index != -1) {
++        if (arena_previous_indexes_.count(channel_id) == 0) {
++          arena_previous_indexes_[channel_id] = UINT32_MAX;
++        }
++        uint32_t& arena_previous_index = arena_previous_indexes_[channel_id];
++        if (arena_block_index != 0 && arena_previous_index != UINT32_MAX) {
++          if (arena_block_index == arena_previous_index) {
++            ADEBUG << "Receive SAME index " << arena_block_index
++                   << " of channel " << channel_id;
++          } else if (arena_block_index < arena_previous_index) {
++            ADEBUG << "Receive PREVIOUS message. last: " << arena_previous_index
++                   << ", now: " << arena_block_index;
++          } else if (arena_block_index - arena_previous_index > 1) {
++            ADEBUG << "Receive JUMP message. last: " << arena_previous_index
++                   << ", now: " << arena_block_index;
++          }
++        }
++        arena_previous_index = arena_block_index;
++        ReadArenaMessage(channel_id, arena_block_index);
++      }
+     }
+   }
+ }
+@@ -149,6 +222,7 @@ bool ShmDispatcher::Init() {
+   notifier_ = NotifierFactory::CreateNotifier();
+   thread_ = std::thread(&ShmDispatcher::ThreadFunc, this);
+   scheduler::Instance()->SetInnerThreadAttr("shm_disp", &thread_);
++  // statistics::Statistics::Instance()->CreateSpan("protobuf_parse_time");
+   return true;
+ }
+ 
+diff --git a/cyber/transport/dispatcher/shm_dispatcher.h b/cyber/transport/dispatcher/shm_dispatcher.h
+index 35d8f03..da29289 100644
+--- a/cyber/transport/dispatcher/shm_dispatcher.h
++++ b/cyber/transport/dispatcher/shm_dispatcher.h
+@@ -27,9 +27,14 @@
+ #include "cyber/common/global_data.h"
+ #include "cyber/common/log.h"
+ #include "cyber/common/macros.h"
++#include "cyber/message/arena_message_wrapper.h"
+ #include "cyber/message/message_traits.h"
++#include "cyber/message/raw_message.h"
++#include "cyber/statistics/statistics.h"
++#include "cyber/time/time.h"
+ #include "cyber/transport/dispatcher/dispatcher.h"
+ #include "cyber/transport/shm/notifier_factory.h"
++#include "cyber/transport/shm/protobuf_arena_manager.h"
+ #include "cyber/transport/shm/segment_factory.h"
+ 
+ namespace apollo {
+@@ -60,17 +65,32 @@ class ShmDispatcher : public Dispatcher {
+                    const RoleAttributes& opposite_attr,
+                    const MessageListener<MessageT>& listener);
+ 
++  template <typename MessageT>
++  void AddArenaListener(const RoleAttributes& self_attr,
++                        const MessageListener<MessageT>& listener);
++
++  template <typename MessageT>
++  void AddArenaListener(const RoleAttributes& self_attr,
++                        const RoleAttributes& opposite_attr,
++                        const MessageListener<MessageT>& listener);
++
+  private:
+   void AddSegment(const RoleAttributes& self_attr);
+   void ReadMessage(uint64_t channel_id, uint32_t block_index);
+   void OnMessage(uint64_t channel_id, const std::shared_ptr<ReadableBlock>& rb,
+                  const MessageInfo& msg_info);
++  void ReadArenaMessage(uint64_t channel_id, uint32_t arena_block_index);
++  void OnArenaMessage(uint64_t channel_id,
++                      const std::shared_ptr<ReadableBlock>& rb,
++                      const MessageInfo& msg_info);
+   void ThreadFunc();
+   bool Init();
+ 
+   uint64_t host_id_;
+   SegmentContainer segments_;
+   std::unordered_map<uint64_t, uint32_t> previous_indexes_;
++  std::unordered_map<uint64_t, uint32_t> arena_previous_indexes_;
++  AtomicHashMap<uint64_t, ListenerHandlerBasePtr> arena_msg_listeners_;
+   AtomicRWLock segments_lock_;
+   std::thread thread_;
+   NotifierPtr notifier_;
+@@ -78,19 +98,174 @@ class ShmDispatcher : public Dispatcher {
+   DECLARE_SINGLETON(ShmDispatcher)
+ };
+ 
++template <typename MessageT>
++void ShmDispatcher::AddArenaListener(
++    const RoleAttributes& self_attr,
++    const MessageListener<MessageT>& listener) {
++  if (is_shutdown_.load()) {
++    return;
++  }
++  uint64_t channel_id = self_attr.channel_id();
++
++  std::shared_ptr<ListenerHandler<MessageT>> handler;
++  ListenerHandlerBasePtr* handler_base = nullptr;
++  if (arena_msg_listeners_.Get(channel_id, &handler_base)) {
++    handler =
++        std::dynamic_pointer_cast<ListenerHandler<MessageT>>(*handler_base);
++    if (handler == nullptr) {
++      AERROR << "please ensure that readers with the same channel["
++             << self_attr.channel_name()
++             << "] in the same process have the same message type";
++      return;
++    }
++  } else {
++    ADEBUG << "new reader for channel:"
++           << GlobalData::GetChannelById(channel_id);
++    handler.reset(new ListenerHandler<MessageT>());
++    arena_msg_listeners_.Set(channel_id, handler);
++  }
++  handler->Connect(self_attr.id(), listener);
++}
++
++template <typename MessageT>
++void ShmDispatcher::AddArenaListener(
++    const RoleAttributes& self_attr, const RoleAttributes& opposite_attr,
++    const MessageListener<MessageT>& listener) {
++  if (is_shutdown_.load()) {
++    return;
++  }
++  uint64_t channel_id = self_attr.channel_id();
++  std::shared_ptr<ListenerHandler<MessageT>> handler;
++  ListenerHandlerBasePtr* handler_base = nullptr;
++  if (arena_msg_listeners_.Get(channel_id, &handler_base)) {
++    handler =
++        std::dynamic_pointer_cast<ListenerHandler<MessageT>>(*handler_base);
++    if (handler == nullptr) {
++      AERROR << "please ensuore that readers with the same channel["
++             << self_attr.channel_name()
++             << "] in the same process have the same message type";
++      return;
++    }
++  } else {
++    ADEBUG << "new reader for channel:"
++           << GlobalData::GetChannelById(channel_id);
++    handler.reset(new ListenerHandler<MessageT>());
++    arena_msg_listeners_.Set(channel_id, handler);
++  }
++  handler->Connect(self_attr.id(), listener);
++}
++
+ template <typename MessageT>
+ void ShmDispatcher::AddListener(const RoleAttributes& self_attr,
+                                 const MessageListener<MessageT>& listener) {
+   // FIXME: make it more clean
+-  auto listener_adapter = [listener](const std::shared_ptr<ReadableBlock>& rb,
+-                                     const MessageInfo& msg_info) {
+-    auto msg = std::make_shared<MessageT>();
+-    RETURN_IF(!message::ParseFromArray(
+-        rb->buf, static_cast<int>(rb->block->msg_size()), msg.get()));
+-    listener(msg, msg_info);
+-  };
+-
+-  Dispatcher::AddListener<ReadableBlock>(self_attr, listener_adapter);
++  if (cyber::common::GlobalData::Instance()->IsChannelEnableArenaShm(
++          self_attr.channel_id()) &&
++      self_attr.message_type() != message::MessageType<message::RawMessage>() &&
++      self_attr.message_type() !=
++          message::MessageType<message::PyMessageWrap>()) {
++    auto listener_adapter = [listener, self_attr](
++                                const std::shared_ptr<ReadableBlock>& rb,
++                                const MessageInfo& msg_info) {
++      auto msg = std::make_shared<MessageT>();
++      // TODO(ALL): read config from msg_info
++      auto arena_manager = ProtobufArenaManager::Instance();
++      auto msg_wrapper = arena_manager->CreateMessageWrapper();
++      memcpy(msg_wrapper->GetData(), rb->buf, 1024);
++      MessageT* msg_p;
++      if (!message::ParseFromArenaMessageWrapper(msg_wrapper.get(), msg.get(),
++                                                 &msg_p)) {
++        AERROR << "ParseFromArenaMessageWrapper failed";
++      }
++      // msg->CopyFrom(*msg_p);
++      // msg = arena_manager->LoadMessage<MessageT>(msg_wrapper.get())
++      auto segment = arena_manager->GetSegment(self_attr.channel_id());
++      auto msg_addr = reinterpret_cast<uint64_t>(msg_p);
++      msg.reset(reinterpret_cast<MessageT*>(msg_addr),
++                [arena_manager, segment, msg_wrapper](MessageT* p) {
++                  // fprintf(stderr, "msg deleter invoked\n");
++                  // auto related_blocks =
++                  //     arena_manager->GetMessageRelatedBlocks(msg_wrapper.get());
++                  // for (auto block_index : related_blocks) {
++                  //   // segment->ReleaseBlockForReadByIndex(block_index);
++                  //   segment->RemoveBlockReadLock(block_index);
++                  // }
++                });
++      auto related_blocks_for_lock =
++          arena_manager->GetMessageRelatedBlocks(msg_wrapper.get());
++      for (int i = 0; i < related_blocks_for_lock.size(); ++i) {
++        auto block_index = related_blocks_for_lock[i];
++        if (!segment->AddBlockReadLock(block_index)) {
++          AWARN << "failed to acquire block for read, channel: "
++                << self_attr.channel_id() << " index: " << block_index;
++          for (int j = 0; j < i; ++j) {
++            // restore the lock
++            segment->RemoveBlockReadLock(related_blocks_for_lock[j]);
++          }
++          return;
++        }
++      }
++
++      auto send_time = msg_info.send_time();
++
++      statistics::Statistics::Instance()->AddRecvCount(self_attr,
++                                                       msg_info.seq_num());
++      statistics::Statistics::Instance()->SetTotalMsgsStatus(
++          self_attr, msg_info.seq_num());
++
++      auto recv_time = Time::Now().ToNanosecond();
++
++      // sampling in microsecond
++      auto tran_diff = (recv_time - send_time) / 1000;
++      if (tran_diff > 0) {
++        // sample transport latency in microsecond
++        statistics::Statistics::Instance()->SamplingTranLatency<uint64_t>(
++            self_attr, tran_diff);
++      }
++      statistics::Statistics::Instance()->SetProcStatus(self_attr,
++                                                        recv_time / 1000);
++      listener(msg, msg_info);
++      auto related_blocks =
++          arena_manager->GetMessageRelatedBlocks(msg_wrapper.get());
++      for (auto block_index : related_blocks) {
++        // segment->ReleaseBlockForReadByIndex(block_index);
++        segment->RemoveBlockReadLock(block_index);
++      }
++    };
++
++    AddArenaListener<ReadableBlock>(self_attr, listener_adapter);
++  } else {
++    auto listener_adapter = [listener, self_attr](
++                                const std::shared_ptr<ReadableBlock>& rb,
++                                const MessageInfo& msg_info) {
++      auto msg = std::make_shared<MessageT>();
++      // TODO(ALL): read config from msg_info
++      RETURN_IF(!message::ParseFromArray(
++          rb->buf, static_cast<int>(rb->block->msg_size()), msg.get()));
++
++      auto send_time = msg_info.send_time();
++
++      statistics::Statistics::Instance()->AddRecvCount(self_attr,
++                                                       msg_info.seq_num());
++      statistics::Statistics::Instance()->SetTotalMsgsStatus(
++          self_attr, msg_info.seq_num());
++
++      auto recv_time = Time::Now().ToNanosecond();
++
++      // sampling in microsecond
++      auto tran_diff = (recv_time - send_time) / 1000;
++      if (tran_diff > 0) {
++        // sample transport latency in microsecond
++        statistics::Statistics::Instance()->SamplingTranLatency<uint64_t>(
++            self_attr, tran_diff);
++      }
++      statistics::Statistics::Instance()->SetProcStatus(self_attr,
++                                                        recv_time / 1000);
++      listener(msg, msg_info);
++    };
++
++    Dispatcher::AddListener<ReadableBlock>(self_attr, listener_adapter);
++  }
+   AddSegment(self_attr);
+ }
+ 
+@@ -99,16 +274,112 @@ void ShmDispatcher::AddListener(const RoleAttributes& self_attr,
+                                 const RoleAttributes& opposite_attr,
+                                 const MessageListener<MessageT>& listener) {
+   // FIXME: make it more clean
+-  auto listener_adapter = [listener](const std::shared_ptr<ReadableBlock>& rb,
+-                                     const MessageInfo& msg_info) {
+-    auto msg = std::make_shared<MessageT>();
+-    RETURN_IF(!message::ParseFromArray(
+-        rb->buf, static_cast<int>(rb->block->msg_size()), msg.get()));
+-    listener(msg, msg_info);
+-  };
+-
+-  Dispatcher::AddListener<ReadableBlock>(self_attr, opposite_attr,
+-                                         listener_adapter);
++  if (cyber::common::GlobalData::Instance()->IsChannelEnableArenaShm(
++          self_attr.channel_id()) &&
++      self_attr.message_type() != message::MessageType<message::RawMessage>() &&
++      self_attr.message_type() !=
++          message::MessageType<message::PyMessageWrap>()) {
++    auto listener_adapter = [listener, self_attr](
++                                const std::shared_ptr<ReadableBlock>& rb,
++                                const MessageInfo& msg_info) {
++      auto msg = std::make_shared<MessageT>();
++      auto arena_manager = ProtobufArenaManager::Instance();
++      auto msg_wrapper = arena_manager->CreateMessageWrapper();
++      memcpy(msg_wrapper->GetData(), rb->buf, 1024);
++      MessageT* msg_p;
++      if (!message::ParseFromArenaMessageWrapper(msg_wrapper.get(), msg.get(),
++                                                 &msg_p)) {
++        AERROR << "ParseFromArenaMessageWrapper failed";
++      }
++      // msg->CopyFrom(*msg_p);
++      // msg = arena_manager->LoadMessage<MessageT>(msg_wrapper.get())
++      auto segment = arena_manager->GetSegment(self_attr.channel_id());
++      auto msg_addr = reinterpret_cast<uint64_t>(msg_p);
++      msg.reset(reinterpret_cast<MessageT*>(msg_addr),
++                [arena_manager, segment, msg_wrapper](MessageT* p) {
++                  // fprintf(stderr, "msg deleter invoked\n");
++                  // auto related_blocks =
++                  //     arena_manager->GetMessageRelatedBlocks(msg_wrapper.get());
++                  // for (auto block_index : related_blocks) {
++                  //   // segment->ReleaseBlockForReadByIndex(block_index);
++                  //   segment->RemoveBlockReadLock(block_index);
++                  // }
++                });
++      auto related_blocks_for_lock =
++          arena_manager->GetMessageRelatedBlocks(msg_wrapper.get());
++      for (int i = 0; i < related_blocks_for_lock.size(); ++i) {
++        auto block_index = related_blocks_for_lock[i];
++        if (!segment->AddBlockReadLock(block_index)) {
++          AWARN << "failed to acquire block for read, channel: "
++                << self_attr.channel_id() << " index: " << block_index;
++          for (int j = 0; j < i; ++j) {
++            // restore the lock
++            segment->RemoveBlockReadLock(related_blocks_for_lock[j]);
++          }
++          return;
++        }
++      }
++
++      auto send_time = msg_info.send_time();
++
++      statistics::Statistics::Instance()->AddRecvCount(self_attr,
++                                                       msg_info.seq_num());
++      statistics::Statistics::Instance()->SetTotalMsgsStatus(
++          self_attr, msg_info.seq_num());
++
++      auto recv_time = Time::Now().ToNanosecond();
++
++      // sampling in microsecond
++      auto tran_diff = (recv_time - send_time) / 1000;
++      if (tran_diff > 0) {
++        statistics::Statistics::Instance()->SamplingTranLatency<uint64_t>(
++            self_attr, tran_diff);
++      }
++      statistics::Statistics::Instance()->SetProcStatus(self_attr,
++                                                        recv_time / 1000);
++
++      listener(msg, msg_info);
++      auto related_blocks =
++          arena_manager->GetMessageRelatedBlocks(msg_wrapper.get());
++      for (auto block_index : related_blocks) {
++        // segment->ReleaseBlockForReadByIndex(block_index);
++        segment->RemoveBlockReadLock(block_index);
++      }
++    };
++
++    AddArenaListener<ReadableBlock>(self_attr, opposite_attr, listener_adapter);
++  } else {
++    auto listener_adapter = [listener, self_attr](
++                                const std::shared_ptr<ReadableBlock>& rb,
++                                const MessageInfo& msg_info) {
++      auto msg = std::make_shared<MessageT>();
++      RETURN_IF(!message::ParseFromArray(
++          rb->buf, static_cast<int>(rb->block->msg_size()), msg.get()));
++
++      auto send_time = msg_info.send_time();
++      auto msg_seq_num = msg_info.seq_num();
++
++      statistics::Statistics::Instance()->AddRecvCount(self_attr, msg_seq_num);
++      statistics::Statistics::Instance()->SetTotalMsgsStatus(self_attr,
++                                                             msg_seq_num);
++
++      auto recv_time = Time::Now().ToNanosecond();
++
++      // sampling in microsecond
++      auto tran_diff = (recv_time - send_time) / 1000;
++      if (tran_diff > 0) {
++        statistics::Statistics::Instance()->SamplingTranLatency<uint64_t>(
++            self_attr, tran_diff);
++      }
++      statistics::Statistics::Instance()->SetProcStatus(self_attr,
++                                                        recv_time / 1000);
++
++      listener(msg, msg_info);
++    };
++
++    Dispatcher::AddListener<ReadableBlock>(self_attr, opposite_attr,
++                                           listener_adapter);
++  }
+   AddSegment(self_attr);
+ }
+ 
+diff --git a/cyber/transport/dispatcher/shm_dispatcher_test.cc b/cyber/transport/dispatcher/shm_dispatcher_test.cc
+index 2c7cee5..fa5f6e5 100644
+--- a/cyber/transport/dispatcher/shm_dispatcher_test.cc
++++ b/cyber/transport/dispatcher/shm_dispatcher_test.cc
+@@ -20,7 +20,6 @@
+ #include "gtest/gtest.h"
+ 
+ #include "cyber/common/global_data.h"
+-#include "cyber/common/log.h"
+ #include "cyber/common/util.h"
+ #include "cyber/init.h"
+ #include "cyber/message/raw_message.h"
+diff --git a/cyber/transport/dispatcher/subscriber_listener.cc b/cyber/transport/dispatcher/subscriber_listener.cc
+new file mode 100644
+index 0000000..6254ed1
+--- /dev/null
++++ b/cyber/transport/dispatcher/subscriber_listener.cc
+@@ -0,0 +1,76 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#include "cyber/transport/dispatcher/subscriber_listener.h"
++
++#include "cyber/common/log.h"
++#include "cyber/transport/message/message_info.h"
++
++namespace apollo {
++namespace cyber {
++namespace transport {
++namespace dispatcher {
++
++SubscriberListener::SubscriberListener(const rtps::subsciber_callback& callback)
++    : callback_(callback) {}
++
++SubscriberListener::~SubscriberListener() {}
++
++void SubscriberListener::on_data_available(
++    eprosima::fastdds::dds::DataReader* reader) {
++  RETURN_IF_NULL(reader);
++  RETURN_IF_NULL(callback_);
++
++  // fetch channel name
++  auto channel_id = common::Hash(reader->get_topicdescription()->get_name());
++  eprosima::fastdds::dds::SampleInfo m_info;
++  UnderlayMessage m;
++
++  while (reader->take_next_sample(reinterpret_cast<void*>(&m), &m_info) ==
++         eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK) {
++    if (m_info.valid_data) {
++      char* ptr = reinterpret_cast<char*>(
++          &m_info.related_sample_identity.writer_guid());
++      Identity sender_id(false);
++      sender_id.set_data(ptr);
++      msg_info_.set_sender_id(sender_id);
++
++      Identity spare_id(false);
++      spare_id.set_data(ptr + ID_SIZE);
++      msg_info_.set_spare_id(spare_id);
++
++      msg_info_.set_seq_num(m.seq());
++      msg_info_.set_send_time(m.timestamp());
++      // callback
++      callback_(std::make_shared<std::string>(m.data()), channel_id, msg_info_);
++    } else {
++      AERROR << "Remote writer for topic "
++             << reader->get_topicdescription()->get_name() << " is dead";
++    }
++  }
++}
++
++void SubscriberListener::on_subscription_matched(
++    eprosima::fastdds::dds::DataReader* reader,
++    const eprosima::fastdds::dds::SubscriptionMatchedStatus& info) {
++  (void)reader;
++  (void)info;
++}
++
++}  // namespace dispatcher
++}  // namespace transport
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/transport/rtps/sub_listener.h b/cyber/transport/dispatcher/subscriber_listener.h
+similarity index 54%
+rename from cyber/transport/rtps/sub_listener.h
+rename to cyber/transport/dispatcher/subscriber_listener.h
+index fc16abf..f379fa9 100644
+--- a/cyber/transport/rtps/sub_listener.h
++++ b/cyber/transport/dispatcher/subscriber_listener.h
+@@ -14,8 +14,8 @@
+  * limitations under the License.
+  *****************************************************************************/
+ 
+-#ifndef CYBER_TRANSPORT_RTPS_SUB_LISTENER_H_
+-#define CYBER_TRANSPORT_RTPS_SUB_LISTENER_H_
++#ifndef CYBER_TRANSPORT_DISPATCHER_SUBSCRIBER_LISTENER_H_
++#define CYBER_TRANSPORT_DISPATCHER_SUBSCRIBER_LISTENER_H_
+ 
+ #include <functional>
+ #include <iostream>
+@@ -23,42 +23,43 @@
+ #include <mutex>
+ #include <string>
+ 
++#include "cyber/base/macros.h"
++
++#include "fastdds/dds/subscriber/DataReader.hpp"
++#include "fastdds/dds/subscriber/SampleInfo.hpp"
++#include "fastdds/dds/subscriber/SubscriberListener.hpp"
++#include "fastdds/dds/topic/TopicDescription.hpp"
++
++#include "cyber/common/util.h"
+ #include "cyber/transport/message/message_info.h"
++#include "cyber/transport/common/common_type.h"
+ #include "cyber/transport/rtps/underlay_message.h"
+ #include "cyber/transport/rtps/underlay_message_type.h"
+-#include "fastrtps/Domain.h"
+-#include "fastrtps/subscriber/SampleInfo.h"
+-#include "fastrtps/subscriber/Subscriber.h"
+-#include "fastrtps/subscriber/SubscriberListener.h"
+ 
+ namespace apollo {
+ namespace cyber {
+ namespace transport {
+-
+-class SubListener;
+-using SubListenerPtr = std::shared_ptr<SubListener>;
+-
+-class SubListener : public eprosima::fastrtps::SubscriberListener {
++namespace dispatcher {
++class SubscriberListener : public eprosima::fastdds::dds::SubscriberListener {
+  public:
+-  using NewMsgCallback = std::function<void(
+-      uint64_t channel_id, const std::shared_ptr<std::string>& msg_str,
+-      const MessageInfo& msg_info)>;
+-
+-  explicit SubListener(const NewMsgCallback& callback);
+-  virtual ~SubListener();
++  explicit SubscriberListener(const rtps::subsciber_callback& callback);
++  virtual ~SubscriberListener();
+ 
+-  void onNewDataMessage(eprosima::fastrtps::Subscriber* sub);
+-  void onSubscriptionMatched(eprosima::fastrtps::Subscriber* sub,
+-                             eprosima::fastrtps::MatchingInfo& info);  // NOLINT
++  void on_data_available(eprosima::fastdds::dds::DataReader* reader) override;
++  void on_subscription_matched(
++      eprosima::fastdds::dds::DataReader* reader,
++      const eprosima::fastdds::dds::SubscriptionMatchedStatus& info)
++      override;  // NOLINT
+ 
+  private:
+-  NewMsgCallback callback_;
++  rtps::subsciber_callback callback_;
+   MessageInfo msg_info_;
+   std::mutex mutex_;
+ };
+ 
++}  // namespace dispatcher
+ }  // namespace transport
+ }  // namespace cyber
+ }  // namespace apollo
+ 
+-#endif  // CYBER_TRANSPORT_RTPS_SUB_LISTENER_H_
++#endif  // CYBER_TRANSPORT_DISPATCHER_SUBSCRIBER_LISTENER_H_
+diff --git a/cyber/transport/message/listener_handler.h b/cyber/transport/message/listener_handler.h
+index b4b662a..a99051d 100644
+--- a/cyber/transport/message/listener_handler.h
++++ b/cyber/transport/message/listener_handler.h
+@@ -25,6 +25,7 @@
+ #include "cyber/base/atomic_rw_lock.h"
+ #include "cyber/base/signal.h"
+ #include "cyber/common/log.h"
++#include "cyber/message/arena_message_wrapper.h"
+ #include "cyber/message/message_traits.h"
+ #include "cyber/message/raw_message.h"
+ #include "cyber/transport/message/message_info.h"
+diff --git a/cyber/transport/message/message_info.cc b/cyber/transport/message/message_info.cc
+index 185375e..00fe0ae 100644
+--- a/cyber/transport/message/message_info.cc
++++ b/cyber/transport/message/message_info.cc
+@@ -24,7 +24,9 @@ namespace apollo {
+ namespace cyber {
+ namespace transport {
+ 
+-const std::size_t MessageInfo::kSize = 2 * ID_SIZE + sizeof(uint64_t);
++const std::size_t MessageInfo::kSize = 2 * ID_SIZE + sizeof(uint64_t) + \
++                                        sizeof(uint64_t) + sizeof(int32_t) + \
++                                        sizeof(uint64_t);
+ 
+ MessageInfo::MessageInfo() : sender_id_(false), spare_id_(false) {}
+ 
+@@ -67,9 +69,13 @@ bool MessageInfo::SerializeTo(std::string* dst) const {
+   RETURN_VAL_IF_NULL(dst, false);
+ 
+   dst->assign(sender_id_.data(), ID_SIZE);
+-  dst->append(reinterpret_cast<const char*>(&seq_num_), sizeof(seq_num_));
++  dst->append(
++    reinterpret_cast<const char*>(&channel_id_), sizeof(channel_id_));
++  dst->append(
++    reinterpret_cast<const char*>(&seq_num_), sizeof(seq_num_));
+   dst->append(spare_id_.data(), ID_SIZE);
+-
++  dst->append(reinterpret_cast<const char*>(
++    &send_time_), sizeof(send_time_));
+   return true;
+ }
+ 
+@@ -81,10 +87,16 @@ bool MessageInfo::SerializeTo(char* dst, std::size_t len) const {
+   char* ptr = dst;
+   std::memcpy(ptr, sender_id_.data(), ID_SIZE);
+   ptr += ID_SIZE;
+-  std::memcpy(ptr, reinterpret_cast<const char*>(&seq_num_), sizeof(seq_num_));
++  std::memcpy(ptr,
++    reinterpret_cast<const char*>(&channel_id_), sizeof(channel_id_));
++  ptr += sizeof(channel_id_);
++  std::memcpy(ptr,
++    reinterpret_cast<const char*>(&seq_num_), sizeof(seq_num_));
+   ptr += sizeof(seq_num_);
+   std::memcpy(ptr, spare_id_.data(), ID_SIZE);
+-
++  ptr += ID_SIZE;
++  std::memcpy(ptr,
++    reinterpret_cast<const char*>(&send_time_), sizeof(send_time_));
+   return true;
+ }
+ 
+@@ -102,10 +114,16 @@ bool MessageInfo::DeserializeFrom(const char* src, std::size_t len) {
+   char* ptr = const_cast<char*>(src);
+   sender_id_.set_data(ptr);
+   ptr += ID_SIZE;
+-  std::memcpy(reinterpret_cast<char*>(&seq_num_), ptr, sizeof(seq_num_));
++  std::memcpy(
++    reinterpret_cast<char*>(&channel_id_), ptr, sizeof(channel_id_));
++  ptr += sizeof(channel_id_);
++  std::memcpy(
++    reinterpret_cast<char*>(&seq_num_), ptr, sizeof(seq_num_));
+   ptr += sizeof(seq_num_);
+   spare_id_.set_data(ptr);
+-
++  ptr += ID_SIZE;
++  std::memcpy(
++    reinterpret_cast<char*>(&send_time_), ptr, sizeof(send_time_));
+   return true;
+ }
+ 
+diff --git a/cyber/transport/message/message_info.h b/cyber/transport/message/message_info.h
+index 3e869fb..0ef633c 100644
+--- a/cyber/transport/message/message_info.h
++++ b/cyber/transport/message/message_info.h
+@@ -60,11 +60,15 @@ class MessageInfo {
+ 
+   static const std::size_t kSize;
+ 
++  uint64_t send_time() const { return send_time_; }
++  void set_send_time(uint64_t send_time) { send_time_ = send_time; }
++
+  private:
+   Identity sender_id_;
+   uint64_t channel_id_ = 0;
+   uint64_t seq_num_ = 0;
+   Identity spare_id_;
++  uint64_t send_time_;
+ };
+ 
+ }  // namespace transport
+diff --git a/cyber/transport/qos/qos_filler.cc b/cyber/transport/qos/qos_filler.cc
+new file mode 100644
+index 0000000..5a11d1b
+--- /dev/null
++++ b/cyber/transport/qos/qos_filler.cc
+@@ -0,0 +1,339 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#include "cyber/transport/qos/qos_filler.h"
++
++#include "cyber/common/log.h"
++#include "cyber/transport/qos/qos_profile_conf.h"
++
++#include "fastrtps/attributes/PublisherAttributes.h"
++#include "fastrtps/attributes/SubscriberAttributes.h"
++
++namespace apollo {
++namespace cyber {
++namespace transport {
++
++using proto::QosDurabilityPolicy;
++using proto::QosHistoryPolicy;
++using proto::QosProfile;
++using proto::QosReliabilityPolicy;
++using transport::QosProfileConf;
++
++bool GetDefaultPubAttributes(
++    const std::string& channel_name, const QosProfile& qos,
++    eprosima::fastrtps::PublisherAttributes* pub_attr) {
++  RETURN_VAL_IF_NULL2(pub_attr, false);
++  pub_attr->topic.topicName = channel_name;
++  pub_attr->topic.topicDataType = "UnderlayMessage";
++  pub_attr->topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
++  switch (qos.history()) {
++    case QosHistoryPolicy::HISTORY_KEEP_LAST:
++      pub_attr->topic.historyQos.kind =
++          eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS;
++      break;
++    case QosHistoryPolicy::HISTORY_KEEP_ALL:
++      pub_attr->topic.historyQos.kind =
++          eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS;
++      break;
++    default:
++      break;
++  }
++  switch (qos.durability()) {
++    case QosDurabilityPolicy::DURABILITY_TRANSIENT_LOCAL:
++      pub_attr->qos.m_durability.kind =
++          eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS;
++      break;
++    case QosDurabilityPolicy::DURABILITY_VOLATILE:
++      pub_attr->qos.m_durability.kind =
++          eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS;
++      break;
++    default:
++      break;
++  }
++
++  switch (qos.reliability()) {
++    case QosReliabilityPolicy::RELIABILITY_BEST_EFFORT:
++      pub_attr->qos.m_reliability.kind =
++          eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS;
++      break;
++    case QosReliabilityPolicy::RELIABILITY_RELIABLE:
++      pub_attr->qos.m_reliability.kind =
++          eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS;
++      break;
++    default:
++      break;
++  }
++  if (qos.depth() != QosProfileConf::QOS_HISTORY_DEPTH_SYSTEM_DEFAULT) {
++    pub_attr->topic.historyQos.depth = static_cast<int32_t>(qos.depth());
++  }
++
++  // ensure the history depth is at least the requested queue size
++  RETURN_VAL_IF2(pub_attr->topic.historyQos.depth < 0, false);
++
++  // tranform messages per second to rtps heartbeat
++  // set default heartbeat period
++  pub_attr->times.heartbeatPeriod.seconds = 0;
++  pub_attr->times.heartbeatPeriod.fraction(300 * 4294967);  // 300ms
++  if (qos.mps() != 0) {
++    uint64_t mps = qos.mps();
++
++    // adapt heartbeat period
++    if (mps > 1024) {
++      mps = 1024;
++    } else if (mps < 64) {
++      mps = 64;
++    }
++
++    uint64_t fractions = (256ull << 32) / mps;
++    uint32_t fraction = fractions & 0xffffffff;
++    int32_t seconds = static_cast<int32_t>(fractions >> 32);
++
++    pub_attr->times.heartbeatPeriod.seconds = seconds;
++    pub_attr->times.heartbeatPeriod.fraction(fraction);
++  }
++
++  pub_attr->qos.m_publishMode.kind =
++      eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
++  pub_attr->historyMemoryPolicy =
++      eprosima::fastrtps::rtps::DYNAMIC_RESERVE_MEMORY_MODE;
++  AINFO << channel_name << "qos: [history: " << pub_attr->topic.historyQos.kind
++        << "] [durability: " << pub_attr->qos.m_durability.kind
++        << "] [reliability: " << pub_attr->qos.m_reliability.kind
++        << "] [depth: " << pub_attr->topic.historyQos.depth
++        << "] [samples: " << pub_attr->topic.resourceLimitsQos.max_samples
++        << "]";
++
++  return true;
++}
++
++bool GetDefaultSubAttributes(
++    const std::string& channel_name, const QosProfile& qos,
++    eprosima::fastrtps::SubscriberAttributes* sub_attr) {
++  RETURN_VAL_IF_NULL2(sub_attr, false);
++  sub_attr->topic.topicName = channel_name;
++  sub_attr->topic.topicDataType = "UnderlayMessage";
++  sub_attr->topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
++
++  switch (qos.history()) {
++    case QosHistoryPolicy::HISTORY_KEEP_LAST:
++      sub_attr->topic.historyQos.kind =
++          eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS;
++      break;
++    case QosHistoryPolicy::HISTORY_KEEP_ALL:
++      sub_attr->topic.historyQos.kind =
++          eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS;
++      break;
++    default:
++      break;
++  }
++  switch (qos.durability()) {
++    case QosDurabilityPolicy::DURABILITY_TRANSIENT_LOCAL:
++      sub_attr->qos.m_durability.kind =
++          eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS;
++      break;
++    case QosDurabilityPolicy::DURABILITY_VOLATILE:
++      sub_attr->qos.m_durability.kind =
++          eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS;
++      break;
++    default:
++      break;
++  }
++
++  switch (qos.reliability()) {
++    case QosReliabilityPolicy::RELIABILITY_BEST_EFFORT:
++      sub_attr->qos.m_reliability.kind =
++          eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS;
++      break;
++    case QosReliabilityPolicy::RELIABILITY_RELIABLE:
++      sub_attr->qos.m_reliability.kind =
++          eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS;
++      break;
++    default:
++      break;
++  }
++  if (qos.depth() != QosProfileConf::QOS_HISTORY_DEPTH_SYSTEM_DEFAULT) {
++    sub_attr->topic.historyQos.depth = static_cast<int32_t>(qos.depth());
++  }
++
++  // ensure the history depth is at least the requested queue size
++  RETURN_VAL_IF2(sub_attr->topic.historyQos.depth < 0, false);
++
++  sub_attr->historyMemoryPolicy =
++      eprosima::fastrtps::rtps::DYNAMIC_RESERVE_MEMORY_MODE;
++  AINFO << channel_name << "qos: [history: " << sub_attr->topic.historyQos.kind
++        << "] [durability: " << sub_attr->qos.m_durability.kind
++        << "] [reliability: " << sub_attr->qos.m_reliability.kind
++        << "] [depth: " << sub_attr->topic.historyQos.depth
++        << "] [samples: " << sub_attr->topic.resourceLimitsQos.max_samples
++        << "]";
++
++  return true;
++}
++
++bool GetDefaultTopicAttributes(
++    const std::string& channel_name, const QosProfile& qos,
++    eprosima::fastrtps::TopicAttributes* topic_attr) {
++  RETURN_VAL_IF_NULL2(topic_attr, false);
++  topic_attr->topicName = channel_name;
++  topic_attr->topicDataType = "UnderlayMessage";
++  topic_attr->topicKind = eprosima::fastrtps::rtps::NO_KEY;
++
++  switch (qos.history()) {
++    case QosHistoryPolicy::HISTORY_KEEP_LAST:
++      topic_attr->historyQos.kind =
++          eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS;
++      break;
++    case QosHistoryPolicy::HISTORY_KEEP_ALL:
++      topic_attr->historyQos.kind =
++          eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS;
++      break;
++    default:
++      break;
++  }
++
++  if (qos.depth() != QosProfileConf::QOS_HISTORY_DEPTH_SYSTEM_DEFAULT) {
++    topic_attr->historyQos.depth = static_cast<int32_t>(qos.depth());
++  }
++
++  // ensure the history depth is at least the requested queue size
++  RETURN_VAL_IF2(topic_attr->historyQos.depth < 0, false);
++
++  return true;
++}
++
++///////////////////////////////////////////////////////////////////////////
++bool QosFiller::FillInPubQos(const std::string& channel_name,
++                             const QosProfile& qos,
++                             eprosima::fastdds::dds::PublisherQos* pub_qos) {
++  RETURN_VAL_IF_NULL2(pub_qos, false);
++  eprosima::fastrtps::PublisherAttributes pub_attr;
++  if (!GetDefaultPubAttributes(channel_name, qos, &pub_attr)) {
++    return false;
++  }
++  pub_qos->group_data().setValue(pub_attr.qos.m_groupData);
++  pub_qos->partition() = pub_attr.qos.m_partition;
++  pub_qos->presentation() = pub_attr.qos.m_presentation;
++  return true;
++}
++
++bool QosFiller::FillInWriterQos(
++    const std::string& channel_name, const QosProfile& qos,
++    eprosima::fastdds::dds::DataWriterQos* writer_qos) {
++  RETURN_VAL_IF_NULL2(writer_qos, false);
++  eprosima::fastrtps::PublisherAttributes pub_attr;
++  if (!GetDefaultPubAttributes(channel_name, qos, &pub_attr)) {
++    return false;
++  }
++  writer_qos->writer_resource_limits().matched_subscriber_allocation =
++      pub_attr.matched_subscriber_allocation;
++  writer_qos->properties() = pub_attr.properties;
++  writer_qos->throughput_controller() = pub_attr.throughputController;
++  writer_qos->endpoint().unicast_locator_list = pub_attr.unicastLocatorList;
++  writer_qos->endpoint().multicast_locator_list = pub_attr.multicastLocatorList;
++  writer_qos->endpoint().remote_locator_list = pub_attr.remoteLocatorList;
++  writer_qos->endpoint().history_memory_policy = pub_attr.historyMemoryPolicy;
++  writer_qos->endpoint().user_defined_id = pub_attr.getUserDefinedID();
++  writer_qos->endpoint().entity_id = pub_attr.getEntityID();
++  writer_qos->reliable_writer_qos().times = pub_attr.times;
++  writer_qos->reliable_writer_qos().disable_positive_acks =
++      pub_attr.qos.m_disablePositiveACKs;
++  writer_qos->durability() = pub_attr.qos.m_durability;
++  writer_qos->durability_service() = pub_attr.qos.m_durabilityService;
++  writer_qos->deadline() = pub_attr.qos.m_deadline;
++  writer_qos->latency_budget() = pub_attr.qos.m_latencyBudget;
++  writer_qos->liveliness() = pub_attr.qos.m_liveliness;
++  writer_qos->reliability() = pub_attr.qos.m_reliability;
++  writer_qos->lifespan() = pub_attr.qos.m_lifespan;
++  writer_qos->user_data().setValue(pub_attr.qos.m_userData);
++  writer_qos->ownership() = pub_attr.qos.m_ownership;
++  writer_qos->ownership_strength() = pub_attr.qos.m_ownershipStrength;
++  writer_qos->destination_order() = pub_attr.qos.m_destinationOrder;
++  writer_qos->representation() = pub_attr.qos.representation;
++  writer_qos->publish_mode() = pub_attr.qos.m_publishMode;
++  writer_qos->history() = pub_attr.topic.historyQos;
++  writer_qos->resource_limits() = pub_attr.topic.resourceLimitsQos;
++  return true;
++}
++
++bool QosFiller::FillInSubQos(const std::string& channel_name,
++                             const QosProfile& qos,
++                             eprosima::fastdds::dds::SubscriberQos* sub_qos) {
++  RETURN_VAL_IF_NULL2(sub_qos, false);
++  eprosima::fastrtps::SubscriberAttributes sub_attr;
++  if (!GetDefaultSubAttributes(channel_name, qos, &sub_attr)) {
++    return false;
++  }
++  sub_qos->group_data().setValue(sub_attr.qos.m_groupData);
++  sub_qos->partition() = sub_attr.qos.m_partition;
++  sub_qos->presentation() = sub_attr.qos.m_presentation;
++  return true;
++}
++
++bool QosFiller::FillInReaderQos(
++    const std::string& channel_name, const proto::QosProfile& qos,
++    eprosima::fastdds::dds::DataReaderQos* reader_qos) {
++  RETURN_VAL_IF_NULL2(reader_qos, false);
++  eprosima::fastrtps::SubscriberAttributes sub_attr;
++  if (!GetDefaultSubAttributes(channel_name, qos, &sub_attr)) {
++    return false;
++  }
++  reader_qos->reader_resource_limits().matched_publisher_allocation =
++      sub_attr.matched_publisher_allocation;
++  reader_qos->properties() = sub_attr.properties;
++  reader_qos->expects_inline_qos(sub_attr.expectsInlineQos);
++  reader_qos->endpoint().unicast_locator_list = sub_attr.unicastLocatorList;
++  reader_qos->endpoint().multicast_locator_list = sub_attr.multicastLocatorList;
++  reader_qos->endpoint().remote_locator_list = sub_attr.remoteLocatorList;
++  reader_qos->endpoint().history_memory_policy = sub_attr.historyMemoryPolicy;
++  reader_qos->endpoint().user_defined_id = sub_attr.getUserDefinedID();
++  reader_qos->endpoint().entity_id = sub_attr.getEntityID();
++  reader_qos->reliable_reader_qos().times = sub_attr.times;
++  reader_qos->reliable_reader_qos().disable_positive_ACKs =
++      sub_attr.qos.m_disablePositiveACKs;
++  reader_qos->durability() = sub_attr.qos.m_durability;
++  reader_qos->durability_service() = sub_attr.qos.m_durabilityService;
++  reader_qos->deadline() = sub_attr.qos.m_deadline;
++  reader_qos->latency_budget() = sub_attr.qos.m_latencyBudget;
++  reader_qos->liveliness() = sub_attr.qos.m_liveliness;
++  reader_qos->reliability() = sub_attr.qos.m_reliability;
++  reader_qos->lifespan() = sub_attr.qos.m_lifespan;
++  reader_qos->user_data().setValue(sub_attr.qos.m_userData);
++  reader_qos->ownership() = sub_attr.qos.m_ownership;
++  reader_qos->destination_order() = sub_attr.qos.m_destinationOrder;
++  reader_qos->type_consistency().type_consistency =
++      sub_attr.qos.type_consistency;
++  reader_qos->type_consistency().representation = sub_attr.qos.representation;
++  reader_qos->time_based_filter() = sub_attr.qos.m_timeBasedFilter;
++  reader_qos->history() = sub_attr.topic.historyQos;
++  reader_qos->resource_limits() = sub_attr.topic.resourceLimitsQos;
++  return true;
++}
++
++bool QosFiller::FillInTopicQos(const std::string& channel_name,
++                               const proto::QosProfile& qos,
++                               eprosima::fastdds::dds::TopicQos* topic_qos) {
++  RETURN_VAL_IF_NULL2(topic_qos, false);
++  eprosima::fastrtps::TopicAttributes topic_attr;
++  if (!GetDefaultTopicAttributes(channel_name, qos, &topic_attr)) {
++    return false;
++  }
++  topic_qos->history() = topic_attr.historyQos;
++  topic_qos->resource_limits() = topic_attr.resourceLimitsQos;
++  return true;
++}
++}  // namespace transport
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/transport/qos/qos_filler.h b/cyber/transport/qos/qos_filler.h
+new file mode 100644
+index 0000000..f7104b8
+--- /dev/null
++++ b/cyber/transport/qos/qos_filler.h
+@@ -0,0 +1,62 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#ifndef CYBER_DDS_ADAPTER_FASTDDS_QOS_FILLER_H_
++#define CYBER_DDS_ADAPTER_FASTDDS_QOS_FILLER_H_
++
++#include <string>
++
++#include "cyber/base/macros.h"
++
++#include "fastdds/dds/publisher/qos/DataWriterQos.hpp"
++#include "fastdds/dds/publisher/qos/PublisherQos.hpp"
++#include "fastdds/dds/subscriber/qos/DataReaderQos.hpp"
++#include "fastdds/dds/subscriber/qos/SubscriberQos.hpp"
++#include "fastdds/dds/topic/qos/TopicQos.hpp"
++#include "cyber/proto/qos_profile.pb.h"
++
++namespace apollo {
++namespace cyber {
++namespace transport {
++
++class QosFiller {
++ public:
++  static bool FillInPubQos(const std::string& channel_name,
++                           const proto::QosProfile& qos,
++                           eprosima::fastdds::dds::PublisherQos* pub_qos);
++
++  static bool FillInWriterQos(
++      const std::string& channel_name, const proto::QosProfile& qos,
++      eprosima::fastdds::dds::DataWriterQos* writer_qos);
++
++  static bool FillInSubQos(const std::string& channel_name,
++                           const proto::QosProfile& qos,
++                           eprosima::fastdds::dds::SubscriberQos* sub_qos);
++
++  static bool FillInReaderQos(
++      const std::string& channel_name, const proto::QosProfile& qos,
++      eprosima::fastdds::dds::DataReaderQos* reader_qos);
++
++  static bool FillInTopicQos(const std::string& channel_name,
++                             const proto::QosProfile& qos,
++                             eprosima::fastdds::dds::TopicQos* topic_qos);
++};
++
++}  // namespace transport
++}  // namespace cyber
++}  // namespace apollo
++
++#endif  // CYBER_DDS_ADAPTER_FASTDDS_QOS_FILLER_H_
+diff --git a/cyber/transport/receiver/shm_receiver.h b/cyber/transport/receiver/shm_receiver.h
+index e39890b..ae18ed9 100644
+--- a/cyber/transport/receiver/shm_receiver.h
++++ b/cyber/transport/receiver/shm_receiver.h
+@@ -22,6 +22,7 @@
+ #include "cyber/common/log.h"
+ #include "cyber/transport/dispatcher/shm_dispatcher.h"
+ #include "cyber/transport/receiver/receiver.h"
++#include "cyber/transport/shm/protobuf_arena_manager.h"
+ 
+ namespace apollo {
+ namespace cyber {
+@@ -63,6 +64,17 @@ void ShmReceiver<M>::Enable() {
+     return;
+   }
+ 
++  if (cyber::common::GlobalData::Instance()->IsChannelEnableArenaShm(
++          this->attr_.channel_id()) && message::MessageType<M>() != \
++            message::MessageType<message::RawMessage>()) {
++    auto arena_manager = ProtobufArenaManager::Instance();
++    if (!arena_manager->Enable() ||
++        !arena_manager->EnableSegment(this->attr_.channel_id())) {
++      AERROR << "arena manager enable failed.";
++      return;
++    }
++  }
++
+   dispatcher_->AddListener<M>(
+       this->attr_, std::bind(&ShmReceiver<M>::OnNewMessage, this,
+                              std::placeholders::_1, std::placeholders::_2));
+@@ -81,6 +93,16 @@ void ShmReceiver<M>::Disable() {
+ 
+ template <typename M>
+ void ShmReceiver<M>::Enable(const RoleAttributes& opposite_attr) {
++  if (cyber::common::GlobalData::Instance()->IsChannelEnableArenaShm(
++          this->attr_.channel_id()) && message::MessageType<M>() != \
++            message::MessageType<message::RawMessage>()) {
++    auto arena_manager = ProtobufArenaManager::Instance();
++    if (!arena_manager->Enable() ||
++        !arena_manager->EnableSegment(this->attr_.channel_id())) {
++      AERROR << "arena manager enable failed.";
++      return;
++    }
++  }
+   dispatcher_->AddListener<M>(
+       this->attr_, opposite_attr,
+       std::bind(&ShmReceiver<M>::OnNewMessage, this, std::placeholders::_1,
+diff --git a/cyber/transport/rtps/attributes_filler.cc b/cyber/transport/rtps/attributes_filler.cc
+index 411e12d..3a203f7 100644
+--- a/cyber/transport/rtps/attributes_filler.cc
++++ b/cyber/transport/rtps/attributes_filler.cc
+@@ -35,7 +35,7 @@ bool AttributesFiller::FillInPubAttr(
+ 
+   pub_attr->topic.topicName = channel_name;
+   pub_attr->topic.topicDataType = "UnderlayMessage";
+-  pub_attr->topic.topicKind = eprosima::fastrtps::NO_KEY;
++  pub_attr->topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
+ 
+   switch (qos.history()) {
+     case QosHistoryPolicy::HISTORY_KEEP_LAST:
+@@ -88,7 +88,7 @@ bool AttributesFiller::FillInPubAttr(
+   // transform messages per second to rtps heartbeat
+   // set default heartbeat period
+   pub_attr->times.heartbeatPeriod.seconds = 1;
+-  pub_attr->times.heartbeatPeriod.fraction = 0;
++  pub_attr->times.heartbeatPeriod.fraction(0);
+   if (qos.mps() != 0) {
+     uint64_t mps = qos.mps();
+ 
+@@ -104,13 +104,13 @@ bool AttributesFiller::FillInPubAttr(
+     int32_t seconds = static_cast<int32_t>(fractions >> 32);
+ 
+     pub_attr->times.heartbeatPeriod.seconds = seconds;
+-    pub_attr->times.heartbeatPeriod.fraction = fraction;
++    pub_attr->times.heartbeatPeriod.fraction(fraction);
+   }
+ 
+   pub_attr->qos.m_publishMode.kind =
+       eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
+   pub_attr->historyMemoryPolicy =
+-      eprosima::fastrtps::DYNAMIC_RESERVE_MEMORY_MODE;
++      eprosima::fastrtps::rtps::DYNAMIC_RESERVE_MEMORY_MODE;
+   pub_attr->topic.resourceLimitsQos.max_samples = 10000;
+ 
+   return true;
+@@ -122,7 +122,7 @@ bool AttributesFiller::FillInSubAttr(
+   RETURN_VAL_IF_NULL(sub_attr, false);
+   sub_attr->topic.topicName = channel_name;
+   sub_attr->topic.topicDataType = "UnderlayMessage";
+-  sub_attr->topic.topicKind = eprosima::fastrtps::NO_KEY;
++  sub_attr->topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
+ 
+   switch (qos.history()) {
+     case QosHistoryPolicy::HISTORY_KEEP_LAST:
+@@ -173,7 +173,7 @@ bool AttributesFiller::FillInSubAttr(
+   }
+ 
+   sub_attr->historyMemoryPolicy =
+-      eprosima::fastrtps::DYNAMIC_RESERVE_MEMORY_MODE;
++      eprosima::fastrtps::rtps::DYNAMIC_RESERVE_MEMORY_MODE;
+   sub_attr->topic.resourceLimitsQos.max_samples = 10000;
+ 
+   return true;
+diff --git a/cyber/transport/rtps/attributes_filler.h b/cyber/transport/rtps/attributes_filler.h
+index 44ab135..df57571 100644
+--- a/cyber/transport/rtps/attributes_filler.h
++++ b/cyber/transport/rtps/attributes_filler.h
+@@ -19,6 +19,8 @@
+ 
+ #include <string>
+ 
++#include "cyber/base/macros.h"
++
+ #include "cyber/proto/qos_profile.pb.h"
+ #include "fastrtps/attributes/PublisherAttributes.h"
+ #include "fastrtps/attributes/SubscriberAttributes.h"
+diff --git a/cyber/transport/rtps/participant.cc b/cyber/transport/rtps/participant.cc
+index 169ac48..6a362be 100644
+--- a/cyber/transport/rtps/participant.cc
++++ b/cyber/transport/rtps/participant.cc
+@@ -1,5 +1,5 @@
+ /******************************************************************************
+- * Copyright 2018 The Apollo Authors. All Rights Reserved.
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+  *
+  * Licensed under the Apache License, Version 2.0 (the "License");
+  * you may not use this file except in compliance with the License.
+@@ -13,130 +13,207 @@
+  * See the License for the specific language governing permissions and
+  * limitations under the License.
+  *****************************************************************************/
+-
+ #include "cyber/transport/rtps/participant.h"
+ 
+-#include "cyber/common/global_data.h"
+-#include "cyber/common/log.h"
+-#include "cyber/proto/transport_conf.pb.h"
++#include <vector>
+ 
+ namespace apollo {
+ namespace cyber {
+ namespace transport {
+ 
+-Participant::Participant(const std::string& name, int send_port,
+-                         eprosima::fastrtps::ParticipantListener* listener)
++auto Participant::CreateSubscriber(const std::string& channel_name,
++                                   const proto::QosProfile& qos,
++                                   const rtps::subsciber_callback& callback)
++    -> std::shared_ptr<transport::Subscriber> {
++  if (!participant_) {
++    AWARN << "DDSParticipant already released when the subscriber created, "
++             "channel:"
++          << channel_name;
++    return nullptr;
++  }
++  auto subscriber_ptr = std::make_shared<transport::Subscriber>(
++      channel_name, qos, participant_, callback);
++  RETURN_VAL_IF(!subscriber_ptr->Init(), nullptr);
++  std::lock_guard<std::mutex> lock(subscriber_mutex_);
++  subscriber_map_.emplace(channel_name, subscriber_ptr);
++  return subscriber_ptr;
++}
++
++Participant::Participant(
++    const std::string& name, int send_port,
++    eprosima::fastdds::dds::DomainParticipantListener* listener)
+     : shutdown_(false),
+       name_(name),
+       send_port_(send_port),
+       listener_(listener),
+-      fastrtps_participant_(nullptr) {}
++      type_support_(new UnderlayMessageType()),
++      participant_(nullptr) {}
+ 
+ Participant::~Participant() {}
+ 
++bool Participant::Init() {
++  return CreateParticipant(name_, send_port_, listener_);
++}
++
+ void Participant::Shutdown() {
+   if (shutdown_.exchange(true)) {
+     return;
+   }
+ 
+-  std::lock_guard<std::mutex> lk(mutex_);
+-  if (fastrtps_participant_ != nullptr) {
+-    eprosima::fastrtps::Domain::removeParticipant(fastrtps_participant_);
+-    fastrtps_participant_ = nullptr;
++  publisher_map_.clear();
++  subscriber_map_.clear();
++  if (listener_ != nullptr) {
++    delete listener_;
+     listener_ = nullptr;
+   }
+ }
+ 
+-eprosima::fastrtps::Participant* Participant::fastrtps_participant() {
+-  if (shutdown_.load()) {
++auto Participant::CreatePublisher(const std::string& channel_name,
++                                  const proto::QosProfile& qos)
++    -> std::shared_ptr<transport::Publisher> {
++  if (!participant_) {
++    AWARN << "DDSParticipant already released when the publisher created, "
++             "channel:"
++          << channel_name;
+     return nullptr;
+   }
++  auto publisher_ptr =
++      std::make_shared<transport::Publisher>(channel_name, qos, participant_);
+ 
+-  std::lock_guard<std::mutex> lk(mutex_);
+-  if (fastrtps_participant_ != nullptr) {
+-    return fastrtps_participant_;
+-  }
+-
+-  CreateFastRtpsParticipant(name_, send_port_, listener_);
+-  return fastrtps_participant_;
++  RETURN_VAL_IF(!publisher_ptr->Init(), nullptr);
++  std::lock_guard<std::mutex> lock(publisher_mutex_);
++  publisher_map_.emplace(channel_name, publisher_ptr);
++  return publisher_ptr;
+ }
+ 
+-void Participant::CreateFastRtpsParticipant(
++bool Participant::CreateParticipant(
+     const std::string& name, int send_port,
+-    eprosima::fastrtps::ParticipantListener* listener) {
++    eprosima::fastdds::dds::DomainParticipantListener* listener) {
+   uint32_t domain_id = 80;
+-
+   const char* val = ::getenv("CYBER_DOMAIN_ID");
+   if (val != nullptr) {
+     try {
+       domain_id = std::stoi(val);
+     } catch (const std::exception& e) {
+       AERROR << "convert domain_id error " << e.what();
+-      return;
++      return false;
+     }
+   }
+ 
+-  auto part_attr_conf = std::make_shared<proto::RtpsParticipantAttr>();
+-  auto& global_conf = common::GlobalData::Instance()->Config();
+-  if (global_conf.has_transport_conf() &&
+-      global_conf.transport_conf().has_participant_attr()) {
+-    part_attr_conf->CopyFrom(global_conf.transport_conf().participant_attr());
+-  }
+-
+-  eprosima::fastrtps::ParticipantAttributes attr;
+-  attr.rtps.defaultSendPort = send_port;
+-  attr.rtps.port.domainIDGain =
+-      static_cast<uint16_t>(part_attr_conf->domain_id_gain());
+-  attr.rtps.port.portBase = static_cast<uint16_t>(part_attr_conf->port_base());
+-  attr.rtps.use_IP6_to_send = false;
+-  attr.rtps.builtin.use_SIMPLE_RTPSParticipantDiscoveryProtocol = true;
+-  attr.rtps.builtin.use_SIMPLE_EndpointDiscoveryProtocol = true;
+-  attr.rtps.builtin.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter =
+-      true;
+-  attr.rtps.builtin.m_simpleEDP.use_PublicationWriterANDSubscriptionReader =
+-      true;
+-  attr.rtps.builtin.domainId = domain_id;
+-
+-  /**
+-   * The user should set the lease_duration and the announcement_period with
+-   * values that differ in at least 30%. Values too close to each other may
+-   * cause the failure of the writer liveliness assertion in networks with high
+-   * latency or with lots of communication errors.
+-   */
+-  attr.rtps.builtin.leaseDuration.seconds = part_attr_conf->lease_duration();
+-  attr.rtps.builtin.leaseDuration_announcementperiod.seconds =
+-      part_attr_conf->announcement_period();
+-
+-  attr.rtps.setName(name.c_str());
+-
+   std::string ip_env("127.0.0.1");
+   const char* ip_val = ::getenv("CYBER_IP");
+   if (ip_val != nullptr) {
+     ip_env = ip_val;
+     if (ip_env.empty()) {
+       AERROR << "invalid CYBER_IP (an empty string)";
+-      return;
++      return false;
+     }
+   }
+-  ADEBUG << "cyber ip: " << ip_env;
+ 
++  auto part_attr_conf = std::make_shared<proto::RtpsParticipantAttr>();
++  auto& global_conf = common::GlobalData::Instance()->Config();
++
++  if (!global_conf.has_transport_conf() ||
++      !global_conf.transport_conf().has_participant_attr()) {
++    AERROR << "No rtps participant attr conf.";
++    return false;
++  }
++
++  part_attr_conf->CopyFrom(global_conf.transport_conf().participant_attr());
++
++  // set wire protocol
++  eprosima::fastdds::dds::WireProtocolConfigQos wire_protocol;
++  wire_protocol.port.domainIDGain =
++      static_cast<uint16_t>(part_attr_conf->domain_id_gain());
++  wire_protocol.port.portBase =
++      static_cast<uint16_t>(part_attr_conf->port_base());
++  wire_protocol.builtin.discovery_config.discoveryProtocol =
++      eprosima::fastrtps::rtps::DiscoveryProtocol_t::SIMPLE;
++  wire_protocol.builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol =
++      true;
++  wire_protocol.builtin.discovery_config.m_simpleEDP
++      .use_PublicationReaderANDSubscriptionWriter = true;
++  wire_protocol.builtin.discovery_config.m_simpleEDP
++      .use_PublicationWriterANDSubscriptionReader = true;
++  wire_protocol.builtin.discovery_config.leaseDuration.seconds =
++      part_attr_conf->lease_duration();
++  wire_protocol.builtin.discovery_config.leaseDuration_announcementperiod
++      .seconds = part_attr_conf->announcement_period();
++  wire_protocol.builtin.discovery_config.ignoreParticipantFlags = static_cast<
++      eprosima::fastrtps::rtps::ParticipantFilteringFlags>(
++      eprosima::fastrtps::rtps::ParticipantFilteringFlags::FILTER_SAME_PROCESS);
++
++  // set transport locator
+   eprosima::fastrtps::rtps::Locator_t locator;
+   locator.port = 0;
+-  RETURN_IF(!locator.set_IP4_address(ip_env));
+-
++  RETURN_VAL_IF(!eprosima::fastrtps::rtps::IPLocator::setIPv4(locator, ip_env),
++                false);
+   locator.kind = LOCATOR_KIND_UDPv4;
++  wire_protocol.default_unicast_locator_list.push_back(locator);
++  wire_protocol.builtin.metatrafficUnicastLocatorList.push_back(locator);
++  eprosima::fastrtps::rtps::IPLocator::setIPv4(locator, 239, 255, 0, 1);
++  wire_protocol.builtin.metatrafficMulticastLocatorList.push_back(locator);
++
++  // set participant qos
++  eprosima::fastdds::dds::PropertyPolicyQos properties;
++  eprosima::fastdds::dds::DomainParticipantQos participant_qos;
++  participant_qos.name(this->name_.c_str());
++  participant_qos.wire_protocol(wire_protocol);
++  participant_qos.properties(properties);
++
++  // UDP
++  auto udp_transport =
++      std::make_shared<eprosima::fastdds::rtps::UDPv4TransportDescriptor>();
++  udp_transport->sendBufferSize = 1024 * 1025 * 10;
++  udp_transport->receiveBufferSize = 1024 * 1025 * 10;
++  udp_transport->interfaceWhiteList.push_back(ip_env);
++  participant_qos.transport().user_transports.push_back(udp_transport);
++  participant_qos.transport().use_builtin_transports = false;
++  AINFO << "part name: " << participant_qos.name() << ", port: " << send_port_;
++
++  participant_ =
++      eprosima::fastdds::dds::DomainParticipantFactory::get_instance()
++          ->create_participant(domain_id, participant_qos, listener_,
++                               eprosima::fastdds::dds::StatusMask::none());
++  RETURN_VAL_IF_NULL(participant_, false);
++  if (type_support_.register_type(participant_) != ReturnCode_t::RETCODE_OK) {
++    AERROR << "Register type failed!";
++    return false;
++  }
++  return true;
++}
+ 
+-  attr.rtps.defaultUnicastLocatorList.push_back(locator);
+-  attr.rtps.defaultOutLocatorList.push_back(locator);
+-  attr.rtps.builtin.metatrafficUnicastLocatorList.push_back(locator);
+-
+-  locator.set_IP4_address(239, 255, 0, 1);
+-  attr.rtps.builtin.metatrafficMulticastLocatorList.push_back(locator);
++bool Participant::CheckIPVaild(std::string ip_env) {
++  struct ifaddrs *ifap, *ifa;
++  struct sockaddr_in* sa;
++  char ip_address[INET_ADDRSTRLEN];
++  if (getifaddrs(&ifap) == -1) {
++    AERROR << "getifaddrs error";
++    return false;
++  }
++  std::vector<std::string> ip_vec;
++  std::stringstream ip_info;
++  ip_info << "All ip info:  \n";
++  for (ifa = ifap; ifa != NULL; ifa = ifa->ifa_next) {
++    if (ifa->ifa_addr != NULL && ifa->ifa_addr->sa_family == AF_INET) {
++      sa = (struct sockaddr_in*)ifa->ifa_addr;
++      inet_ntop(AF_INET, &sa->sin_addr, ip_address, sizeof(ip_address));
++      ip_info << "    " << ifa->ifa_name << " " << ip_address << "\n";
++      ip_vec.push_back(ip_address);
++    }
++  }
++  AINFO << ip_info.str();
++  freeifaddrs(ifap);
+ 
+-  fastrtps_participant_ =
+-      eprosima::fastrtps::Domain::createParticipant(attr, listener);
+-  RETURN_IF_NULL(fastrtps_participant_);
+-  eprosima::fastrtps::Domain::registerType(fastrtps_participant_, &type_);
++  for (std::string ip_interface : ip_vec) {
++    if (ip_interface == ip_env) {
++      AINFO << "Find same the ip interface in host as cyber ip: " << ip_env;
++      return true;
++    }
++  }
++  AERROR << "The same ip interface in host as cyber ip was not found: "
++         << ip_env;
++  return false;
+ }
+ 
+ }  // namespace transport
+diff --git a/cyber/transport/rtps/participant.h b/cyber/transport/rtps/participant.h
+index 455c897..9950cbe 100644
+--- a/cyber/transport/rtps/participant.h
++++ b/cyber/transport/rtps/participant.h
+@@ -1,5 +1,5 @@
+ /******************************************************************************
+- * Copyright 2018 The Apollo Authors. All Rights Reserved.
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
+  *
+  * Licensed under the Apache License, Version 2.0 (the "License");
+  * you may not use this file except in compliance with the License.
+@@ -17,47 +17,81 @@
+ #ifndef CYBER_TRANSPORT_RTPS_PARTICIPANT_H_
+ #define CYBER_TRANSPORT_RTPS_PARTICIPANT_H_
+ 
++#include <arpa/inet.h>
++#include <ifaddrs.h>
++
+ #include <atomic>
+ #include <memory>
+ #include <mutex>
+ #include <string>
++#include <unordered_map>
++
++#include "fastdds/dds/domain/DomainParticipantFactory.hpp"
++#include "fastdds/dds/domain/DomainParticipantListener.hpp"
++#include "fastdds/rtps/transport/TCPv4TransportDescriptor.h"
++#include "fastdds/rtps/transport/UDPv4TransportDescriptor.h"
++#include "fastrtps/utils/IPLocator.h"
++
++#include "cyber/base/macros.h"
+ 
++#include "cyber/proto/qos_profile.pb.h"
++#include "cyber/proto/transport_conf.pb.h"
++
++#include "cyber/common/global_data.h"
++#include "cyber/common/log.h"
++#include "cyber/transport/rtps/publisher.h"
++#include "cyber/transport/rtps/subscriber.h"
+ #include "cyber/transport/rtps/underlay_message_type.h"
+-#include "fastrtps/Domain.h"
+-#include "fastrtps/attributes/ParticipantAttributes.h"
+-#include "fastrtps/participant/Participant.h"
+-#include "fastrtps/participant/ParticipantListener.h"
+-#include "fastrtps/rtps/common/Locator.h"
+ 
+ namespace apollo {
+ namespace cyber {
+ namespace transport {
+ 
+-class Participant;
+-using ParticipantPtr = std::shared_ptr<Participant>;
+-
+ class Participant {
+  public:
+-  Participant(const std::string& name, int send_port,
+-              eprosima::fastrtps::ParticipantListener* listener = nullptr);
++  Participant(
++      const std::string& name, int send_port,
++      eprosima::fastdds::dds::DomainParticipantListener* listener = nullptr);
+   virtual ~Participant();
+ 
+   void Shutdown();
++  bool Init();
++  auto CreatePublisher(const std::string& channel_name,
++                       const proto::QosProfile& qos)
++      -> std::shared_ptr<transport::Publisher>;
++
++  auto CreateSubscriber(const std::string& channel_name,
++                        const proto::QosProfile& qos,
++                        const rtps::subsciber_callback& callback = nullptr)
++      -> std::shared_ptr<Subscriber>;
+ 
+-  eprosima::fastrtps::Participant* fastrtps_participant();
+   bool is_shutdown() const { return shutdown_.load(); }
+ 
+  private:
+-  void CreateFastRtpsParticipant(
++  Participant(const Participant&) = delete;
++  Participant& operator=(const Participant&) = delete;
++  bool CreateParticipant(
+       const std::string& name, int send_port,
+-      eprosima::fastrtps::ParticipantListener* listener);
++      eprosima::fastdds::dds::DomainParticipantListener* listener);
+ 
++  bool CheckIPVaild(std::string ip_env);
+   std::atomic<bool> shutdown_;
+   std::string name_;
+   int send_port_;
+-  eprosima::fastrtps::ParticipantListener* listener_;
+-  UnderlayMessageType type_;
+-  eprosima::fastrtps::Participant* fastrtps_participant_;
++
++  using PublisherPtrMap =
++      std::unordered_multimap<std::string, std::shared_ptr<Publisher>>;
++  using SubscriberPtrMap =
++      std::unordered_multimap<std::string, std::shared_ptr<Subscriber>>;
++
++  std::mutex publisher_mutex_;
++  PublisherPtrMap publisher_map_;
++  std::mutex subscriber_mutex_;
++  SubscriberPtrMap subscriber_map_;
++
++  eprosima::fastdds::dds::DomainParticipantListener* listener_;
++  eprosima::fastdds::dds::TypeSupport type_support_;
++  eprosima::fastdds::dds::DomainParticipant* participant_;
+   std::mutex mutex_;
+ };
+ 
+diff --git a/cyber/transport/rtps/publisher.cc b/cyber/transport/rtps/publisher.cc
+new file mode 100644
+index 0000000..ab2effa
+--- /dev/null
++++ b/cyber/transport/rtps/publisher.cc
+@@ -0,0 +1,136 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++
++#include "cyber/transport/rtps/publisher.h"
++#include "cyber/common/log.h"
++
++namespace apollo {
++namespace cyber {
++namespace transport {
++
++Publisher::Publisher(const std::string& channel_name,
++                     const proto::QosProfile& qos,
++                     eprosima::fastdds::dds::DomainParticipant* participant)
++    : channel_name_(channel_name),
++      qos_(qos),
++      shutdown_(false),
++      participant_(participant),
++      publisher_(nullptr),
++      topic_(nullptr),
++      writer_(nullptr) {}
++
++Publisher::~Publisher() { Shutdown(); }
++
++bool Publisher::Init() {
++  eprosima::fastdds::dds::PublisherQos pub_qos;
++  RETURN_VAL_IF(
++      !QosFiller::FillInPubQos(this->channel_name_, this->qos_, &pub_qos),
++      false);
++  publisher_ = participant_->create_publisher(pub_qos, nullptr);
++  if (publisher_ == nullptr) {
++    AINFO << "something went wrong while creating the publisher...";
++    return false;
++  }
++
++  if (!EnsureCreateTopic(this->channel_name_)) {
++    AINFO << "something went wrong while creating the topic...";
++    return false;
++  }
++
++  eprosima::fastdds::dds::DataWriterQos writer_qos;
++  RETURN_VAL_IF(
++      !QosFiller::FillInWriterQos(this->channel_name_, this->qos_, &writer_qos),
++      false);
++  writer_ = publisher_->create_datawriter(topic_, writer_qos, nullptr);
++  if (writer_ == nullptr) {
++    AINFO << "something went wrong while creating the datawriter...";
++    return false;
++  }
++
++  return true;
++}
++
++bool Publisher::Write(const UnderlayMessage& msg, bool is_topo_msg) {
++  RETURN_VAL_IF(shutdown_.load(), false);
++  if (is_topo_msg) {
++    AINFO << "FastDDSPublisher::Write data size: " << msg.data().size();
++  }
++  return writer_->write(
++      reinterpret_cast<void*>(const_cast<UnderlayMessage*>(&msg)));
++}
++
++bool Publisher::Write(const UnderlayMessage& msg, const MessageInfo& msg_info,
++                      bool is_topo_msg) {
++  RETURN_VAL_IF(shutdown_.load(), false);
++  if (is_topo_msg) {
++    AINFO << "FastDDSPublisher::Write data size: " << msg.data().size();
++  }
++
++  eprosima::fastrtps::rtps::WriteParams wparams;
++
++  char* ptr =
++      reinterpret_cast<char*>(&wparams.related_sample_identity().writer_guid());
++
++  memcpy(ptr, msg_info.sender_id().data(), ID_SIZE);
++  memcpy(ptr + ID_SIZE, msg_info.spare_id().data(), ID_SIZE);
++
++  wparams.related_sample_identity().sequence_number().high =
++      (int32_t)((msg_info.seq_num() & 0xFFFFFFFF00000000) >> 32);
++  wparams.related_sample_identity().sequence_number().low =
++      (int32_t)(msg_info.seq_num() & 0xFFFFFFFF);
++
++  return writer_->write(
++      reinterpret_cast<void*>(const_cast<UnderlayMessage*>(&msg)), wparams);
++}
++
++void Publisher::Shutdown() {
++  RETURN_IF(shutdown_.exchange(true));
++
++  if (publisher_ != nullptr && writer_ != nullptr) {
++    publisher_->delete_datawriter(writer_);
++    writer_ = nullptr;
++  }
++  if (participant_ != nullptr && publisher_ != nullptr) {
++    if (participant_->delete_publisher(publisher_) ==
++        eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK) {
++      publisher_ = nullptr;
++    } else {
++      AERROR << channel_name_ << ": Failed to delete the publisher.";
++    }
++  }
++  if (participant_ != nullptr && topic_ != nullptr) {
++    participant_->delete_topic(topic_);
++    topic_ = nullptr;
++  }
++}
++
++bool Publisher::EnsureCreateTopic(const std::string& channel_name) {
++  topic_ = dynamic_cast<eprosima::fastdds::dds::Topic*>(
++      participant_->lookup_topicdescription(channel_name));
++  if (topic_ == nullptr) {
++    eprosima::fastdds::dds::TopicQos topic_qos;
++    RETURN_VAL_IF(
++        !QosFiller::FillInTopicQos(channel_name, this->qos_, &topic_qos),
++        false);
++    topic_ =
++        participant_->create_topic(channel_name, "UnderlayMessage", topic_qos);
++  }
++  return (topic_ != nullptr);
++}
++
++}  // namespace transport
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/transport/rtps/publisher.h b/cyber/transport/rtps/publisher.h
+new file mode 100644
+index 0000000..720fee5
+--- /dev/null
++++ b/cyber/transport/rtps/publisher.h
+@@ -0,0 +1,73 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++#ifndef CYBER_TRANSPORT_RTPS_PUBLISHER_H
++#define CYBER_TRANSPORT_RTPS_PUBLISHER_H
++
++#include <memory>
++#include <string>
++
++#include "fastdds/dds/domain/DomainParticipant.hpp"
++#include "fastdds/dds/domain/DomainParticipantFactory.hpp"
++#include "fastdds/dds/publisher/DataWriter.hpp"
++#include "fastdds/dds/publisher/DataWriterListener.hpp"
++#include "fastdds/dds/publisher/Publisher.hpp"
++#include "fastdds/dds/topic/Topic.hpp"
++#include "fastdds/dds/topic/TypeSupport.hpp"
++#include "cyber/proto/qos_profile.pb.h"
++#include "cyber/base/macros.h"
++#include "cyber/common/log.h"
++#include "cyber/transport/message/message_info.h"
++#include "cyber/transport/qos/qos_filler.h"
++#include "cyber/transport/rtps/underlay_message.h"
++
++namespace apollo {
++namespace cyber {
++namespace transport {
++
++class Publisher;
++using PublisherPtr = std::shared_ptr<Publisher>;
++class Publisher {
++ public:
++  Publisher(const std::string& channel_name, const proto::QosProfile& qos,
++            eprosima::fastdds::dds::DomainParticipant* participant);
++  virtual ~Publisher();
++
++  bool Init();
++  bool Write(const UnderlayMessage& msg, bool is_topo_msg = false);
++  bool Write(const UnderlayMessage& msg, const MessageInfo& msg_info,
++             bool is_topo_msg = false);
++  void Shutdown();
++
++ private:
++  Publisher(const Publisher&) = delete;
++  Publisher& operator=(const Publisher&) = delete;
++  bool EnsureCreateTopic(const std::string& channel_name);
++
++  std::string channel_name_;
++  proto::QosProfile qos_;
++  std::atomic<bool> shutdown_;
++
++  eprosima::fastdds::dds::DomainParticipant* participant_;
++  eprosima::fastdds::dds::Publisher* publisher_;
++  eprosima::fastdds::dds::Topic* topic_;
++  eprosima::fastdds::dds::DataWriter* writer_;
++};
++
++}  // namespace transport
++}  // namespace cyber
++}  // namespace apollo
++
++#endif  // CYBER_TRANSPORT_RTPS_PUBLISHER_H
+diff --git a/cyber/transport/rtps/rtps_test.cc b/cyber/transport/rtps/rtps_test.cc
+index 0f6cab4..1e6401b 100644
+--- a/cyber/transport/rtps/rtps_test.cc
++++ b/cyber/transport/rtps/rtps_test.cc
+@@ -14,142 +14,159 @@
+  * limitations under the License.
+  *****************************************************************************/
+ 
++#include <cstdint>
+ #include <string>
+ #include <utility>
+ 
+-#include "fastcdr/Cdr.h"
+-#include "fastcdr/exceptions/BadParamException.h"
+ #include "gtest/gtest.h"
+ 
+-#include "cyber/common/global_data.h"
+ #include "cyber/common/log.h"
++#include "cyber/transport/qos/qos_filler.h"
+ #include "cyber/transport/qos/qos_profile_conf.h"
+ #include "cyber/transport/rtps/attributes_filler.h"
+-#include "cyber/transport/rtps/participant.h"
+ #include "cyber/transport/rtps/underlay_message.h"
+-#include "cyber/transport/rtps/underlay_message_type.h"
+ 
+ namespace apollo {
+ namespace cyber {
+ namespace transport {
+ 
+-TEST(AttributesFillerTest, fill_in_pub_attr_test) {
++TEST(QosFillerTest, fill_in_pub_qos_test) {
+   QosProfile qos;
+-  AttributesFiller filler;
+-  eprosima::fastrtps::PublisherAttributes attrs;
++  QosFiller filler;
++  eprosima::fastdds::dds::PublisherQos pub_qos;
++  eprosima::fastdds::dds::DataWriterQos writer_qos;
+   qos.set_history(QosHistoryPolicy::HISTORY_KEEP_LAST);
+   qos.set_durability(QosDurabilityPolicy::DURABILITY_TRANSIENT_LOCAL);
+   qos.set_reliability(QosReliabilityPolicy::RELIABILITY_BEST_EFFORT);
+   qos.set_mps(32);
+-  filler.FillInPubAttr("channel", qos, &attrs);
+-  EXPECT_EQ(eprosima::fastrtps::KEEP_LAST_HISTORY_QOS,
+-            attrs.topic.historyQos.kind);
+-  EXPECT_EQ(eprosima::fastrtps::TRANSIENT_LOCAL_DURABILITY_QOS,
+-            attrs.qos.m_durability.kind);
+-  EXPECT_EQ(eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS,
+-            attrs.qos.m_reliability.kind);
+-  AINFO << "heartbeat period: " << attrs.times.heartbeatPeriod.seconds << ", "
+-        << attrs.times.heartbeatPeriod.fraction;
++  filler.FillInPubQos("channel", qos, &pub_qos);
++  filler.FillInWriterQos("channel", qos, &writer_qos);
++  EXPECT_EQ(eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS,
++            writer_qos.history().kind);
++  EXPECT_EQ(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS,
++            writer_qos.durability().kind);
++  EXPECT_EQ(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS,
++            writer_qos.reliability().kind);
++  AINFO << "heartbeat period: "
++        << writer_qos.reliable_writer_qos().times.heartbeatPeriod.seconds
++        << ", "
++        << writer_qos.reliable_writer_qos().times.heartbeatPeriod.nanosec;
+   qos.set_depth(1024);
+-  attrs.topic.historyQos.depth = 512;
+-  filler.FillInPubAttr("channel", qos, &attrs);
++  filler.FillInPubQos("channel", qos, &pub_qos);
++  filler.FillInWriterQos("channel", qos, &writer_qos);
+   AINFO << qos.depth() << ", "
+         << QosProfileConf::QOS_HISTORY_DEPTH_SYSTEM_DEFAULT << ", "
+-        << attrs.topic.historyQos.depth;
+-  EXPECT_EQ(qos.depth(), attrs.topic.historyQos.depth);
++        << writer_qos.history().depth;
++  EXPECT_EQ(qos.depth(), writer_qos.history().depth);
+ 
+   qos.set_history(QosHistoryPolicy::HISTORY_KEEP_ALL);
+   qos.set_durability(QosDurabilityPolicy::DURABILITY_VOLATILE);
+   qos.set_reliability(QosReliabilityPolicy::RELIABILITY_RELIABLE);
+   qos.set_mps(65);
+-  filler.FillInPubAttr("channel", qos, &attrs);
+-  EXPECT_EQ(eprosima::fastrtps::KEEP_ALL_HISTORY_QOS,
+-            attrs.topic.historyQos.kind);
+-  EXPECT_EQ(eprosima::fastrtps::VOLATILE_DURABILITY_QOS,
+-            attrs.qos.m_durability.kind);
+-  EXPECT_EQ(eprosima::fastrtps::RELIABLE_RELIABILITY_QOS,
+-            attrs.qos.m_reliability.kind);
+-  AINFO << "heartbeat period: " << attrs.times.heartbeatPeriod.seconds << ", "
+-        << attrs.times.heartbeatPeriod.fraction;
++  filler.FillInPubQos("channel", qos, &pub_qos);
++  filler.FillInWriterQos("channel", qos, &writer_qos);
++  EXPECT_EQ(eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS,
++            writer_qos.history().kind);
++  EXPECT_EQ(eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS,
++            writer_qos.durability().kind);
++  EXPECT_EQ(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS,
++            writer_qos.reliability().kind);
++  AINFO << "heartbeat period: "
++        << writer_qos.reliable_writer_qos().times.heartbeatPeriod.seconds
++        << ", "
++        << writer_qos.reliable_writer_qos().times.heartbeatPeriod.nanosec;
+ 
+   qos.set_history(QosHistoryPolicy::HISTORY_SYSTEM_DEFAULT);
+   qos.set_durability(QosDurabilityPolicy::DURABILITY_SYSTEM_DEFAULT);
+   qos.set_reliability(QosReliabilityPolicy::RELIABILITY_SYSTEM_DEFAULT);
+   qos.set_mps(1025);
+-  filler.FillInPubAttr("channel", qos, &attrs);
+-  EXPECT_EQ(eprosima::fastrtps::KEEP_ALL_HISTORY_QOS,
+-            attrs.topic.historyQos.kind);
+-  EXPECT_EQ(eprosima::fastrtps::VOLATILE_DURABILITY_QOS,
+-            attrs.qos.m_durability.kind);
+-  EXPECT_EQ(eprosima::fastrtps::RELIABLE_RELIABILITY_QOS,
+-            attrs.qos.m_reliability.kind);
+-  AINFO << "heartbeat period: " << attrs.times.heartbeatPeriod.seconds << ", "
+-        << attrs.times.heartbeatPeriod.fraction;
++  filler.FillInPubQos("channel", qos, &pub_qos);
++  filler.FillInWriterQos("channel", qos, &writer_qos);
++  EXPECT_EQ(eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS,
++            writer_qos.history().kind);
++  EXPECT_EQ(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS,
++            writer_qos.durability().kind);
++  EXPECT_EQ(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS,
++            writer_qos.reliability().kind);
++  AINFO << "heartbeat period: "
++        << writer_qos.reliable_writer_qos().times.heartbeatPeriod.seconds
++        << ", "
++        << writer_qos.reliable_writer_qos().times.heartbeatPeriod.nanosec;
+   qos.set_mps(0);
+-  filler.FillInPubAttr("channel", qos, &attrs);
+-  AINFO << "heartbeat period: " << attrs.times.heartbeatPeriod.seconds << ", "
+-        << attrs.times.heartbeatPeriod.fraction;
++  filler.FillInPubQos("channel", qos, &pub_qos);
++  filler.FillInWriterQos("channel", qos, &writer_qos);
++  AINFO << "heartbeat period: "
++        << writer_qos.reliable_writer_qos().times.heartbeatPeriod.seconds
++        << ", "
++        << writer_qos.reliable_writer_qos().times.heartbeatPeriod.nanosec;
++  qos.set_depth(-1);
++  EXPECT_FALSE(filler.FillInPubQos("channel", qos, &pub_qos));
++  EXPECT_FALSE(filler.FillInWriterQos("channel", qos, &writer_qos));
+ }
+ 
+ TEST(AttributesFillerTest, fill_in_sub_attr_test) {
+   QosProfile qos;
+-  AttributesFiller filler;
+-  eprosima::fastrtps::SubscriberAttributes attrs;
++  QosFiller filler;
++  eprosima::fastdds::dds::SubscriberQos sub_qos;
++  eprosima::fastdds::dds::DataReaderQos reader_qos;
+   qos.set_history(QosHistoryPolicy::HISTORY_KEEP_LAST);
+   qos.set_durability(QosDurabilityPolicy::DURABILITY_TRANSIENT_LOCAL);
+   qos.set_reliability(QosReliabilityPolicy::RELIABILITY_BEST_EFFORT);
+   qos.set_mps(32);
+-  filler.FillInSubAttr("channel", qos, &attrs);
+-  EXPECT_EQ(eprosima::fastrtps::KEEP_LAST_HISTORY_QOS,
+-            attrs.topic.historyQos.kind);
+-  EXPECT_EQ(eprosima::fastrtps::TRANSIENT_LOCAL_DURABILITY_QOS,
+-            attrs.qos.m_durability.kind);
+-  EXPECT_EQ(eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS,
+-            attrs.qos.m_reliability.kind);
++  filler.FillInSubQos("channel", qos, &sub_qos);
++  filler.FillInReaderQos("channel", qos, &reader_qos);
++  EXPECT_EQ(eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS,
++            reader_qos.history().kind);
++  EXPECT_EQ(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS,
++            reader_qos.durability().kind);
++  EXPECT_EQ(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS,
++            reader_qos.reliability().kind);
+   qos.set_depth(1024);
+-  attrs.topic.historyQos.depth = 512;
+-  filler.FillInSubAttr("channel", qos, &attrs);
+-  EXPECT_EQ(qos.depth(), attrs.topic.historyQos.depth);
++  // attrs.topic.historyQos.depth = 512;
++  filler.FillInSubQos("channel", qos, &sub_qos);
++  filler.FillInReaderQos("channel", qos, &reader_qos);
++  EXPECT_EQ(qos.depth(), reader_qos.history().depth);
+ 
+   qos.set_history(QosHistoryPolicy::HISTORY_KEEP_ALL);
+   qos.set_durability(QosDurabilityPolicy::DURABILITY_VOLATILE);
+   qos.set_reliability(QosReliabilityPolicy::RELIABILITY_RELIABLE);
+   qos.set_mps(65);
+-  filler.FillInSubAttr("channel", qos, &attrs);
+-  EXPECT_EQ(eprosima::fastrtps::KEEP_ALL_HISTORY_QOS,
+-            attrs.topic.historyQos.kind);
+-  EXPECT_EQ(eprosima::fastrtps::VOLATILE_DURABILITY_QOS,
+-            attrs.qos.m_durability.kind);
+-  EXPECT_EQ(eprosima::fastrtps::RELIABLE_RELIABILITY_QOS,
+-            attrs.qos.m_reliability.kind);
++  filler.FillInSubQos("channel", qos, &sub_qos);
++  filler.FillInReaderQos("channel", qos, &reader_qos);
++  EXPECT_EQ(eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS,
++            reader_qos.history().kind);
++  EXPECT_EQ(eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS,
++            reader_qos.durability().kind);
++  EXPECT_EQ(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS,
++            reader_qos.reliability().kind);
+ 
+   qos.set_history(QosHistoryPolicy::HISTORY_SYSTEM_DEFAULT);
+   qos.set_durability(QosDurabilityPolicy::DURABILITY_SYSTEM_DEFAULT);
+   qos.set_reliability(QosReliabilityPolicy::RELIABILITY_SYSTEM_DEFAULT);
+   qos.set_mps(1025);
+-  filler.FillInSubAttr("channel", qos, &attrs);
+-  EXPECT_EQ(eprosima::fastrtps::KEEP_ALL_HISTORY_QOS,
+-            attrs.topic.historyQos.kind);
+-  EXPECT_EQ(eprosima::fastrtps::VOLATILE_DURABILITY_QOS,
+-            attrs.qos.m_durability.kind);
+-  EXPECT_EQ(eprosima::fastrtps::RELIABLE_RELIABILITY_QOS,
+-            attrs.qos.m_reliability.kind);
+-}
+-
+-TEST(ParticipantTest, participant_test) {
+-  eprosima::fastrtps::ParticipantListener listener;
+-  eprosima::fastrtps::ParticipantListener listener1;
++  filler.FillInSubQos("channel", qos, &sub_qos);
++  filler.FillInReaderQos("channel", qos, &reader_qos);
++  EXPECT_EQ(eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS,
++            reader_qos.history().kind);
++  EXPECT_EQ(eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS,
++            reader_qos.durability().kind);
++  EXPECT_EQ(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS,
++            reader_qos.reliability().kind);
++
++  qos.set_depth(-1);
++  EXPECT_FALSE(filler.FillInSubQos("channel", qos, &sub_qos));
++  EXPECT_FALSE(filler.FillInReaderQos("channel", qos, &reader_qos));
+ }
+ 
+ TEST(UnderlayMessageTest, underlay_message_test) {
+   UnderlayMessage message;
+   message.timestamp(1024);
+-  int32_t& t = message.timestamp();
++  uint64_t& t = message.timestamp();
+   t = 256;
+   EXPECT_EQ(256, message.timestamp());
+ 
+   message.seq(1024);
+-  int32_t& seq = message.seq();
++  uint64_t& seq = message.seq();
+   seq = 256;
+   EXPECT_EQ(256, message.seq());
+ 
+@@ -160,51 +177,35 @@ TEST(UnderlayMessageTest, underlay_message_test) {
+   message.data(std::forward<std::string>("data forward"));
+   EXPECT_EQ("data forward", message.data());
+ 
+-  message.datatype("datatype");
+-  std::string& datatype = message.datatype();
+-  datatype = "datatype string";
+-  EXPECT_EQ(datatype, message.datatype());
+-  message.datatype("datatype assign");
+-  EXPECT_EQ("datatype assign", message.datatype());
+-  message.datatype(std::forward<std::string>("datatype forward"));
+-  EXPECT_EQ("datatype forward", message.datatype());
+-
+   const UnderlayMessage const_message(message);
+   std::string data1 = const_message.data();
+-  std::string datatype1 = const_message.datatype();
+   EXPECT_EQ(256, const_message.timestamp());
+   EXPECT_EQ(256, const_message.seq());
+   EXPECT_EQ("data forward", const_message.data());
+-  EXPECT_EQ("datatype forward", const_message.datatype());
+ 
+   UnderlayMessage message2;
+   message2 = message;
+   EXPECT_EQ(256, message2.timestamp());
+   EXPECT_EQ(256, message2.seq());
+   EXPECT_EQ("data forward", message2.data());
+-  EXPECT_EQ("datatype forward", message2.datatype());
+ 
+   UnderlayMessage message3;
+   message3 = std::forward<UnderlayMessage>(message2);
+   EXPECT_EQ(256, message3.timestamp());
+   EXPECT_EQ(256, message3.seq());
+   EXPECT_EQ("data forward", message3.data());
+-  EXPECT_EQ("datatype forward", message3.datatype());
+ 
+   UnderlayMessage message4(message3);
+   EXPECT_EQ(256, message4.timestamp());
+   EXPECT_EQ(256, message4.seq());
+   EXPECT_EQ("data forward", message4.data());
+-  EXPECT_EQ("datatype forward", message4.datatype());
+ 
+   UnderlayMessage message5(std::forward<UnderlayMessage>(message4));
+   EXPECT_EQ(256, message5.timestamp());
+   EXPECT_EQ(256, message5.seq());
+   EXPECT_EQ("data forward", message5.data());
+-  EXPECT_EQ("datatype forward", message5.datatype());
+ 
+   EXPECT_EQ("", message4.data());
+-  EXPECT_EQ("", message4.datatype());
+ }
+ 
+ }  // namespace transport
+diff --git a/cyber/transport/rtps/sub_listener.cc b/cyber/transport/rtps/sub_listener.cc
+deleted file mode 100644
+index e623f5b..0000000
+--- a/cyber/transport/rtps/sub_listener.cc
++++ /dev/null
+@@ -1,77 +0,0 @@
+-/******************************************************************************
+- * Copyright 2018 The Apollo Authors. All Rights Reserved.
+- *
+- * Licensed under the Apache License, Version 2.0 (the "License");
+- * you may not use this file except in compliance with the License.
+- * You may obtain a copy of the License at
+- *
+- * http://www.apache.org/licenses/LICENSE-2.0
+- *
+- * Unless required by applicable law or agreed to in writing, software
+- * distributed under the License is distributed on an "AS IS" BASIS,
+- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+- * See the License for the specific language governing permissions and
+- * limitations under the License.
+- *****************************************************************************/
+-
+-#include "cyber/transport/rtps/sub_listener.h"
+-
+-#include "cyber/common/log.h"
+-#include "cyber/common/util.h"
+-
+-namespace apollo {
+-namespace cyber {
+-namespace transport {
+-
+-SubListener::SubListener(const NewMsgCallback& callback)
+-    : callback_(callback) {}
+-
+-SubListener::~SubListener() {}
+-
+-void SubListener::onNewDataMessage(eprosima::fastrtps::Subscriber* sub) {
+-  RETURN_IF_NULL(sub);
+-  RETURN_IF_NULL(callback_);
+-  std::lock_guard<std::mutex> lock(mutex_);
+-
+-  // fetch channel name
+-  auto channel_id = common::Hash(sub->getAttributes().topic.getTopicName());
+-  eprosima::fastrtps::SampleInfo_t m_info;
+-  UnderlayMessage m;
+-
+-  RETURN_IF(!sub->takeNextData(reinterpret_cast<void*>(&m), &m_info));
+-  RETURN_IF(m_info.sampleKind != eprosima::fastrtps::ALIVE);
+-
+-  // fetch MessageInfo
+-  char* ptr =
+-      reinterpret_cast<char*>(&m_info.related_sample_identity.writer_guid());
+-  Identity sender_id(false);
+-  sender_id.set_data(ptr);
+-  msg_info_.set_sender_id(sender_id);
+-
+-  Identity spare_id(false);
+-  spare_id.set_data(ptr + ID_SIZE);
+-  msg_info_.set_spare_id(spare_id);
+-
+-  uint64_t seq_num =
+-      ((int64_t)m_info.related_sample_identity.sequence_number().high) << 32 |
+-      m_info.related_sample_identity.sequence_number().low;
+-  msg_info_.set_seq_num(seq_num);
+-
+-  // fetch message string
+-  std::shared_ptr<std::string> msg_str =
+-      std::make_shared<std::string>(m.data());
+-
+-  // callback
+-  callback_(channel_id, msg_str, msg_info_);
+-}
+-
+-void SubListener::onSubscriptionMatched(
+-    eprosima::fastrtps::Subscriber* sub,
+-    eprosima::fastrtps::MatchingInfo& info) {
+-  (void)sub;
+-  (void)info;
+-}
+-
+-}  // namespace transport
+-}  // namespace cyber
+-}  // namespace apollo
+diff --git a/cyber/transport/rtps/subscriber.cc b/cyber/transport/rtps/subscriber.cc
+new file mode 100644
+index 0000000..52fbfdb
+--- /dev/null
++++ b/cyber/transport/rtps/subscriber.cc
+@@ -0,0 +1,113 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++#include "cyber/transport/rtps/subscriber.h"
++
++namespace apollo {
++namespace cyber {
++namespace transport {
++
++Subscriber::Subscriber(const std::string& name, const proto::QosProfile& qos,
++                       eprosima::fastdds::dds::DomainParticipant* participant,
++                       const rtps::subsciber_callback& callback)
++    : channel_name_(name),
++      qos_(qos),
++      shutdown_(false),
++      callback_(callback),
++      subscriber_listener_(nullptr),
++      participant_(participant),
++      subscriber_(nullptr),
++      topic_(nullptr),
++      reader_(nullptr) {}
++
++Subscriber::~Subscriber() {}
++
++bool Subscriber::Init() {
++  eprosima::fastdds::dds::SubscriberQos sub_qos;
++  RETURN_VAL_IF(
++      !QosFiller::FillInSubQos(this->channel_name_, this->qos_, &sub_qos),
++      false);
++  subscriber_ = participant_->create_subscriber(sub_qos);
++  if (subscriber_ == nullptr) {
++    AINFO << "something went wrong while creating the fastdds subscriber...";
++    return false;
++  }
++
++  if (!EnsureCreateTopic(this->channel_name_)) {
++    AINFO << "something went wrong while creating the fastdds topic...";
++    return false;
++  }
++
++  eprosima::fastdds::dds::DataReaderQos reader_qos;
++  RETURN_VAL_IF(
++      !QosFiller::FillInReaderQos(this->channel_name_, this->qos_, &reader_qos),
++      false);
++  subscriber_listener_ = new dispatcher::SubscriberListener(this->callback_);
++
++  reader_ =
++      subscriber_->create_datareader(topic_, reader_qos, subscriber_listener_);
++  if (reader_ == nullptr) {
++    AINFO << "something went wrong while creating the fastdds datareader...";
++    return false;
++  }
++
++  ADEBUG << "dds reader: " << reader_ << ", subscriber: " << this
++         << ", reader guid: " << reader_->guid()
++         << ", channel: " << this->channel_name_;
++  return true;
++}
++
++void Subscriber::Shutdown() {
++  RETURN_IF(shutdown_.exchange(true));
++
++  if (subscriber_ != nullptr && reader_ != nullptr) {
++    subscriber_->delete_datareader(reader_);
++    reader_ = nullptr;
++  }
++  if (participant_ != nullptr && subscriber_ != nullptr) {
++    if (participant_->delete_subscriber(subscriber_) ==
++        eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK) {
++      subscriber_ = nullptr;
++    } else {
++      AERROR << channel_name_ << ": Failed to delete the subscriber.";
++    }
++  }
++  if (participant_ != nullptr && topic_ != nullptr) {
++    participant_->delete_topic(topic_);
++    topic_ = nullptr;
++  }
++
++  if (subscriber_listener_ != nullptr) {
++    delete subscriber_listener_;
++  }
++}
++
++bool Subscriber::EnsureCreateTopic(const std::string& channel_name) {
++  topic_ = dynamic_cast<eprosima::fastdds::dds::Topic*>(
++      participant_->lookup_topicdescription(channel_name));
++  if (topic_ == nullptr) {
++    eprosima::fastdds::dds::TopicQos topic_qos;
++    RETURN_VAL_IF(
++        !QosFiller::FillInTopicQos(channel_name, this->qos_, &topic_qos),
++        false);
++    topic_ =
++        participant_->create_topic(channel_name, "UnderlayMessage", topic_qos);
++  }
++  return (topic_ != nullptr);
++}
++
++}  // namespace transport
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/transport/rtps/subscriber.h b/cyber/transport/rtps/subscriber.h
+new file mode 100644
+index 0000000..1cb5904
+--- /dev/null
++++ b/cyber/transport/rtps/subscriber.h
+@@ -0,0 +1,75 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++#ifndef CYBER_TRANSPORT_RTPS_SUBSCRIBER_H
++#define CYBER_TRANSPORT_RTPS_SUBSCRIBER_H
++
++#include <functional>
++#include <memory>
++#include <string>
++
++#include "cyber/base/macros.h"
++
++#include "fastdds/dds/domain/DomainParticipant.hpp"
++#include "fastdds/dds/domain/DomainParticipantFactory.hpp"
++#include "fastdds/dds/subscriber/DataReader.hpp"
++#include "fastdds/dds/subscriber/DataReaderListener.hpp"
++#include "fastdds/dds/subscriber/Subscriber.hpp"
++#include "fastdds/dds/topic/Topic.hpp"
++#include "fastdds/dds/topic/TypeSupport.hpp"
++
++#include "cyber/proto/qos_profile.pb.h"
++
++#include "cyber/common/log.h"
++#include "cyber/service_discovery/communication/subscriber_listener.h"
++#include "cyber/transport/dispatcher/subscriber_listener.h"
++#include "cyber/transport/message/message_info.h"
++#include "cyber/transport/qos/qos_filler.h"
++#include "cyber/transport/rtps/underlay_message.h"
++
++namespace apollo {
++namespace cyber {
++namespace transport {
++class Subscriber {
++ public:
++  Subscriber(const std::string& name, const proto::QosProfile& qos,
++             eprosima::fastdds::dds::DomainParticipant* participant,
++             const rtps::subsciber_callback& callback);
++  virtual ~Subscriber();
++
++  bool Init();
++  void Shutdown();
++
++ private:
++  Subscriber(const Subscriber&) = delete;
++  Subscriber& operator=(const Subscriber&) = delete;
++  bool EnsureCreateTopic(const std::string& channel_name);
++
++  std::string channel_name_;
++  proto::QosProfile qos_;
++  std::atomic<bool> shutdown_;
++  rtps::subsciber_callback callback_;
++
++  eprosima::fastdds::dds::SubscriberListener* subscriber_listener_;
++  eprosima::fastdds::dds::DomainParticipant* participant_;
++  eprosima::fastdds::dds::Subscriber* subscriber_;
++  eprosima::fastdds::dds::Topic* topic_;
++  eprosima::fastdds::dds::DataReader* reader_;
++};
++}  // namespace transport
++}  // namespace cyber
++}  // namespace apollo
++
++#endif  // CYBER_TRANSPORT_RTPS_SUBSCRIBER_H
+diff --git a/cyber/transport/rtps/underlay_message.cc b/cyber/transport/rtps/underlay_message.cc
+index 581af65..e1fbcf2 100644
+--- a/cyber/transport/rtps/underlay_message.cc
++++ b/cyber/transport/rtps/underlay_message.cc
+@@ -22,15 +22,17 @@
+ 
+ #include "cyber/transport/rtps/underlay_message.h"
+ 
+-#include "fastcdr/exceptions/BadParamException.h"
+-
+ namespace apollo {
+ namespace cyber {
+ namespace transport {
+ 
++#define UnderlayMessage_max_cdr_typesize 276ULL;
++#define UnderlayMessage_max_key_cdr_typesize 0ULL;
++
+ UnderlayMessage::UnderlayMessage() {
+   m_timestamp = 0;
+   m_seq = 0;
++  m_data = "";
+ }
+ 
+ UnderlayMessage::~UnderlayMessage() {}
+@@ -39,21 +41,18 @@ UnderlayMessage::UnderlayMessage(const UnderlayMessage& x) {
+   m_timestamp = x.m_timestamp;
+   m_seq = x.m_seq;
+   m_data = x.m_data;
+-  m_datatype = x.m_datatype;
+ }
+ 
+ UnderlayMessage::UnderlayMessage(UnderlayMessage&& x) {
+   m_timestamp = x.m_timestamp;
+   m_seq = x.m_seq;
+   m_data = std::move(x.m_data);
+-  m_datatype = std::move(x.m_datatype);
+ }
+ 
+ UnderlayMessage& UnderlayMessage::operator=(const UnderlayMessage& x) {
+   m_timestamp = x.m_timestamp;
+   m_seq = x.m_seq;
+   m_data = x.m_data;
+-  m_datatype = x.m_datatype;
+ 
+   return *this;
+ }
+@@ -62,27 +61,12 @@ UnderlayMessage& UnderlayMessage::operator=(UnderlayMessage&& x) {
+   m_timestamp = x.m_timestamp;
+   m_seq = x.m_seq;
+   m_data = std::move(x.m_data);
+-  m_datatype = std::move(x.m_datatype);
+ 
+   return *this;
+ }
+ 
+ size_t UnderlayMessage::getMaxCdrSerializedSize(size_t current_alignment) {
+-  size_t initial_alignment = current_alignment;
+-
+-  current_alignment +=
+-      4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
+-
+-  current_alignment +=
+-      4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
+-
+-  current_alignment +=
+-      4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4) + 255 + 1;
+-
+-  current_alignment +=
+-      4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4) + 255 + 1;
+-
+-  return current_alignment - initial_alignment;
++  return UnderlayMessage_max_cdr_typesize;
+ }
+ 
+ size_t UnderlayMessage::getCdrSerializedSize(const UnderlayMessage& data,
+@@ -90,41 +74,32 @@ size_t UnderlayMessage::getCdrSerializedSize(const UnderlayMessage& data,
+   size_t initial_alignment = current_alignment;
+ 
+   current_alignment +=
+-      4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
++      8 + eprosima::fastcdr::Cdr::alignment(current_alignment, 8);
+ 
+   current_alignment +=
+-      4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
++      8 + eprosima::fastcdr::Cdr::alignment(current_alignment, 8);
+ 
+   current_alignment += 4 +
+                        eprosima::fastcdr::Cdr::alignment(current_alignment, 4) +
+                        data.data().size() + 1;
+ 
+-  current_alignment += 4 +
+-                       eprosima::fastcdr::Cdr::alignment(current_alignment, 4) +
+-                       data.datatype().size() + 1;
+-
+   return current_alignment - initial_alignment;
+ }
+ 
+ void UnderlayMessage::serialize(eprosima::fastcdr::Cdr& scdr) const {
+   scdr << m_timestamp;
+-
+   scdr << m_seq;
+-
+   scdr << m_data;
+-  scdr << m_datatype;
+ }
+ 
+ void UnderlayMessage::deserialize(eprosima::fastcdr::Cdr& dcdr) {
+   dcdr >> m_timestamp;
+   dcdr >> m_seq;
+   dcdr >> m_data;
+-  dcdr >> m_datatype;
+ }
+ 
+ size_t UnderlayMessage::getKeyMaxCdrSerializedSize(size_t current_alignment) {
+-  size_t current_align = current_alignment;
+-  return current_align;
++  return UnderlayMessage_max_key_cdr_typesize;
+ }
+ 
+ bool UnderlayMessage::isKeyDefined() { return false; }
+diff --git a/cyber/transport/rtps/underlay_message.h b/cyber/transport/rtps/underlay_message.h
+index b80e32e..e279df2 100644
+--- a/cyber/transport/rtps/underlay_message.h
++++ b/cyber/transport/rtps/underlay_message.h
+@@ -24,6 +24,8 @@
+ #include <utility>
+ #include <vector>
+ 
++#include "cyber/base/macros.h"
++
+ #include "fastcdr/Cdr.h"
+ 
+ namespace apollo {
+@@ -75,36 +77,36 @@ class UnderlayMessage {
+    * @brief This function sets a value in member timestamp
+    * @param _timestamp New value for member timestamp
+    */
+-  inline void timestamp(int32_t _timestamp) { m_timestamp = _timestamp; }
++  inline void timestamp(uint64_t _timestamp) { m_timestamp = _timestamp; }
+ 
+   /*!
+    * @brief This function returns the value of member timestamp
+    * @return Value of member timestamp
+    */
+-  inline int32_t timestamp() const { return m_timestamp; }
++  inline uint64_t timestamp() const { return m_timestamp; }
+ 
+   /*!
+    * @brief This function returns a reference to member timestamp
+    * @return Reference to member timestamp
+    */
+-  inline int32_t& timestamp() { return m_timestamp; }
++  inline uint64_t& timestamp() { return m_timestamp; }
+   /*!
+    * @brief This function sets a value in member seq
+    * @param _seq New value for member seq
+    */
+-  inline void seq(int32_t _seq) { m_seq = _seq; }
++  inline void seq(uint64_t _seq) { m_seq = _seq; }
+ 
+   /*!
+    * @brief This function returns the value of member seq
+    * @return Value of member seq
+    */
+-  inline int32_t seq() const { return m_seq; }
++  inline uint64_t seq() const { return m_seq; }
+ 
+   /*!
+    * @brief This function returns a reference to member seq
+    * @return Reference to member seq
+    */
+-  inline int32_t& seq() { return m_seq; }
++  inline uint64_t& seq() { return m_seq; }
+   /*!
+    * @brief This function copies the value in member data
+    * @param _data New value to be copied in member data
+@@ -128,31 +130,6 @@ class UnderlayMessage {
+    * @return Reference to member data
+    */
+   inline std::string& data() { return m_data; }
+-  /*!
+-   * @brief This function copies the value in member datatype
+-   * @param _datatype New value to be copied in member datatype
+-   */
+-  inline void datatype(const std::string& _datatype) { m_datatype = _datatype; }
+-
+-  /*!
+-   * @brief This function moves the value in member datatype
+-   * @param _datatype New value to be moved in member datatype
+-   */
+-  inline void datatype(std::string&& _datatype) {
+-    m_datatype = std::move(_datatype);
+-  }
+-
+-  /*!
+-   * @brief This function returns a constant reference to member datatype
+-   * @return Constant reference to member datatype
+-   */
+-  inline const std::string& datatype() const { return m_datatype; }
+-
+-  /*!
+-   * @brief This function returns a reference to member datatype
+-   * @return Reference to member datatype
+-   */
+-  inline std::string& datatype() { return m_datatype; }
+ 
+   /*!
+    * @brief This function returns the maximum serialized size of an object
+@@ -206,10 +183,9 @@ class UnderlayMessage {
+   void serializeKey(eprosima::fastcdr::Cdr& cdr) const;  // NOLINT
+ 
+  private:
+-  int32_t m_timestamp;
+-  int32_t m_seq;
++  uint64_t m_timestamp;
++  uint64_t m_seq;
+   std::string m_data;
+-  std::string m_datatype;
+ };
+ 
+ }  // namespace transport
+diff --git a/cyber/transport/rtps/underlay_message_type.cc b/cyber/transport/rtps/underlay_message_type.cc
+index 8af2601..8c0c425 100644
+--- a/cyber/transport/rtps/underlay_message_type.cc
++++ b/cyber/transport/rtps/underlay_message_type.cc
+@@ -21,6 +21,8 @@
+ 
+ #include "cyber/transport/rtps/underlay_message_type.h"
+ 
++#include <fastcdr/CdrEncoding.hpp>
++
+ #include "fastcdr/Cdr.h"
+ #include "fastcdr/FastBuffer.h"
+ 
+@@ -32,13 +34,16 @@ namespace transport {
+ 
+ UnderlayMessageType::UnderlayMessageType() {
+   setName("UnderlayMessage");
+-  m_typeSize = (uint32_t)UnderlayMessage::getMaxCdrSerializedSize() +
+-               4 /*encapsulation*/;
++  auto type_size = UnderlayMessage::getMaxCdrSerializedSize();
++  type_size += eprosima::fastcdr::Cdr::alignment(
++      type_size, 4); /* possible submessage alignment */
++  m_typeSize = static_cast<uint32_t>(type_size) + 4; /*encapsulation*/
+   m_isGetKeyDefined = UnderlayMessage::isKeyDefined();
+-  m_keyBuffer =
+-      (unsigned char*)malloc(UnderlayMessage::getKeyMaxCdrSerializedSize() > 16
+-                                 ? UnderlayMessage::getKeyMaxCdrSerializedSize()
+-                                 : 16);
++  size_t keyLength = UnderlayMessage::getKeyMaxCdrSerializedSize() > 16
++                         ? UnderlayMessage::getKeyMaxCdrSerializedSize()
++                         : 16;
++  m_keyBuffer = (unsigned char*)malloc(keyLength);
++  memset(m_keyBuffer, 0, keyLength);
+ }
+ 
+ UnderlayMessageType::~UnderlayMessageType() {
+@@ -47,41 +52,61 @@ UnderlayMessageType::~UnderlayMessageType() {
+   }
+ }
+ 
+-bool UnderlayMessageType::serialize(void* data, SerializedPayload_t* payload) {
++bool UnderlayMessageType::serialize(
++    void* data, eprosima::fastrtps::rtps::SerializedPayload_t* payload) {
+   UnderlayMessage* p_type = reinterpret_cast<UnderlayMessage*>(data);
+   eprosima::fastcdr::FastBuffer fastbuffer(
+       reinterpret_cast<char*>(payload->data),
+       payload->max_size);  // Object that manages the raw buffer.
+   eprosima::fastcdr::Cdr ser(
+       fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
+-      eprosima::fastcdr::Cdr::DDS_CDR);  // Object that serializes the data.
++      eprosima::fastcdr::CdrVersion::DDS_CDR);  // Object that serializes the
++                                                // data.
+   payload->encapsulation =
+       ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE
+                                                                  : CDR_LE;
+-  // Serialize encapsulation
+-  ser.serialize_encapsulation();
+-  p_type->serialize(ser);  // Serialize the object:
++  try {
++    // Serialize encapsulation
++    ser.serialize_encapsulation();
++    // Serialize the object.
++    p_type->serialize(ser);
++  } catch (eprosima::fastcdr::exception::Exception& e) {
++    AERROR << "serialize exception: " << e.what();
++    return false;
++  }
++
+   payload->length =
+-      (uint32_t)ser.getSerializedDataLength();  // Get the serialized length
++      (uint32_t)ser.get_serialized_data_length();  // Get the serialized length
+   return true;
+ }
+ 
+-bool UnderlayMessageType::deserialize(SerializedPayload_t* payload,
+-                                      void* data) {
+-  UnderlayMessage* p_type = reinterpret_cast<UnderlayMessage*>(
+-      data);  // Convert DATA to pointer of your type
+-  eprosima::fastcdr::FastBuffer fastbuffer(
+-      reinterpret_cast<char*>(payload->data),
+-      payload->length);  // Object that manages the raw buffer.
+-  eprosima::fastcdr::Cdr deser(
+-      fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
+-      eprosima::fastcdr::Cdr::DDS_CDR);  // Object that deserializes the data.
+-  // Deserialize encapsulation.
+-  deser.read_encapsulation();
+-  payload->encapsulation =
+-      deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE
+-                                                                   : CDR_LE;
+-  p_type->deserialize(deser);  // Deserialize the object:
++bool UnderlayMessageType::deserialize(
++    eprosima::fastrtps::rtps::SerializedPayload_t* payload, void* data) {
++  try {
++    // Convert DATA to pointer of your type
++    UnderlayMessage* p_type = static_cast<UnderlayMessage*>(data);
++
++    // Object that manages the raw buffer.
++    eprosima::fastcdr::FastBuffer fastbuffer(
++        reinterpret_cast<char*>(payload->data), payload->length);
++
++    // Object that deserializes the data.
++    eprosima::fastcdr::Cdr deser(fastbuffer,
++                                 eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
++                                 eprosima::fastcdr::CdrVersion::DDS_CDR);
++
++    // Deserialize encapsulation.
++    deser.read_encapsulation();
++    payload->encapsulation =
++        deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE
++                                                                     : CDR_LE;
++
++    // Deserialize the object.
++    p_type->deserialize(deser);
++  } catch (eprosima::fastcdr::exception::Exception& e) {
++    AERROR << "deserialize exception: " << e.what();
++    return false;
++  }
+   return true;
+ }
+ 
+@@ -90,7 +115,7 @@ std::function<uint32_t()> UnderlayMessageType::getSerializedSizeProvider(
+   return [data]() -> uint32_t {
+     return (uint32_t)type::getCdrSerializedSize(
+                *static_cast<UnderlayMessage*>(data)) +
+-           4 /*encapsulation*/;
++           4u /*encapsulation*/;
+   };
+ }
+ 
+@@ -102,21 +127,23 @@ void UnderlayMessageType::deleteData(void* data) {
+   delete (reinterpret_cast<UnderlayMessage*>(data));
+ }
+ 
+-bool UnderlayMessageType::getKey(void* data, InstanceHandle_t* handle) {
+-  RETURN_VAL_IF((!m_isGetKeyDefined), false);
++bool UnderlayMessageType::getKey(
++    void* data, eprosima::fastrtps::rtps::InstanceHandle_t* handle,
++    bool force_md5) {
++  RETURN_VAL_IF(!m_isGetKeyDefined, false);
+   UnderlayMessage* p_type = reinterpret_cast<UnderlayMessage*>(data);
+   eprosima::fastcdr::FastBuffer fastbuffer(
+       reinterpret_cast<char*>(m_keyBuffer),
+       UnderlayMessage::getKeyMaxCdrSerializedSize());  // Object that manages
+                                                        // the raw buffer.
+-  eprosima::fastcdr::Cdr ser(
+-      fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS);  // Object that
+-                                                            // serializes the
+-                                                            // data.
++  // Object that serializes the data.
++  eprosima::fastcdr::Cdr ser(fastbuffer,
++                             eprosima::fastcdr::Cdr::BIG_ENDIANNESS);
+   p_type->serializeKey(ser);
+-  if (UnderlayMessage::getKeyMaxCdrSerializedSize() > 16) {
++  if (force_md5 || UnderlayMessage::getKeyMaxCdrSerializedSize() > 16) {
+     m_md5.init();
+-    m_md5.update(m_keyBuffer, (unsigned int)ser.getSerializedDataLength());
++    m_md5.update(m_keyBuffer,
++                 static_cast<unsigned int>(ser.get_serialized_data_length()));
+     m_md5.finalize();
+     for (uint8_t i = 0; i < 16; ++i) {
+       handle->value[i] = m_md5.digest[i];
+diff --git a/cyber/transport/rtps/underlay_message_type.h b/cyber/transport/rtps/underlay_message_type.h
+index 01db001..a57a012 100644
+--- a/cyber/transport/rtps/underlay_message_type.h
++++ b/cyber/transport/rtps/underlay_message_type.h
+@@ -17,8 +17,11 @@
+ #ifndef CYBER_TRANSPORT_RTPS_UNDERLAY_MESSAGE_TYPE_H_
+ #define CYBER_TRANSPORT_RTPS_UNDERLAY_MESSAGE_TYPE_H_
+ 
++#include "cyber/base/macros.h"
++
++#include "fastdds/dds/topic/TopicDataType.hpp"
++#include "fastrtps/utils/md5.h"
+ #include "cyber/transport/rtps/underlay_message.h"
+-#include "fastrtps/TopicDataType.h"
+ 
+ namespace apollo {
+ namespace cyber {
+@@ -29,18 +32,25 @@ namespace transport {
+  * defined by the user in the IDL file.
+  * @ingroup UNDERLAYMESSAGE
+  */
+-class UnderlayMessageType : public eprosima::fastrtps::TopicDataType {
++class UnderlayMessageType : public eprosima::fastdds::dds::TopicDataType {
+  public:
+   using type = UnderlayMessage;
+ 
+   UnderlayMessageType();
+   virtual ~UnderlayMessageType();
+-  bool serialize(void* data, SerializedPayload_t* payload);
+-  bool deserialize(SerializedPayload_t* payload, void* data);
+-  std::function<uint32_t()> getSerializedSizeProvider(void* data);
+-  bool getKey(void* data, InstanceHandle_t* ihandle);
+-  void* createData();
+-  void deleteData(void* data);
++  virtual bool serialize(  // NOLINT
++      void* data,
++      eprosima::fastrtps::rtps::SerializedPayload_t* payload) override;
++  virtual bool deserialize(  // NOLINT
++      eprosima::fastrtps::rtps::SerializedPayload_t* payload,
++      void* data) override;
++  virtual std::function<uint32_t()> getSerializedSizeProvider(  // NOLINT
++      void* data) override;
++  virtual bool getKey(void* data,  // NOLINT
++                      eprosima::fastrtps::rtps::InstanceHandle_t* ihandle,
++                      bool force_md5 = false) override;
++  virtual void* createData() override;           // NOLINT
++  virtual void deleteData(void* data) override;  // NOLINT
+   MD5 m_md5;
+   unsigned char* m_keyBuffer;
+ };
+diff --git a/cyber/transport/shm/arena_address_allocator.cc b/cyber/transport/shm/arena_address_allocator.cc
+new file mode 100644
+index 0000000..bd94084
+--- /dev/null
++++ b/cyber/transport/shm/arena_address_allocator.cc
+@@ -0,0 +1,458 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++#include "cyber/transport/shm/arena_address_allocator.h"
++
++#include <sys/ipc.h>
++#include <sys/shm.h>
++#include <algorithm>
++#include <string>
++
++#include "cyber/base/pthread_rw_lock.h"
++#include "cyber/base/rw_lock_guard.h"
++
++namespace apollo {
++namespace cyber {
++namespace transport {
++
++ArenaAddressAllocator::ArenaAddressAllocator()
++    : meta_shm_key_(
++          std::hash<std::string>{}("/apollo/__arena__/__address__/__meta__")),
++      node_shm_key_(
++          std::hash<std::string>{}("/apollo/__arena__/__address__/__node__")),
++      meta_(nullptr),
++      nodes_(nullptr),
++      reclaim_stack_(nullptr) {
++  // TODO(all): configurable and address management for shared memory of cyber
++  meta_shm_address_ = nullptr;
++  // use fixed address
++  node_shm_address_ = reinterpret_cast<void*>(0x7f0000000000);
++
++  // ensure the allocator's segment size is larger
++  // than the actual arena's segment size
++  // otherwise the shmat will fail
++  Init(1024, reinterpret_cast<void*>(
++    0x710000000000), 2ULL * 1024 * 1024 * 1024);
++}
++
++ArenaAddressAllocator::~ArenaAddressAllocator() {
++  if (meta_ && meta_->struct_.ref_count_.fetch_sub(1) == 0) {
++    shmdt(meta_);
++    shmctl(shmget(meta_shm_key_, 0, 0), IPC_RMID, nullptr);
++    shmdt(nodes_);
++    shmctl(shmget(node_shm_key_, 0, 0), IPC_RMID, nullptr);
++  }
++}
++
++bool ArenaAddressAllocator::Init(uint64_t capacity, void* base_address,
++                                 uint64_t address_segment_size) {
++  if (!OpenMetaShm(capacity, base_address, address_segment_size)) {
++    return false;
++  }
++  if (!OpenNodeShm(capacity, base_address, address_segment_size)) {
++    return false;
++  }
++  meta_->struct_.occupied_.store(false);
++  return true;
++}
++
++bool ArenaAddressAllocator::Open(uint64_t key, void* base_address,
++                                 void** shm_address) {
++  auto shmid = shmget(static_cast<key_t>(key), 0, 0);
++
++  shmid = shmget(static_cast<key_t>(key), 0, 0);
++  if (shmid == -1) {
++    // open failed
++    return false;
++  }
++  *shm_address = shmat(shmid, base_address, 0);
++  if (*shm_address == reinterpret_cast<void*>(-1)) {
++    // shmat failed
++    return false;
++  }
++  return true;
++}
++
++bool ArenaAddressAllocator::OpenOrCreate(uint64_t key, uint64_t size,
++                                         void* base_address, void** shm_address,
++                                         bool* is_created) {
++  auto shmid =
++      shmget(static_cast<key_t>(key), size, 0644 | IPC_CREAT | IPC_EXCL);
++
++  if (shmid == -1) {
++    if (errno == EINVAL) {
++      // TODO(all): recreate larger shm
++    } else if (errno == EEXIST) {
++      *is_created = false;
++      return Open(key, base_address, shm_address);
++    } else {
++      return false;
++    }
++  }
++  *shm_address = shmat(shmid, base_address, 0);
++  if (*shm_address == reinterpret_cast<void*>(-1)) {
++    // shmat failed
++    return false;
++  }
++  *is_created = true;
++  return true;
++}
++
++bool ArenaAddressAllocator::OpenMetaShm(uint64_t capacity, void* base_address,
++                                        uint64_t address_segment_size) {
++  bool is_created = false;
++  bool ret = false;
++  for (uint32_t retry = 0; retry < 2 && !ret;
++       ++retry, ret = OpenOrCreate(
++                    meta_shm_key_, sizeof(ArenaAddressAllocatorMeta),
++                    meta_shm_address_, reinterpret_cast<void**>(&meta_),
++                    &is_created)) {
++  }
++  if (!ret) {
++    // create or open failed
++    return false;
++  }
++  if (!is_created) {
++    meta_->struct_.ref_count_.fetch_add(1);
++  } else {
++    meta_->struct_.version_ = 1;
++    meta_->struct_.capacity_ = capacity;
++    meta_->struct_.base_address_ = base_address;
++    meta_->struct_.address_segment_size_ = address_segment_size;
++    meta_->struct_.root_ = nullptr;
++    meta_->struct_.allocated_index_ = 0;
++    meta_->struct_.reclaim_stack_top_ = 0;
++    meta_->struct_.ref_count_.store(1);
++  }
++  return true;
++}
++
++bool ArenaAddressAllocator::OpenNodeShm(uint64_t capacity, void* base_address,
++                                        uint64_t address_segment_size) {
++  uint64_t size = sizeof(ArenaAddressAllocatorMeta) +
++                  sizeof(ArenaAddressNode) * (capacity + 1) +
++                  sizeof(uint64_t) * capacity;
++  bool is_created = false;
++  bool ret = false;
++  for (uint32_t retry = 0; retry < 2 && !ret;
++       ++retry, ret = OpenOrCreate(node_shm_key_, size, node_shm_address_,
++                                   reinterpret_cast<void**>(&nodes_),
++                                   &is_created)) {
++  }
++  if (!ret) {
++    // create or open failed
++    return false;
++  }
++
++  reclaim_stack_ = reinterpret_cast<uint64_t*>(
++      reinterpret_cast<uint64_t>(nodes_) + sizeof(ArenaAddressNode) * capacity);
++  return true;
++}
++
++ArenaAddressNode* ArenaAddressAllocator::NewNode(uint64_t key) {
++  if (meta_->struct_.reclaim_stack_top_ > 0) {
++    uint64_t index = reclaim_stack_[--meta_->struct_.reclaim_stack_top_];
++    nodes_[index].left_ = nullptr;
++    nodes_[index].right_ = nullptr;
++    nodes_[index].key_ = key;
++    return &nodes_[index];
++  }
++  if (meta_->struct_.allocated_index_ >= meta_->struct_.capacity_) {
++    // TODO(all): expand nodes
++    return nullptr;
++  }
++  nodes_[meta_->struct_.allocated_index_].left_ = nullptr;
++  nodes_[meta_->struct_.allocated_index_].right_ = nullptr;
++  nodes_[meta_->struct_.allocated_index_].key_ = key;
++  nodes_[meta_->struct_.allocated_index_].index_ =
++      meta_->struct_.allocated_index_;
++  return &nodes_[meta_->struct_.allocated_index_++];
++}
++
++void ArenaAddressAllocator::ReclaimNode(ArenaAddressNode* node) {
++  nodes_[node->index_].left_ = nullptr;
++  nodes_[node->index_].right_ = nullptr;
++  nodes_[node->index_].parent_ = nullptr;
++  reclaim_stack_[meta_->struct_.reclaim_stack_top_++] = node->index_;
++}
++
++ArenaAddressNode* ArenaAddressAllocator::FindNode(ArenaAddressNode* node,
++                                                  uint64_t key) {
++  if (node == nullptr) {
++    return nullptr;
++  }
++  if (key < node->key_) {
++    return FindNode(node->left_, key);
++  } else if (key > node->key_) {
++    return FindNode(node->right_, key);
++  }
++  return node;
++}
++
++ArenaAddressNode* ArenaAddressAllocator::FindOrInsertNode(
++    ArenaAddressNode* node, ArenaAddressNode** node_p, ArenaAddressNode* parent,
++    uint64_t key) {
++  if (node == nullptr) {
++    auto target = NewNode(key);
++    *node_p = target;
++    target->parent_ = parent;
++    return target;
++  }
++  if (key < node->key_) {
++    auto target = FindOrInsertNode(node->left_, &(node->left_), node, key);
++    TreeRebalance(node->left_, &(node->left_));
++    return target;
++  } else if (key > node->key_) {
++    auto target = FindOrInsertNode(node->right_, &(node->right_), node, key);
++    TreeRebalance(node->right_, &(node->right_));
++    return target;
++  }
++  // key == node->key_
++  return node;
++}
++
++void ArenaAddressAllocator::RemoveNode(ArenaAddressNode* node,
++                                       ArenaAddressNode** node_p,
++                                       uint64_t key) {
++  if (!node) {
++    return;
++  }
++  if (!FindNode(node, key)) {
++    return;
++  }
++  if (key < node->key_) {
++    RemoveNode(node->left_, &(node->left_), key);
++    if (TreeBalanceFactor(node) < -1) {
++      TreeRebalance(meta_->struct_.root_, &(meta_->struct_.root_));
++    }
++    return;
++  } else if (key > node->key_) {
++    RemoveNode(node->right_, &(node->right_), key);
++    if (TreeBalanceFactor(node) > 1) {
++      TreeRebalance(meta_->struct_.root_, &(meta_->struct_.root_));
++    }
++    return;
++  }
++  // node->key_ == key
++  // left and right both exist
++  if (node->left_ && node->right_) {
++    if (TreeBalanceFactor(node) > 0) {
++      auto max_p = &(node->left_);
++      auto max = TreeMax(node->left_, &max_p);
++      SwapNodePosition(node, node_p, max, max_p);
++      RemoveNode(max->left_, &(max->left_), key);
++      return;
++    } else {
++      auto min_p = &(node->right_);
++      auto min = TreeMin(node->right_, &min_p);
++      SwapNodePosition(node, node_p, min, min_p);
++      RemoveNode(min->right_, &(min->right_), key);
++      return;
++    }
++  }
++  // left or right exist
++  *node_p = node->left_ ? node->left_ : node->right_;
++  ReclaimNode(node);
++}
++
++void ArenaAddressAllocator::SwapNodePosition(ArenaAddressNode* x,
++                                             ArenaAddressNode** x_p,
++                                             ArenaAddressNode* y,
++                                             ArenaAddressNode** y_p) {
++  if (x == nullptr || y == nullptr) {
++    // cannot swap nullptr
++    return;
++  }
++
++  // swap address
++  *x_p = y;
++  *y_p = x;
++  // swap parent
++  auto parent_x = x->parent_;
++  auto parent_y = y->parent_;
++  x->parent_ = parent_y;
++  y->parent_ = parent_x;
++
++  ArenaAddressNode* tmp = nullptr;
++
++  // swap left
++  tmp = x->left_;
++  x->left_ = y->left_;
++  if (x->left_) {
++    x->left_->parent_ = x;
++  }
++  y->left_ = tmp;
++  if (y->left_) {
++    y->left_->parent_ = y;
++  }
++
++  // swap right
++  tmp = x->right_;
++  x->right_ = y->right_;
++  if (x->right_) {
++    x->right_->parent_ = x;
++  }
++  y->right_ = tmp;
++  if (y->right_) {
++    y->right_->parent_ = y;
++  }
++}
++
++uint64_t ArenaAddressAllocator::TreeHeight(ArenaAddressNode* node) {
++  if (node == nullptr) {
++    return 0;
++  }
++  return 1 + std::max(TreeHeight(node->left_), TreeHeight(node->right_));
++}
++
++ArenaAddressNode* ArenaAddressAllocator::TreeMax(ArenaAddressNode* node,
++                                                 ArenaAddressNode*** node_pp) {
++  if (node == nullptr) {
++    return nullptr;
++  }
++  for (; node->right_;) {
++    *node_pp = &(node->right_);
++    node = node->right_;
++  }
++  return node;
++}
++
++ArenaAddressNode* ArenaAddressAllocator::TreeMin(ArenaAddressNode* node,
++                                                 ArenaAddressNode*** node_pp) {
++  if (node == nullptr) {
++    return nullptr;
++  }
++  for (; node->left_;) {
++    *node_pp = &(node->left_);
++    node = node->left_;
++  }
++  return node;
++}
++
++int64_t ArenaAddressAllocator::TreeBalanceFactor(ArenaAddressNode* node) {
++  if (node == nullptr) {
++    return 0;
++  }
++  return TreeHeight(node->left_) - TreeHeight(node->right_);
++}
++
++ArenaAddressNode* ArenaAddressAllocator::TreeRotateLeft(
++    ArenaAddressNode* node, ArenaAddressNode** node_p) {
++  auto parent = node->parent_;
++  auto right = node->right_;
++
++  node->right_ = right->left_;
++  right->left_ = node;
++  node->parent_ = right;
++  *node_p = right;
++  right->parent_ = parent;
++
++  return right;
++}
++
++ArenaAddressNode* ArenaAddressAllocator::TreeRotateRight(
++    ArenaAddressNode* node, ArenaAddressNode** node_p) {
++  auto parent = node->parent_;
++  auto left = node->left_;
++
++  node->left_ = left->right_;
++  left->right_ = node;
++  node->parent_ = left;
++  *node_p = left;
++  left->parent_ = parent;
++
++  return left;
++}
++
++ArenaAddressNode* ArenaAddressAllocator::TreeRotateLeftRight(
++    ArenaAddressNode* node, ArenaAddressNode** node_p) {
++  TreeRotateLeft(node->left_, &(node->left_));
++  return TreeRotateRight(node, node_p);
++}
++
++ArenaAddressNode* ArenaAddressAllocator::TreeRotateRightLeft(
++    ArenaAddressNode* node, ArenaAddressNode** node_p) {
++  TreeRotateRight(node->right_, &(node->right_));
++  return TreeRotateLeft(node, node_p);
++}
++
++ArenaAddressNode* ArenaAddressAllocator::TreeRebalance(
++    ArenaAddressNode* node, ArenaAddressNode** node_p) {
++  if (node == nullptr) {
++    return nullptr;
++  }
++  auto balance_factor = TreeBalanceFactor(node);
++  if (balance_factor > 1) {
++    if (TreeBalanceFactor(node->left_) > 0) {
++      return TreeRotateRight(node, node_p);
++    } else {
++      return TreeRotateLeftRight(node, node_p);
++    }
++  } else if (balance_factor < -1) {
++    if (TreeBalanceFactor(node->right_) < 0) {
++      return TreeRotateLeft(node, node_p);
++    } else {
++      return TreeRotateRightLeft(node, node_p);
++    }
++  }
++  return node;
++}
++
++void* ArenaAddressAllocator::Allocate(uint64_t key) {
++  bool idle_status = false;
++  bool occupied_status = true;
++  while (!meta_->struct_.occupied_.compare_exchange_strong(
++                              idle_status, occupied_status)) {
++    // exchange failed, idle_status is set to true.
++    idle_status = false;
++    std::this_thread::sleep_for(std::chrono::microseconds(1000));
++  }
++  auto node = FindOrInsertNode(meta_->struct_.root_, &(meta_->struct_.root_),
++                               nullptr, key);
++  meta_->struct_.occupied_.store(false);
++  if (node == nullptr) {
++    return nullptr;
++  }
++
++  node->ref_count_.fetch_add(1);
++
++  return reinterpret_cast<void*>(
++      reinterpret_cast<uint64_t>(meta_->struct_.base_address_) +
++      meta_->struct_.address_segment_size_ * node->index_);
++}
++
++void ArenaAddressAllocator::Deallocate(uint64_t key) {
++  bool idle_status = false;
++  bool occupied_status = true;
++  while (!meta_->struct_.occupied_.compare_exchange_strong(
++                              idle_status, occupied_status)) {
++    // exchange failed, idle_status is set to true.
++    idle_status = false;
++    std::this_thread::sleep_for(std::chrono::microseconds(1000));
++  }
++  auto node = FindNode(meta_->struct_.root_, key);
++  meta_->struct_.occupied_.store(false);
++  if (node == nullptr) {
++    return;
++  }
++
++  if (node->ref_count_.fetch_sub(1) == 0) {
++    RemoveNode(meta_->struct_.root_, &(meta_->struct_.root_), key);
++  }
++}
++
++}  // namespace transport
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/transport/shm/arena_address_allocator.h b/cyber/transport/shm/arena_address_allocator.h
+new file mode 100644
+index 0000000..7ddc3c1
+--- /dev/null
++++ b/cyber/transport/shm/arena_address_allocator.h
+@@ -0,0 +1,121 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++#ifndef CYBER_TRANSPORT_SHM_ARENA_ADDRESS_ALLOCATOR_H_
++#define CYBER_TRANSPORT_SHM_ARENA_ADDRESS_ALLOCATOR_H_
++
++#include <atomic>
++#include <cstdint>
++
++#include "cyber/base/pthread_rw_lock.h"
++#include "cyber/common/macros.h"
++
++namespace apollo {
++namespace cyber {
++namespace transport {
++
++struct ArenaAddressNode {
++  uint64_t key_;
++  uint64_t index_;
++  std::atomic<uint64_t> ref_count_;
++  struct ArenaAddressNode* parent_;
++  struct ArenaAddressNode* left_;
++  struct ArenaAddressNode* right_;
++};
++
++union ArenaAddressAllocatorMeta {
++  struct {
++    uint64_t version_;
++    uint64_t capacity_;
++    std::atomic<uint64_t> ref_count_;
++    void* base_address_;
++    // TODO(ALL): support multiple size
++    uint64_t address_segment_size_;
++    ArenaAddressNode* root_;
++    uint64_t allocated_index_;
++    uint64_t reclaim_stack_top_;
++    // base::PthreadRWLock mutex_;
++    std::atomic<bool> occupied_;
++  } struct_;
++  uint8_t bytes_[128];
++};
++
++class ArenaAddressAllocator {
++ public:
++  ArenaAddressAllocator();
++  ~ArenaAddressAllocator();
++
++  bool Init(uint64_t capacity, void* base_address,
++            uint64_t address_segment_size);
++
++  bool OpenOrCreate(uint64_t key, uint64_t size, void* base_address,
++                    void** shm_address, bool* is_created);
++  bool Open(uint64_t key, void* base_address, void** shm_address);
++
++  bool OpenOrCreate(uint64_t capacity, void* base_address,
++                    uint64_t address_segment_size);
++
++  bool OpenMetaShm(uint64_t capacity, void* base_address,
++                   uint64_t address_segment_size);
++
++  bool OpenNodeShm(uint64_t capacity, void* base_address,
++                   uint64_t address_segment_size);
++
++  ArenaAddressNode* NewNode(uint64_t key);
++  void ReclaimNode(ArenaAddressNode* node);
++  ArenaAddressNode* FindNode(ArenaAddressNode* node, uint64_t key);
++  ArenaAddressNode* FindOrInsertNode(ArenaAddressNode* node,
++                                     ArenaAddressNode** node_p,
++                                     ArenaAddressNode* parent, uint64_t key);
++  void RemoveNode(ArenaAddressNode* node, ArenaAddressNode** node_addr,
++                  uint64_t key);
++  void SwapNodePosition(ArenaAddressNode* x, ArenaAddressNode** x_p,
++                        ArenaAddressNode* y, ArenaAddressNode** y_p);
++  uint64_t TreeHeight(ArenaAddressNode* node);
++  ArenaAddressNode* TreeMax(ArenaAddressNode* node,
++                            ArenaAddressNode*** node_pp);
++  ArenaAddressNode* TreeMin(ArenaAddressNode* node,
++                            ArenaAddressNode*** node_pp);
++  int64_t TreeBalanceFactor(ArenaAddressNode* node);
++  ArenaAddressNode* TreeRebalance(ArenaAddressNode* node,
++                                  ArenaAddressNode** node_p);
++  ArenaAddressNode* TreeRotateLeft(ArenaAddressNode* node,
++                                   ArenaAddressNode** node_p);
++  ArenaAddressNode* TreeRotateRight(ArenaAddressNode* node,
++                                    ArenaAddressNode** node_p);
++  ArenaAddressNode* TreeRotateLeftRight(ArenaAddressNode* node,
++                                        ArenaAddressNode** node_p);
++  ArenaAddressNode* TreeRotateRightLeft(ArenaAddressNode* node,
++                                        ArenaAddressNode** node_p);
++  void* Allocate(uint64_t key);
++  void Deallocate(uint64_t key);
++
++ private:
++  uint64_t meta_shm_key_;
++  uint64_t node_shm_key_;
++  void* meta_shm_address_;
++  void* node_shm_address_;
++  ArenaAddressAllocatorMeta* meta_;
++  ArenaAddressNode* nodes_;
++  ArenaAddressNode* root_;
++  uint64_t* reclaim_stack_;
++  // DECLARE_SINGLETON(ArenaAddressAllocator)
++};
++
++}  // namespace transport
++}  // namespace cyber
++}  // namespace apollo
++
++#endif
+diff --git a/cyber/transport/shm/posix_segment.cc b/cyber/transport/shm/posix_segment.cc
+index c1519ed..d9d963b 100644
+--- a/cyber/transport/shm/posix_segment.cc
++++ b/cyber/transport/shm/posix_segment.cc
+@@ -96,13 +96,28 @@ bool PosixSegment::OpenOrCreate() {
+     return false;
+   }
+ 
++  // create field arena_blocks_
++  arena_blocks_ = new (static_cast<char*>(managed_shm_) + sizeof(State) + \
++                       conf_.block_num() * sizeof(Block)) Block[
++                        ShmConf::ARENA_BLOCK_NUM];
++  if (arena_blocks_ == nullptr) {
++    AERROR << "create blocks failed.";
++    state_->~State();
++    state_ = nullptr;
++    munmap(managed_shm_, conf_.managed_shm_size());
++    managed_shm_ = nullptr;
++    shm_unlink(shm_name_.c_str());
++    return false;
++  }
++
+   // create block buf
+   uint32_t i = 0;
+   for (; i < conf_.block_num(); ++i) {
+     uint8_t* addr =
+-        new (static_cast<char*>(managed_shm_) + sizeof(State) +
+-             conf_.block_num() * sizeof(Block) + i * conf_.block_buf_size())
+-            uint8_t[conf_.block_buf_size()];
++        new (static_cast<char*>(managed_shm_) + sizeof(State) + \
++             conf_.block_num() * sizeof(Block) + \
++             ShmConf::ARENA_BLOCK_NUM * sizeof(Block) + \
++             i * conf_.block_buf_size()) uint8_t[conf_.block_buf_size()];
+ 
+     if (addr == nullptr) {
+       break;
+@@ -112,15 +127,38 @@ bool PosixSegment::OpenOrCreate() {
+     block_buf_addrs_[i] = addr;
+   }
+ 
+-  if (i != conf_.block_num()) {
+-    AERROR << "create block buf failed.";
++  // create arena block buf
++  uint32_t ai = 0;
++  for (; ai < ShmConf::ARENA_BLOCK_NUM; ++ai) {
++    uint8_t* addr = \
++        new(static_cast<char*>(managed_shm_) + sizeof(State) + \
++             conf_.block_num() * sizeof(Block) + \
++             ShmConf::ARENA_BLOCK_NUM * sizeof(Block) + \
++             conf_.block_num() * conf_.block_buf_size() + \
++             ai * ShmConf::ARENA_MESSAGE_SIZE) uint8_t[
++              ShmConf::ARENA_MESSAGE_SIZE];
++    if (addr == nullptr) {
++      break;
++    }
++
++    std::lock_guard<std::mutex> _g(arena_block_buf_lock_);
++    arena_block_buf_addrs_[ai] = addr;
++  }
++
++  if (ai != ShmConf::ARENA_BLOCK_NUM || i != conf_.block_num()) {
++    AERROR << "create arena block buf failed.";
+     state_->~State();
+     state_ = nullptr;
+     blocks_ = nullptr;
++    arena_blocks_ = nullptr;
+     {
+       std::lock_guard<std::mutex> lg(block_buf_lock_);
+       block_buf_addrs_.clear();
+     }
++    {
++      std::lock_guard<std::mutex> lg(arena_block_buf_lock_);
++      arena_block_buf_addrs_.clear();
++    }
+     munmap(managed_shm_, conf_.managed_shm_size());
+     managed_shm_ = nullptr;
+     shm_unlink(shm_name_.c_str());
+@@ -183,26 +221,64 @@ bool PosixSegment::OpenOnly() {
+     return false;
+   }
+ 
++  // get field arena_blocks_
++  arena_blocks_ = reinterpret_cast<Block*>(
++    static_cast<char*>(managed_shm_) + sizeof(State) +
++    sizeof(Block) * conf_.block_num());
++  if (blocks_ == nullptr) {
++    AERROR << "get arena blocks failed.";
++    state_ = nullptr;
++    munmap(managed_shm_, conf_.managed_shm_size());
++    managed_shm_ = nullptr;
++    return false;
++  }
++
+   // get block buf
+   uint32_t i = 0;
+   for (; i < conf_.block_num(); ++i) {
+     uint8_t* addr = reinterpret_cast<uint8_t*>(
+         static_cast<char*>(managed_shm_) + sizeof(State) +
+-        conf_.block_num() * sizeof(Block) + i * conf_.block_buf_size());
++        conf_.block_num() * sizeof(Block) +
++        ShmConf::ARENA_BLOCK_NUM * sizeof(Block) +
++        i * conf_.block_buf_size());
+ 
++    if (addr == nullptr) {
++      break;
++    }
+     std::lock_guard<std::mutex> lg(block_buf_lock_);
+     block_buf_addrs_[i] = addr;
+   }
+ 
+-  if (i != conf_.block_num()) {
++  // get arena block buf
++  uint32_t ai = 0;
++  for (; i < ShmConf::ARENA_BLOCK_NUM; ++ai) {
++    uint8_t* addr = reinterpret_cast<uint8_t*>(
++        static_cast<char*>(managed_shm_) + sizeof(State) + \
++        conf_.block_num() * sizeof(Block) + ShmConf::ARENA_BLOCK_NUM * \
++        sizeof(Block) + conf_.block_num() * conf_.block_buf_size() + \
++        ai * ShmConf::ARENA_MESSAGE_SIZE);
++
++    if (addr == nullptr) {
++      break;
++    }
++    std::lock_guard<std::mutex> _g(arena_block_buf_lock_);
++    arena_block_buf_addrs_[ai] = addr;
++  }
++
++  if (i != conf_.block_num() || ai != ShmConf::ARENA_BLOCK_NUM) {
+     AERROR << "open only failed.";
+     state_->~State();
+     state_ = nullptr;
+     blocks_ = nullptr;
++    arena_blocks_ = nullptr;
+     {
+       std::lock_guard<std::mutex> lg(block_buf_lock_);
+       block_buf_addrs_.clear();
+     }
++    {
++      std::lock_guard<std::mutex> lg(arena_block_buf_lock_);
++      arena_block_buf_addrs_.clear();
++    }
+     munmap(managed_shm_, conf_.managed_shm_size());
+     managed_shm_ = nullptr;
+     shm_unlink(shm_name_.c_str());
+@@ -226,10 +302,15 @@ bool PosixSegment::Remove() {
+ void PosixSegment::Reset() {
+   state_ = nullptr;
+   blocks_ = nullptr;
++  arena_blocks_ = nullptr;
+   {
+     std::lock_guard<std::mutex> lg(block_buf_lock_);
+     block_buf_addrs_.clear();
+   }
++  {
++    std::lock_guard<std::mutex> lg(arena_block_buf_lock_);
++    arena_block_buf_addrs_.clear();
++  }
+   if (managed_shm_ != nullptr) {
+     munmap(managed_shm_, conf_.managed_shm_size());
+     managed_shm_ = nullptr;
+diff --git a/cyber/transport/shm/protobuf_arena_manager.cc b/cyber/transport/shm/protobuf_arena_manager.cc
+new file mode 100644
+index 0000000..30db9b7
+--- /dev/null
++++ b/cyber/transport/shm/protobuf_arena_manager.cc
+@@ -0,0 +1,564 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++#include "cyber/transport/shm/protobuf_arena_manager.h"
++
++#include <sys/ipc.h>
++#include <sys/shm.h>
++
++#include <cstring>
++#include <string>
++
++#include <google/protobuf/arena.h>
++#include <google/protobuf/message.h>
++
++#include "cyber/transport/shm/segment_factory.h"
++
++namespace apollo {
++namespace cyber {
++namespace transport {
++
++const int32_t ArenaSegmentBlock::kRWLockFree = 0;
++const int32_t ArenaSegmentBlock::kWriteExclusive = -1;
++const int32_t ArenaSegmentBlock::kMaxTryLockTimes = 5;
++
++ArenaSegment::ArenaSegment()
++    : channel_id_(0), key_id_(0), base_address_(nullptr) {}
++
++ArenaSegment::ArenaSegment(uint64_t channel_id)
++    : channel_id_(channel_id),
++      key_id_(std::hash<std::string>{}("/apollo/__arena__/" +
++                                       std::to_string(channel_id))) {}
++
++ArenaSegment::ArenaSegment(uint64_t channel_id, void* base_address)
++    : channel_id_(channel_id),
++      key_id_(std::hash<std::string>{}("/apollo/__arena__/" +
++                                       std::to_string(channel_id))),
++      base_address_(base_address) {}
++
++ArenaSegment::ArenaSegment(uint64_t channel_id, uint64_t message_size,
++                           uint64_t block_num, void* base_address)
++    : channel_id_(channel_id),
++      key_id_(std::hash<std::string>{}("/apollo/__arena__/" +
++                                       std::to_string(channel_id))),
++      base_address_(base_address) {
++  Init(message_size, block_num);
++}
++
++ArenaSegment::~ArenaSegment() {}
++
++bool ArenaSegment::Init(uint64_t message_size, uint64_t block_num) {
++  uint64_t key_id = std::hash<std::string>{}("/apollo/__arena__/" +
++                                             std::to_string(channel_id_));
++  // fprintf(stderr, "channel_id: %lx, key_id: %lx\n", channel_id_, key_id);
++
++  for (uint32_t retry = 0; retry < 2 && !OpenOrCreate(message_size, block_num);
++       ++retry) {
++  }
++
++  return true;
++}
++
++bool ArenaSegment::OpenOrCreate(uint64_t message_size, uint64_t block_num) {
++  auto arena_conf =
++      cyber::common::GlobalData::Instance()->GetChannelArenaConf(channel_id_);
++  auto shared_buffer_size = arena_conf.shared_buffer_size();
++  auto size = sizeof(ArenaSegmentState) +
++              sizeof(ArenaSegmentBlockDescriptor) * block_num +
++              message_size * block_num + shared_buffer_size;
++  auto shmid =
++      shmget(static_cast<key_t>(key_id_), size, 0644 | IPC_CREAT | IPC_EXCL);
++  if (shmid == -1) {
++    if (errno == EINVAL) {
++      // TODO(all): need larger space, recreate
++    } else if (errno == EEXIST) {
++      // TODO(all): shm already exist, open only
++      return Open(message_size, block_num);
++    } else {
++      //  create or open shm failed
++      return false;
++    }
++  }
++  message_capacity_ = message_size;
++  shm_address_ = shmat(shmid, base_address_, 0);
++  if (shm_address_ == reinterpret_cast<void*>(-1)) {
++    // shmat failed
++    return false;
++  }
++
++  arenas_.resize(block_num, nullptr);
++  if (shared_buffer_size == 0) {
++    shared_buffer_arena_ = nullptr;
++  } else {
++    google::protobuf::ArenaOptions options;
++    options.start_block_size = shared_buffer_size;
++    options.max_block_size = shared_buffer_size;
++    options.initial_block = reinterpret_cast<char*>(
++        reinterpret_cast<uint64_t>(shm_address_) + sizeof(ArenaSegmentState) +
++        block_num * sizeof(ArenaSegmentBlock) + block_num * message_size);
++    options.initial_block_size = shared_buffer_size;
++    shared_buffer_arena_ = std::make_shared<google::protobuf::Arena>(options);
++  }
++  for (size_t i = 0; i < block_num; i++) {
++    arena_block_address_.push_back(
++        reinterpret_cast<uint64_t>(shm_address_) + sizeof(ArenaSegmentState) +
++        block_num * sizeof(ArenaSegmentBlock) + i * message_size);
++  }
++
++  state_ = reinterpret_cast<ArenaSegmentState*>(shm_address_);
++  state_->struct_.ref_count_.store(1);
++  state_->struct_.auto_extended_.store(false);
++  state_->struct_.message_size_.store(message_size);
++  state_->struct_.block_num_.store(block_num);
++  state_->struct_.message_seq_.store(0);
++  blocks_ = reinterpret_cast<ArenaSegmentBlock*>(
++      reinterpret_cast<uint64_t>(shm_address_) + sizeof(ArenaSegmentState));
++  for (uint64_t i = 0; i < block_num; ++i) {
++    blocks_[i].size_ = message_size;
++    // blocks_[i].writing_ref_count_.store(0);
++    // blocks_[i].reading_ref_count_.store(0);
++    blocks_[i].lock_num_.store(0);
++  }
++  return true;
++}
++
++bool ArenaSegment::Open(uint64_t message_size, uint64_t block_num) {
++  auto arena_conf =
++      cyber::common::GlobalData::Instance()->GetChannelArenaConf(channel_id_);
++  auto shared_buffer_size = arena_conf.shared_buffer_size();
++  auto shmid = shmget(static_cast<key_t>(key_id_), 0, 0644);
++  if (shmid == -1) {
++    // shm not exist
++    return false;
++  }
++  shm_address_ = shmat(shmid, base_address_, 0);
++  if (shm_address_ == reinterpret_cast<void*>(-1)) {
++    // shmat failed
++    return false;
++  }
++  message_capacity_ = message_size;
++  state_ = reinterpret_cast<ArenaSegmentState*>(shm_address_);
++  state_->struct_.ref_count_.fetch_add(1);
++  blocks_ = reinterpret_cast<ArenaSegmentBlock*>(
++      reinterpret_cast<uint64_t>(shm_address_) + sizeof(ArenaSegmentState));
++
++  arenas_.resize(block_num, nullptr);
++  if (shared_buffer_size == 0) {
++    shared_buffer_arena_ = nullptr;
++  } else {
++    google::protobuf::ArenaOptions options;
++    options.start_block_size = shared_buffer_size;
++    options.max_block_size = shared_buffer_size;
++    options.initial_block = reinterpret_cast<char*>(
++        reinterpret_cast<uint64_t>(shm_address_) + sizeof(ArenaSegmentState) +
++        block_num * sizeof(ArenaSegmentBlock) + block_num * message_size);
++    options.initial_block_size = shared_buffer_size;
++    shared_buffer_arena_ = std::make_shared<google::protobuf::Arena>(options);
++  }
++  for (size_t i = 0; i < block_num; i++) {
++    arena_block_address_.push_back(
++        reinterpret_cast<uint64_t>(shm_address_) + sizeof(ArenaSegmentState) +
++        block_num * sizeof(ArenaSegmentBlock) + i * message_size);
++  }
++  return true;
++}
++
++void* ArenaSegment::GetShmAddress() { return shm_address_; }
++
++uint64_t ArenaSegment::GetNextWritableBlockIndex() {
++  const auto block_num = state_->struct_.block_num_.load();
++  while (1) {
++    uint64_t next_idx = state_->struct_.message_seq_.fetch_add(1) % block_num;
++    if (AddBlockWriteLock(next_idx)) {
++      return next_idx;
++    }
++  }
++  return 0;
++}
++
++bool ArenaSegment::AddBlockWriteLock(uint64_t block_index) {
++  // base::WriteLockGuard<base::PthreadRWLock> lock(
++  //     blocks_[block_index].read_write_mutex_);
++  // if (blocks_[block_index].writing_ref_count_.load() > 0) {
++  //   return false;
++  // }
++  // if (blocks_[block_index].reading_ref_count_.load() > 0) {
++  //   return false;
++  // }
++  // blocks_[block_index].writing_ref_count_.fetch_add(1);
++  auto& block = blocks_[block_index];
++  int32_t rw_lock_free = ArenaSegmentBlock::kRWLockFree;
++  if (!block.lock_num_.compare_exchange_weak(
++          rw_lock_free, ArenaSegmentBlock::kWriteExclusive,
++          std::memory_order_acq_rel, std::memory_order_relaxed)) {
++    ADEBUG << "lock num: " << block.lock_num_.load();
++    return false;
++  }
++  return true;
++}
++
++void ArenaSegment::RemoveBlockWriteLock(uint64_t block_index) {
++  blocks_[block_index].lock_num_.fetch_add(1);
++}
++
++bool ArenaSegment::AddBlockReadLock(uint64_t block_index) {
++  // when multiple readers are reading an arena channel
++  // at the same time, using write locks can cause one
++  // or more readers to hang at the lock, whereas
++  // read locks do not have this problem
++  // base::ReadLockGuard<base::PthreadRWLock> lock(
++  //     blocks_[block_index].read_write_mutex_);
++  // if (blocks_[block_index].writing_ref_count_.load() > 0) {
++  //   return false;
++  // }
++  // blocks_[block_index].reading_ref_count_.fetch_add(1);
++  auto& block = blocks_[block_index];
++  int32_t lock_num = block.lock_num_.load();
++  if (lock_num < ArenaSegmentBlock::kRWLockFree) {
++    AINFO << "block is being written.";
++    return false;
++  }
++
++  int32_t try_times = 0;
++  while (!block.lock_num_.compare_exchange_weak(lock_num, lock_num + 1,
++                                                std::memory_order_acq_rel,
++                                                std::memory_order_relaxed)) {
++    ++try_times;
++    if (try_times == ArenaSegmentBlock::kMaxTryLockTimes) {
++      AINFO << "fail to add read lock num, curr num: " << lock_num;
++      return false;
++    }
++
++    lock_num = block.lock_num_.load();
++    if (lock_num < ArenaSegmentBlock::kRWLockFree) {
++      AINFO << "block is being written.";
++      return false;
++    }
++  }
++  return true;
++}
++
++void ArenaSegment::RemoveBlockReadLock(uint64_t block_index) {
++  blocks_[block_index].lock_num_.fetch_sub(1);
++}
++
++bool ArenaSegment::AcquireBlockToWrite(uint64_t size,
++                                       ArenaSegmentBlockInfo* block_info) {
++  if (!block_info) {
++    return false;
++  }
++  if (!state_ || !blocks_) {
++    return false;
++  }
++
++  // TODO(all): support dynamic block size
++
++  uint64_t block_num = state_->struct_.block_num_.load();
++  uint64_t block_size = state_->struct_.message_size_.load();
++  uint64_t block_index = GetNextWritableBlockIndex();
++  block_info->block_index_ = block_index;
++  block_info->block_ = &blocks_[block_index];
++  block_info->block_buffer_address_ = reinterpret_cast<void*>(
++      reinterpret_cast<uint64_t>(shm_address_) + sizeof(ArenaSegmentState) +
++      block_num * sizeof(ArenaSegmentBlock) + block_index * block_size);
++  return true;
++}
++
++void ArenaSegment::ReleaseWrittenBlock(
++    const ArenaSegmentBlockInfo& block_info) {
++  if (!state_ || !blocks_) {
++    return;
++  }
++  if (block_info.block_index_ >= state_->struct_.block_num_.load()) {
++    return;
++  }
++  RemoveBlockWriteLock(block_info.block_index_);
++}
++
++bool ArenaSegment::AcquireBlockToRead(ArenaSegmentBlockInfo* block_info) {
++  if (!block_info) {
++    return false;
++  }
++  if (!state_ || !blocks_) {
++    return false;
++  }
++
++  if (block_info->block_index_ >= state_->struct_.block_num_.load()) {
++    return false;
++  }
++
++  // TODO(all): support dynamic block size
++
++  if (!AddBlockReadLock(block_info->block_index_)) {
++    return false;
++  }
++  uint64_t block_num = state_->struct_.block_num_.load();
++  uint64_t block_size = state_->struct_.message_size_.load();
++
++  block_info->block_ = &blocks_[block_info->block_index_];
++  block_info->block_buffer_address_ = reinterpret_cast<void*>(
++      reinterpret_cast<uint64_t>(shm_address_) + sizeof(ArenaSegmentState) +
++      block_num * sizeof(ArenaSegmentBlock) +
++      block_info->block_index_ * block_size);
++  return true;
++}
++
++void ArenaSegment::ReleaseReadBlock(const ArenaSegmentBlockInfo& block_info) {
++  if (!state_ || !blocks_) {
++    return;
++  }
++  if (block_info.block_index_ >= state_->struct_.block_num_.load()) {
++    return;
++  }
++  RemoveBlockReadLock(block_info.block_index_);
++}
++
++ProtobufArenaManager::ProtobufArenaManager() {
++  address_allocator_ = std::make_shared<ArenaAddressAllocator>();
++}
++
++ProtobufArenaManager::~ProtobufArenaManager() { Destroy(); }
++
++uint64_t ProtobufArenaManager::GetBaseAddress(
++    const message::ArenaMessageWrapper* wrapper) {
++  return 0;
++}
++
++std::shared_ptr<ArenaSegment> ProtobufArenaManager::GetSegment(
++    uint64_t channel_id) {
++  std::lock_guard<std::mutex> lock(segments_mutex_);
++  if (segments_.find(channel_id) == segments_.end()) {
++    return nullptr;
++  }
++  return segments_[channel_id];
++}
++
++void* ProtobufArenaManager::SetMessage(message::ArenaMessageWrapper* wrapper,
++                                       const void* message) {
++  auto input_msg = reinterpret_cast<const google::protobuf::Message*>(message);
++  auto channel_id = GetMessageChannelId(wrapper);
++  auto segment = GetSegment(channel_id);
++  auto arena_ptr = input_msg->GetArena();
++  google::protobuf::ArenaOptions options;
++
++  if (!segment) {
++    return nullptr;
++  }
++
++  void* msg_output = nullptr;
++  if (arena_ptr == nullptr) {
++    auto arena_conf =
++        cyber::common::GlobalData::Instance()->GetChannelArenaConf(channel_id);
++    google::protobuf::ArenaOptions options;
++    options.start_block_size = arena_conf.max_msg_size();
++    options.max_block_size = arena_conf.max_msg_size();
++
++    if (!segment) {
++      return nullptr;
++    }
++
++    ResetMessageRelatedBlocks(wrapper);
++
++    ArenaSegmentBlockInfo wb;
++    // TODO(all): AcquireBlockToWrite for dynamic adjust block
++    // auto size = input_msg->ByteSizeLong();
++    uint64_t size = 0;
++    if (!segment->AcquireBlockToWrite(size, &wb)) {
++      return nullptr;
++    }
++    this->AddMessageRelatedBlock(wrapper, wb.block_index_);
++    options.initial_block =
++        reinterpret_cast<char*>(segment->arena_block_address_[wb.block_index_]);
++    options.initial_block_size = segment->message_capacity_;
++    if (segment->arenas_[wb.block_index_] != nullptr) {
++      segment->arenas_[wb.block_index_] = nullptr;
++    }
++    segment->arenas_[wb.block_index_] =
++        std::make_shared<google::protobuf::Arena>(options);
++    auto msg = input_msg->New(segment->arenas_[wb.block_index_].get());
++    msg->CopyFrom(*input_msg);
++    SetMessageAddressOffset(
++        wrapper, reinterpret_cast<uint64_t>(msg) -
++                     reinterpret_cast<uint64_t>(segment->GetShmAddress()));
++    msg_output = reinterpret_cast<void*>(msg);
++    segment->ReleaseWrittenBlock(wb);
++  } else {
++    ArenaSegmentBlockInfo wb;
++    int block_index = -1;
++    for (size_t i = 0; i < segment->message_capacity_; i++) {
++      if (segment->arenas_[i].get() == arena_ptr) {
++        block_index = i;
++        break;
++      }
++    }
++    if (block_index == -1) {
++      return nullptr;
++    }
++    wb.block_index_ = block_index;
++    ResetMessageRelatedBlocks(wrapper);
++    this->AddMessageRelatedBlock(wrapper, block_index);
++    SetMessageAddressOffset(
++        wrapper, reinterpret_cast<uint64_t>(input_msg) -
++                     reinterpret_cast<uint64_t>(segment->GetShmAddress()));
++    msg_output = reinterpret_cast<void*>(
++        const_cast<google::protobuf::Message*>(input_msg));
++    segment->ReleaseWrittenBlock(wb);
++  }
++
++  return msg_output;
++}
++
++void* ProtobufArenaManager::GetMessage(message::ArenaMessageWrapper* wrapper) {
++  auto segment = GetSegment(GetMessageChannelId(wrapper));
++  if (!segment) {
++    return nullptr;
++  }
++
++  auto address = reinterpret_cast<uint64_t>(segment->GetShmAddress()) +
++                 GetMessageAddressOffset(wrapper);
++
++  return reinterpret_cast<void*>(address);
++}
++
++bool ProtobufArenaManager::Enable() {
++  if (init_) {
++    return true;
++  }
++
++  // do something
++
++  init_ = true;
++  return true;
++}
++
++bool ProtobufArenaManager::EnableSegment(uint64_t channel_id) {
++  if (segments_.find(channel_id) != segments_.end()) {
++    if (arena_buffer_callbacks_.find(channel_id) !=
++        arena_buffer_callbacks_.end()) {
++      arena_buffer_callbacks_[channel_id]();
++    }
++    return true;
++  }
++
++  // uint64_t asociated_channel_id = channel_id + 1;
++  // auto segment = SegmentFactory::CreateSegment(asociated_channel_id);
++  // segment->InitOnly(10 * 1024);
++  auto cyber_config = apollo::cyber::common::GlobalData::Instance()->Config();
++  if (!cyber_config.has_transport_conf()) {
++    return false;
++  }
++  if (!cyber_config.transport_conf().has_shm_conf()) {
++    return false;
++  }
++  if (!cyber_config.transport_conf().shm_conf().has_arena_shm_conf()) {
++    return false;
++  }
++  if (!cyber::common::GlobalData::Instance()->IsChannelEnableArenaShm(
++          channel_id)) {
++    return false;
++  }
++  auto arena_conf =
++      cyber::common::GlobalData::Instance()->GetChannelArenaConf(channel_id);
++  auto segment_shm_address = address_allocator_->Allocate(channel_id);
++  auto segment = std::make_shared<ArenaSegment>(
++      channel_id, arena_conf.max_msg_size(), arena_conf.max_pool_size(),
++      reinterpret_cast<void*>(segment_shm_address));
++  segments_[channel_id] = segment;
++  if (arena_buffer_callbacks_.find(channel_id) !=
++      arena_buffer_callbacks_.end()) {
++    arena_buffer_callbacks_[channel_id]();
++  }
++  return true;
++}
++
++bool ProtobufArenaManager::Destroy() {
++  if (!init_) {
++    return true;
++  }
++
++  for (auto& segment : segments_) {
++    address_allocator_->Deallocate(segment.first);
++  }
++  for (auto& buffer : non_arena_buffers_) {
++    delete buffer.second;
++  }
++  segments_.clear();
++
++  init_ = false;
++  return true;
++}
++
++void ProtobufArenaManager::SetMessageChannelId(
++    message::ArenaMessageWrapper* wrapper, uint64_t channel_id) {
++  wrapper->GetExtended<ExtendedStruct>()->meta_.channel_id_ = channel_id;
++}
++
++uint64_t ProtobufArenaManager::GetMessageChannelId(
++    message::ArenaMessageWrapper* wrapper) {
++  return wrapper->GetExtended<ExtendedStruct>()->meta_.channel_id_;
++}
++
++void ProtobufArenaManager::SetMessageAddressOffset(
++    message::ArenaMessageWrapper* wrapper, uint64_t address_offset) {
++  wrapper->GetExtended<ExtendedStruct>()->meta_.address_offset_ =
++      address_offset;
++}
++
++uint64_t ProtobufArenaManager::GetMessageAddressOffset(
++    message::ArenaMessageWrapper* wrapper) {
++  return wrapper->GetExtended<ExtendedStruct>()->meta_.address_offset_;
++}
++
++std::vector<uint64_t> ProtobufArenaManager::GetMessageRelatedBlocks(
++    message::ArenaMessageWrapper* wrapper) {
++  std::vector<uint64_t> related_blocks;
++  auto extended = wrapper->GetExtended<ExtendedStruct>();
++  for (uint64_t i = 0; i < extended->meta_.related_blocks_size_; ++i) {
++    related_blocks.push_back(extended->meta_.related_blocks_[i]);
++  }
++  return related_blocks;
++}
++
++void ProtobufArenaManager::ResetMessageRelatedBlocks(
++    message::ArenaMessageWrapper* wrapper) {
++  auto extended = wrapper->GetExtended<ExtendedStruct>();
++  extended->meta_.related_blocks_size_ = 0;
++  // memset(extended->meta_.related_blocks_, 0,
++  //        sizeof(extended->meta_.related_blocks_));
++}
++
++void ProtobufArenaManager::AddMessageRelatedBlock(
++    message::ArenaMessageWrapper* wrapper, uint64_t block_index) {
++  auto extended = wrapper->GetExtended<ExtendedStruct>();
++  if (extended->meta_.related_blocks_size_ >=
++      sizeof(extended->meta_.related_blocks_) / sizeof(uint64_t)) {
++    return;
++  }
++  extended->meta_.related_blocks_[extended->meta_.related_blocks_size_++] =
++      block_index;
++}
++
++ProtobufArenaManager::ArenaAllocCallback ProtobufArenaManager::arena_alloc_cb_ =
++    nullptr;
++
++void* ProtobufArenaManager::ArenaAlloc(uint64_t size) {
++  return arena_alloc_cb_ ? arena_alloc_cb_(size) : nullptr;
++}
++
++void ProtobufArenaManager::ArenaDealloc(void* addr, uint64_t size) {}
++
++}  // namespace transport
++}  // namespace cyber
++}  // namespace apollo
+diff --git a/cyber/transport/shm/protobuf_arena_manager.h b/cyber/transport/shm/protobuf_arena_manager.h
+new file mode 100644
+index 0000000..d250ccc
+--- /dev/null
++++ b/cyber/transport/shm/protobuf_arena_manager.h
+@@ -0,0 +1,319 @@
++/******************************************************************************
++ * Copyright 2024 The Apollo Authors. All Rights Reserved.
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ * http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *****************************************************************************/
++#ifndef CYBER_TRANSPORT_SHM_PROTOBUF_ARENA_MANAGER_H_
++#define CYBER_TRANSPORT_SHM_PROTOBUF_ARENA_MANAGER_H_
++
++#include <functional>
++#include <memory>
++#include <unordered_map>
++#include <vector>
++
++#include <google/protobuf/arena.h>
++
++#include "cyber/base/arena_queue.h"
++#include "cyber/base/pthread_rw_lock.h"
++#include "cyber/common/global_data.h"
++#include "cyber/common/macros.h"
++#include "cyber/message/arena_manager_base.h"
++#include "cyber/message/arena_message_wrapper.h"
++#include "cyber/transport/shm/arena_address_allocator.h"
++#include "cyber/transport/shm/segment.h"
++
++namespace apollo {
++namespace cyber {
++namespace transport {
++
++union ArenaSegmentState {
++  struct {
++    std::atomic<uint64_t> ref_count_;
++    std::atomic<bool> auto_extended_;
++    std::atomic<uint64_t> message_size_;
++    std::atomic<uint64_t> block_num_;
++    std::atomic<uint64_t> message_seq_;
++    std::mutex mutex_;
++  } struct_;
++  uint8_t bytes_[128];
++};
++
++union ArenaSegmentBlockDescriptor {
++  struct {
++    uint64_t size_;
++    std::atomic<uint64_t> writing_ref_count_;
++    std::atomic<uint64_t> reading_ref_count_;
++    base::PthreadRWLock read_write_mutex_;
++  } struct_;
++  uint8_t bytes_[128];
++};
++
++struct ArenaSegmentBlock {
++  uint64_t size_;
++  // std::atomic<uint64_t> writing_ref_count_;
++  // std::atomic<uint64_t> reading_ref_count_;
++  // base::PthreadRWLock read_write_mutex_;
++  static const int32_t kRWLockFree;
++  static const int32_t kWriteExclusive;
++  static const int32_t kMaxTryLockTimes;
++  std::atomic<int32_t> lock_num_ = {0};
++};
++
++struct ArenaSegmentBlockInfo {
++  uint64_t block_index_;
++  ArenaSegmentBlock* block_;
++  void* block_buffer_address_;
++};
++
++class ArenaSegment {
++ public:
++  ArenaSegment();
++  explicit ArenaSegment(uint64_t channel_id);
++  ArenaSegment(uint64_t channel_id, void* base_address);
++  ArenaSegment(uint64_t channel_id, uint64_t message_size, uint64_t block_num,
++               void* base_address);
++  ~ArenaSegment();
++
++  bool Init(uint64_t message_size, uint64_t block_num);
++  // bool Create(uint64_t message_size, uint64_t block_num);
++  bool Open(uint64_t message_size, uint64_t block_num);
++  bool OpenOrCreate(uint64_t message_size, uint64_t block_num);
++
++  void* GetShmAddress();
++
++  uint64_t GetNextWritableBlockIndex();
++  bool AddBlockWriteLock(uint64_t block_index);
++  void RemoveBlockWriteLock(uint64_t block_index);
++  bool AddBlockReadLock(uint64_t block_index);
++  void RemoveBlockReadLock(uint64_t block_index);
++
++  bool AcquireBlockToWrite(uint64_t size, ArenaSegmentBlockInfo* block_info);
++  void ReleaseWrittenBlock(const ArenaSegmentBlockInfo& block_info);
++
++  bool AcquireBlockToRead(ArenaSegmentBlockInfo* block_info);
++  void ReleaseReadBlock(const ArenaSegmentBlockInfo& block_info);
++
++  // uint64_t GetCapicity();
++
++ public:
++  ArenaSegmentState* state_;
++  ArenaSegmentBlock* blocks_;
++  std::vector<std::shared_ptr<google::protobuf::Arena>> arenas_;
++  std::vector<uint64_t> arena_block_address_;
++  uint64_t channel_id_;
++  uint64_t key_id_;
++  void* base_address_;
++  void* shm_address_;
++  std::shared_ptr<google::protobuf::Arena> shared_buffer_arena_;
++  void* arena_buffer_address_ = nullptr;
++
++  uint64_t message_capacity_;
++};
++
++union ExtendedStruct {
++  struct {
++    uint64_t channel_id_;
++    uint64_t address_offset_;
++    uint64_t related_blocks_[4];
++    uint64_t related_blocks_size_ = 0;
++  } meta_;
++  uint8_t bytes_[256];
++};
++
++union ProtobufArenaManagerMeta {
++  struct {
++    uint64_t version_;
++    uint64_t base_address_;
++    uint64_t segment_size_;
++    uint64_t block_size_;
++    uint64_t block_num_;
++    uint64_t message_size_;
++    uint64_t message_num_;
++    uint64_t message_seq_;
++    uint64_t extended_struct_size_;
++    uint64_t extended_struct_num_;
++    uint64_t extended_struct_seq_;
++  } struct_;
++  uint8_t bytes_[256];
++};
++
++class ProtobufArenaManager : public message::ArenaManagerBase {
++ public:
++  using ArenaAllocCallback = std::function<void*(uint64_t)>;
++
++  ~ProtobufArenaManager();
++
++  uint64_t GetBaseAddress(const message::ArenaMessageWrapper* wrapper) override;
++
++  bool Enable();
++  bool EnableSegment(uint64_t channel_id);
++  bool Destroy();
++  // bool Shutdown();
++
++  void SetMessageChannelId(message::ArenaMessageWrapper* wrapper,
++                           uint64_t channel_id);
++  uint64_t GetMessageChannelId(message::ArenaMessageWrapper* wrapper);
++  void SetMessageAddressOffset(message::ArenaMessageWrapper* wrapper,
++                               uint64_t offset);
++  uint64_t GetMessageAddressOffset(message::ArenaMessageWrapper* wrapper);
++  std::vector<uint64_t> GetMessageRelatedBlocks(
++      message::ArenaMessageWrapper* wrapper);
++  void ResetMessageRelatedBlocks(message::ArenaMessageWrapper* wrapper);
++  void AddMessageRelatedBlock(message::ArenaMessageWrapper* wrapper,
++                              uint64_t block_index);
++
++  std::shared_ptr<ArenaSegment> GetSegment(uint64_t channel_id);
++
++  void* SetMessage(message::ArenaMessageWrapper* wrapper,
++                   const void* message) override;
++  void* GetMessage(message::ArenaMessageWrapper* wrapper) override;
++
++  void* GetAvailableBuffer(uint64_t channel_id) {
++    auto segment = this->GetSegment(channel_id);
++    if (!segment) {
++      if (non_arena_buffers_.find(channel_id) == non_arena_buffers_.end()) {
++        return nullptr;
++      }
++      return non_arena_buffers_[channel_id];
++    }
++    if (segment->arena_buffer_address_ != nullptr) {
++      return segment->arena_buffer_address_;
++    }
++    return non_arena_buffers_[channel_id];
++  }
++
++  template <typename T>
++  bool RegisterQueue(uint64_t channel_id, uint64_t size) {
++    if (non_arena_buffers_.find(channel_id) == non_arena_buffers_.end() ||
++        arena_buffer_callbacks_.find(channel_id) ==
++            arena_buffer_callbacks_.end()) {
++      auto non_arena_buffer_ptr = new apollo::cyber::base::ArenaQueue<T>();
++      non_arena_buffer_ptr->Init(size);
++      non_arena_buffers_[channel_id] = non_arena_buffer_ptr;
++      arena_buffer_callbacks_[channel_id] = [this, channel_id, size]() {
++        auto segment = this->GetSegment(channel_id);
++        if (!segment) {
++          ADEBUG << "channel id '" << channel_id << "' not enable";
++          ADEBUG << "fallback to use nomarl queue";
++          return;
++        }
++        if (segment->shared_buffer_arena_ == nullptr) {
++          ADEBUG << "Not enable arena shared buffer in channel id '"
++                 << channel_id << "'";
++          ADEBUG << "fallback to use nomarl queue";
++          return;
++        }
++        if (segment->arena_buffer_address_ == nullptr) {
++          auto ptr = google::protobuf::Arena::Create<base::ArenaQueue<T>>(
++              segment->shared_buffer_arena_.get());
++          ptr->Init(size, segment->shared_buffer_arena_.get());
++          segment->arena_buffer_address_ = reinterpret_cast<void*>(ptr);
++        }
++      };
++    }
++    // try enable arena buffer
++    auto segment = GetSegment(channel_id);
++    if (segment) {
++      arena_buffer_callbacks_[channel_id]();
++    }
++    return true;
++  }
++
++  template <typename M,
++            typename std::enable_if<
++                google::protobuf::Arena::is_arena_constructable<M>::value,
++                M>::type* = nullptr>
++  void AcquireArenaMessage(uint64_t channel_id, std::shared_ptr<M>& ret_msg) {
++    auto arena_conf =
++        cyber::common::GlobalData::Instance()->GetChannelArenaConf(channel_id);
++    google::protobuf::ArenaOptions options;
++    options.start_block_size = arena_conf.max_msg_size();
++    options.max_block_size = arena_conf.max_msg_size();
++
++    auto segment = GetSegment(channel_id);
++    if (!segment) {
++      return;
++    }
++
++    ArenaSegmentBlockInfo wb;
++    // TODO(All): size should be send to
++    // AcquireBlockToWrite for dynamic adjust block size
++    // auto size = input_msg->ByteSizeLong();
++    uint64_t size = 0;
++    if (!segment->AcquireBlockToWrite(size, &wb)) {
++      return;
++    }
++    options.initial_block =
++        reinterpret_cast<char*>(segment->arena_block_address_[wb.block_index_]);
++    options.initial_block_size = segment->message_capacity_;
++    if (segment->arenas_[wb.block_index_] != nullptr) {
++      segment->arenas_[wb.block_index_] = nullptr;
++    }
++    segment->arenas_[wb.block_index_] =
++        std::make_shared<google::protobuf::Arena>(options);
++
++    // deconstructor do nothing to avoid proto
++    // instance deconstructed before arena allocator
++    ret_msg = std::shared_ptr<M>(
++        google::protobuf::Arena::CreateMessage<M>(
++            segment->arenas_[wb.block_index_].get()),
++        [segment, wb](M* ptr) {
++          int32_t lock_num = segment->blocks_[wb.block_index_].lock_num_.load();
++          if (lock_num < ArenaSegmentBlock::kRWLockFree) {
++            segment->ReleaseWrittenBlock(wb);
++          }
++        });
++    return;
++  }
++
++  template <typename M,
++            typename std::enable_if<
++                !google::protobuf::Arena::is_arena_constructable<M>::value,
++                M>::type* = nullptr>
++  void AcquireArenaMessage(uint64_t channel_id, std::shared_ptr<M>& ret_msg) {
++    return;
++  }
++
++ private:
++  bool init_;
++  std::unordered_map<uint64_t, std::shared_ptr<ArenaSegment>> segments_;
++  std::unordered_map<uint64_t, void*> non_arena_buffers_;
++  std::unordered_map<uint64_t, std::function<void()>> arena_buffer_callbacks_;
++  std::mutex segments_mutex_;
++
++  std::shared_ptr<ArenaAddressAllocator> address_allocator_;
++
++  static ArenaAllocCallback arena_alloc_cb_;
++  static void* ArenaAlloc(uint64_t size);
++  static void ArenaDealloc(void* addr, uint64_t size);
++
++  std::mutex arena_alloc_cb_mutex_;
++
++  std::unordered_map<uint64_t, uint64_t> managed_wrappers_;
++
++  DECLARE_SINGLETON(ProtobufArenaManager)
++};
++
++// template <typename MessageT>
++// std::shared_ptr<MessageT> ProtobufArenaManager::CreateMessage(
++//     message::ArenaMessageWrapper* wrapper, const MessageT& message) {}
++
++// template <typename MessageT>
++// std::shared_ptr<MessageT> ProtobufArenaManager::LoadMessage(
++//     message::ArenaMessageWrapper* wrapper) {}
++
++}  // namespace transport
++}  // namespace cyber
++}  // namespace apollo
++
++#endif
+diff --git a/cyber/transport/shm/readable_info.cc b/cyber/transport/shm/readable_info.cc
+index 605da79..5f7c332 100644
+--- a/cyber/transport/shm/readable_info.cc
++++ b/cyber/transport/shm/readable_info.cc
+@@ -24,13 +24,21 @@ namespace apollo {
+ namespace cyber {
+ namespace transport {
+ 
+-const size_t ReadableInfo::kSize = sizeof(uint64_t) * 2 + sizeof(uint32_t);
+-
+-ReadableInfo::ReadableInfo() : host_id_(0), block_index_(0), channel_id_(0) {}
+-
+-ReadableInfo::ReadableInfo(uint64_t host_id, uint32_t block_index,
+-                           uint64_t channel_id)
+-    : host_id_(host_id), block_index_(block_index), channel_id_(channel_id) {}
++const size_t ReadableInfo::kSize = sizeof(uint64_t) * 2 + \
++                                   sizeof(int32_t) + sizeof(int32_t);
++
++ReadableInfo::ReadableInfo()
++    : host_id_(0),
++      block_index_(0),
++      arena_block_index_(-1),
++      channel_id_(0) {}
++
++ReadableInfo::ReadableInfo(uint64_t host_id, int32_t block_index,
++                           uint64_t channel_id, int32_t arena_block_index)
++    : host_id_(host_id),
++      block_index_(block_index),
++      arena_block_index_(arena_block_index),
++      channel_id_(channel_id) {}
+ 
+ ReadableInfo::~ReadableInfo() {}
+ 
+@@ -39,6 +47,7 @@ ReadableInfo& ReadableInfo::operator=(const ReadableInfo& other) {
+     this->host_id_ = other.host_id_;
+     this->block_index_ = other.block_index_;
+     this->channel_id_ = other.channel_id_;
++    this->arena_block_index_ = other.arena_block_index_;
+   }
+   return *this;
+ }
+@@ -48,10 +57,12 @@ bool ReadableInfo::SerializeTo(std::string* dst) const {
+ 
+   dst->assign(reinterpret_cast<char*>(const_cast<uint64_t*>(&host_id_)),
+               sizeof(host_id_));
+-  dst->append(reinterpret_cast<char*>(const_cast<uint32_t*>(&block_index_)),
++  dst->append(reinterpret_cast<char*>(const_cast<int32_t*>(&block_index_)),
+               sizeof(block_index_));
+   dst->append(reinterpret_cast<char*>(const_cast<uint64_t*>(&channel_id_)),
+               sizeof(channel_id_));
++  dst->append(reinterpret_cast<char*>(const_cast<int32_t*>(
++                &arena_block_index_)), sizeof(arena_block_index_));
+   return true;
+ }
+ 
+@@ -72,7 +83,9 @@ bool ReadableInfo::DeserializeFrom(const char* src, std::size_t len) {
+   memcpy(reinterpret_cast<char*>(&block_index_), ptr, sizeof(block_index_));
+   ptr += sizeof(block_index_);
+   memcpy(reinterpret_cast<char*>(&channel_id_), ptr, sizeof(channel_id_));
+-
++  ptr += sizeof(channel_id_);
++  memcpy(reinterpret_cast<char*>(&arena_block_index_),
++         ptr, sizeof(arena_block_index_));
+   return true;
+ }
+ 
+diff --git a/cyber/transport/shm/readable_info.h b/cyber/transport/shm/readable_info.h
+index ffeb5c8..06d4e71 100644
+--- a/cyber/transport/shm/readable_info.h
++++ b/cyber/transport/shm/readable_info.h
+@@ -32,7 +32,8 @@ using ReadableInfoPtr = std::shared_ptr<ReadableInfo>;
+ class ReadableInfo {
+  public:
+   ReadableInfo();
+-  ReadableInfo(uint64_t host_id, uint32_t block_index, uint64_t channel_id);
++  ReadableInfo(uint64_t host_id, int32_t block_index,
++      uint64_t channel_id, int32_t arena_block_index = -1);
+   virtual ~ReadableInfo();
+ 
+   ReadableInfo& operator=(const ReadableInfo& other);
+@@ -44,8 +45,12 @@ class ReadableInfo {
+   uint64_t host_id() const { return host_id_; }
+   void set_host_id(uint64_t host_id) { host_id_ = host_id; }
+ 
+-  uint32_t block_index() const { return block_index_; }
+-  void set_block_index(uint32_t block_index) { block_index_ = block_index; }
++  int32_t block_index() const { return block_index_; }
++  void set_block_index(int32_t block_index) { block_index_ = block_index; }
++
++  int32_t arena_block_index() const { return arena_block_index_; }
++  void set_arena_block_index(
++    int32_t arena_block_index) { arena_block_index_ = arena_block_index; }
+ 
+   uint64_t channel_id() const { return channel_id_; }
+   void set_channel_id(uint64_t channel_id) { channel_id_ = channel_id; }
+@@ -54,7 +59,8 @@ class ReadableInfo {
+ 
+  private:
+   uint64_t host_id_;
+-  uint32_t block_index_;
++  int32_t block_index_;
++  int32_t arena_block_index_;
+   uint64_t channel_id_;
+ };
+ 
+diff --git a/cyber/transport/shm/segment.cc b/cyber/transport/shm/segment.cc
+index 1890e1b..a250f6c 100644
+--- a/cyber/transport/shm/segment.cc
++++ b/cyber/transport/shm/segment.cc
+@@ -30,9 +30,12 @@ Segment::Segment(uint64_t channel_id)
+       channel_id_(channel_id),
+       state_(nullptr),
+       blocks_(nullptr),
++      arena_blocks_(nullptr),
+       managed_shm_(nullptr),
+       block_buf_lock_(),
+-      block_buf_addrs_() {}
++      arena_block_buf_lock_(),
++      block_buf_addrs_(),
++      arena_block_buf_addrs_() {}
+ 
+ bool Segment::AcquireBlockToWrite(std::size_t msg_size,
+                                   WritableBlock* writable_block) {
+@@ -66,6 +69,25 @@ bool Segment::AcquireBlockToWrite(std::size_t msg_size,
+   return true;
+ }
+ 
++bool Segment::AcquireArenaBlockToWrite(std::size_t msg_size,
++                                  WritableBlock* writable_block) {
++  RETURN_VAL_IF_NULL(writable_block, false);
++  if (!init_ && !OpenOrCreate()) {
++    AERROR << "create shm failed, can't write now.";
++    return false;
++  }
++
++  if (state_->need_remap()) {
++    Remap();
++  }
++
++  uint32_t index = GetNextArenaWritableBlockIndex();
++  writable_block->index = index;
++  writable_block->block = &arena_blocks_[index];
++  writable_block->buf = arena_block_buf_addrs_[index];
++  return true;
++}
++
+ void Segment::ReleaseWrittenBlock(const WritableBlock& writable_block) {
+   auto index = writable_block.index;
+   if (index >= conf_.block_num()) {
+@@ -74,6 +96,14 @@ void Segment::ReleaseWrittenBlock(const WritableBlock& writable_block) {
+   blocks_[index].ReleaseWriteLock();
+ }
+ 
++void Segment::ReleaseArenaWrittenBlock(const WritableBlock& writable_block) {
++  auto index = writable_block.index;
++  if (index >= ShmConf::ARENA_BLOCK_NUM) {
++    return;
++  }
++  arena_blocks_[index].ReleaseWriteLock();
++}
++
+ bool Segment::AcquireBlockToRead(ReadableBlock* readable_block) {
+   RETURN_VAL_IF_NULL(readable_block, false);
+   if (!init_ && !OpenOnly()) {
+@@ -105,6 +135,45 @@ bool Segment::AcquireBlockToRead(ReadableBlock* readable_block) {
+   return true;
+ }
+ 
++bool Segment::AcquireArenaBlockToRead(ReadableBlock* readable_block) {
++  RETURN_VAL_IF_NULL(readable_block, false);
++  if (!init_ && !OpenOnly()) {
++    AERROR << "failed to open shared memory, can't read now.";
++    return false;
++  }
++
++  auto index = readable_block->index;
++  if (index >= ShmConf::ARENA_BLOCK_NUM) {
++    AERROR << "invalid arena block_index[" << index << "].";
++    return false;
++  }
++
++  bool result = true;
++  if (state_->need_remap()) {
++    result = Remap();
++  }
++
++  if (!result) {
++    AERROR << "segment update failed.";
++    return false;
++  }
++
++  if (!arena_blocks_[index].TryLockForRead()) {
++    return false;
++  }
++  readable_block->block = arena_blocks_ + index;
++  readable_block->buf = arena_block_buf_addrs_[index];
++  return true;
++}
++
++void Segment::ReleaseArenaReadBlock(const ReadableBlock& readable_block) {
++  auto index = readable_block.index;
++  if (index >= ShmConf::ARENA_BLOCK_NUM) {
++    return;
++  }
++  arena_blocks_[index].ReleaseReadLock();
++}
++
+ void Segment::ReleaseReadBlock(const ReadableBlock& readable_block) {
+   auto index = readable_block.index;
+   if (index >= conf_.block_num()) {
+@@ -113,6 +182,79 @@ void Segment::ReleaseReadBlock(const ReadableBlock& readable_block) {
+   blocks_[index].ReleaseReadLock();
+ }
+ 
++bool Segment::InitOnly(uint64_t message_size) {
++  if (init_) {
++    return true;
++  }
++  conf_.Update(message_size);
++  if (!OpenOrCreate()) {
++    return false;
++  }
++  return true;
++}
++
++void* Segment::GetManagedShm() { return managed_shm_; }
++
++bool Segment::LockBlockForWriteByIndex(uint64_t block_index) {
++  if (block_index >= conf_.block_num()) {
++    return false;
++  }
++  return blocks_[block_index].TryLockForWrite();
++}
++
++bool Segment::ReleaseBlockForWriteByIndex(uint64_t block_index) {
++  if (block_index >= conf_.block_num()) {
++    return false;
++  }
++  blocks_[block_index].ReleaseWriteLock();
++  return true;
++}
++
++bool Segment::LockBlockForReadByIndex(uint64_t block_index) {
++  if (block_index >= conf_.block_num()) {
++    return false;
++  }
++  return blocks_[block_index].TryLockForRead();
++}
++
++bool Segment::ReleaseBlockForReadByIndex(uint64_t block_index) {
++  if (block_index >= conf_.block_num()) {
++    return false;
++  }
++  blocks_[block_index].ReleaseReadLock();
++  return true;
++}
++
++bool Segment::LockArenaBlockForWriteByIndex(uint64_t block_index) {
++  if (block_index >= ShmConf::ARENA_BLOCK_NUM) {
++    return false;
++  }
++  return arena_blocks_[block_index].TryLockForWrite();
++}
++
++bool Segment::ReleaseArenaBlockForWriteByIndex(uint64_t block_index) {
++  if (block_index >= ShmConf::ARENA_BLOCK_NUM) {
++    return false;
++  }
++  arena_blocks_[block_index].ReleaseWriteLock();
++  return true;
++}
++
++bool Segment::LockArenaBlockForReadByIndex(uint64_t block_index) {
++  if (block_index >= ShmConf::ARENA_BLOCK_NUM) {
++    return false;
++  }
++  return arena_blocks_[block_index].TryLockForRead();
++}
++
++bool Segment::ReleaseArenaBlockForReadByIndex(uint64_t block_index) {
++  if (block_index >= ShmConf::ARENA_BLOCK_NUM) {
++    return false;
++  }
++  arena_blocks_[block_index].ReleaseReadLock();
++  return true;
++}
++
+ bool Segment::Destroy() {
+   if (!init_) {
+     return true;
+@@ -161,6 +303,17 @@ uint32_t Segment::GetNextWritableBlockIndex() {
+   return 0;
+ }
+ 
++uint32_t Segment::GetNextArenaWritableBlockIndex() {
++  const auto block_num = ShmConf::ARENA_BLOCK_NUM;
++  while (1) {
++    uint32_t try_idx = state_->FetchAddArenaSeq(1) % block_num;
++    if (arena_blocks_[try_idx].TryLockForWrite()) {
++      return try_idx;
++    }
++  }
++  return 0;
++}
++
+ }  // namespace transport
+ }  // namespace cyber
+ }  // namespace apollo
+diff --git a/cyber/transport/shm/segment.h b/cyber/transport/shm/segment.h
+index 1adaea6..1e4416b 100644
+--- a/cyber/transport/shm/segment.h
++++ b/cyber/transport/shm/segment.h
+@@ -48,9 +48,28 @@ class Segment {
+   bool AcquireBlockToWrite(std::size_t msg_size, WritableBlock* writable_block);
+   void ReleaseWrittenBlock(const WritableBlock& writable_block);
+ 
++  bool AcquireArenaBlockToWrite(
++    std::size_t msg_size, WritableBlock* writable_block);
++  void ReleaseArenaWrittenBlock(const WritableBlock& writable_block);
++
+   bool AcquireBlockToRead(ReadableBlock* readable_block);
+   void ReleaseReadBlock(const ReadableBlock& readable_block);
+ 
++  bool AcquireArenaBlockToRead(ReadableBlock* readable_block);
++  void ReleaseArenaReadBlock(const ReadableBlock& readable_block);
++
++  bool InitOnly(uint64_t message_size);
++  void* GetManagedShm();
++  bool LockBlockForWriteByIndex(uint64_t block_index);
++  bool ReleaseBlockForWriteByIndex(uint64_t block_index);
++  bool LockBlockForReadByIndex(uint64_t block_index);
++  bool ReleaseBlockForReadByIndex(uint64_t block_index);
++
++  bool LockArenaBlockForWriteByIndex(uint64_t block_index);
++  bool ReleaseArenaBlockForWriteByIndex(uint64_t block_index);
++  bool LockArenaBlockForReadByIndex(uint64_t block_index);
++  bool ReleaseArenaBlockForReadByIndex(uint64_t block_index);
++
+  protected:
+   virtual bool Destroy();
+   virtual void Reset() = 0;
+@@ -64,14 +83,18 @@ class Segment {
+ 
+   State* state_;
+   Block* blocks_;
++  Block* arena_blocks_;
+   void* managed_shm_;
+   std::mutex block_buf_lock_;
++  std::mutex arena_block_buf_lock_;
+   std::unordered_map<uint32_t, uint8_t*> block_buf_addrs_;
++  std::unordered_map<uint32_t, uint8_t*> arena_block_buf_addrs_;
+ 
+  private:
+   bool Remap();
+   bool Recreate(const uint64_t& msg_size);
+   uint32_t GetNextWritableBlockIndex();
++  uint32_t GetNextArenaWritableBlockIndex();
+ };
+ 
+ }  // namespace transport
+diff --git a/cyber/transport/shm/shm_conf.cc b/cyber/transport/shm/shm_conf.cc
+index e7ffb22..44c780e 100644
+--- a/cyber/transport/shm/shm_conf.cc
++++ b/cyber/transport/shm/shm_conf.cc
+@@ -31,8 +31,9 @@ void ShmConf::Update(const uint64_t& real_msg_size) {
+   ceiling_msg_size_ = GetCeilingMessageSize(real_msg_size);
+   block_buf_size_ = GetBlockBufSize(ceiling_msg_size_);
+   block_num_ = GetBlockNum(ceiling_msg_size_);
+-  managed_shm_size_ =
+-      EXTRA_SIZE + STATE_SIZE + (BLOCK_SIZE + block_buf_size_) * block_num_;
++  managed_shm_size_ = EXTRA_SIZE + STATE_SIZE + \
++                      (BLOCK_SIZE + block_buf_size_) * block_num_ + \
++                      (BLOCK_SIZE + ARENA_MESSAGE_SIZE) * ARENA_BLOCK_NUM;
+ }
+ 
+ const uint64_t ShmConf::EXTRA_SIZE = 1024 * 4;
+@@ -40,6 +41,9 @@ const uint64_t ShmConf::STATE_SIZE = 1024;
+ const uint64_t ShmConf::BLOCK_SIZE = 1024;
+ const uint64_t ShmConf::MESSAGE_INFO_SIZE = 1024;
+ 
++const uint32_t ShmConf::ARENA_BLOCK_NUM = 512;
++const uint64_t ShmConf::ARENA_MESSAGE_SIZE = 1024;
++
+ const uint32_t ShmConf::BLOCK_NUM_16K = 512;
+ const uint64_t ShmConf::MESSAGE_SIZE_16K = 1024 * 16;
+ 
+diff --git a/cyber/transport/shm/shm_conf.h b/cyber/transport/shm/shm_conf.h
+index 84f9d16..d230ae1 100644
+--- a/cyber/transport/shm/shm_conf.h
++++ b/cyber/transport/shm/shm_conf.h
+@@ -37,6 +37,10 @@ class ShmConf {
+   const uint32_t& block_num() { return block_num_; }
+   const uint64_t& managed_shm_size() { return managed_shm_size_; }
+ 
++  // For arena msg
++  static const uint32_t ARENA_BLOCK_NUM;
++  static const uint64_t ARENA_MESSAGE_SIZE;
++
+  private:
+   uint64_t GetCeilingMessageSize(const uint64_t& real_msg_size);
+   uint64_t GetBlockBufSize(const uint64_t& ceiling_msg_size);
+diff --git a/cyber/transport/shm/state.h b/cyber/transport/shm/state.h
+index 62da2a9..98cd5d2 100644
+--- a/cyber/transport/shm/state.h
++++ b/cyber/transport/shm/state.h
+@@ -46,6 +46,11 @@ class State {
+   uint32_t FetchAddSeq(uint32_t diff) { return seq_.fetch_add(diff); }
+   uint32_t seq() { return seq_.load(); }
+ 
++  uint32_t FetchAddArenaSeq(uint32_t diff) {
++    return arena_seq_.fetch_add(diff);
++  }
++  uint32_t arena_seq() { return arena_seq_.load(); }
++
+   void set_need_remap(bool need) { need_remap_.store(need); }
+   bool need_remap() { return need_remap_; }
+ 
+@@ -55,6 +60,7 @@ class State {
+  private:
+   std::atomic<bool> need_remap_ = {false};
+   std::atomic<uint32_t> seq_ = {0};
++  std::atomic<uint32_t> arena_seq_ = {0};
+   std::atomic<uint32_t> reference_count_ = {0};
+   std::atomic<uint64_t> ceiling_msg_size_;
+ };
+diff --git a/cyber/transport/shm/xsi_segment.cc b/cyber/transport/shm/xsi_segment.cc
+index dce45e7..a613222 100644
+--- a/cyber/transport/shm/xsi_segment.cc
++++ b/cyber/transport/shm/xsi_segment.cc
+@@ -100,27 +100,60 @@ bool XsiSegment::OpenOrCreate() {
+     return false;
+   }
+ 
++  // create field arena_blocks_
++  arena_blocks_ = new (static_cast<char*>(managed_shm_) + sizeof(State) + \
++                       conf_.block_num() * sizeof(Block)) Block[
++                        ShmConf::ARENA_BLOCK_NUM];
++  if (arena_blocks_ == nullptr) {
++    AERROR << "create arena blocks failed.";
++    state_->~State();
++    state_ = nullptr;
++    shmdt(managed_shm_);
++    managed_shm_ = nullptr;
++    shmctl(shmid, IPC_RMID, 0);
++    return false;
++  }
++
+   // create block buf
+   uint32_t i = 0;
+   for (; i < conf_.block_num(); ++i) {
+-    uint8_t* addr =
+-        new (static_cast<char*>(managed_shm_) + sizeof(State) +
+-             conf_.block_num() * sizeof(Block) + i * conf_.block_buf_size())
+-            uint8_t[conf_.block_buf_size()];
+-
++    uint8_t* addr = \
++        new (static_cast<char*>(managed_shm_) + sizeof(State) + \
++             conf_.block_num() * sizeof(Block) + \
++             ShmConf::ARENA_BLOCK_NUM * sizeof(Block) + \
++             i * conf_.block_buf_size()) uint8_t[conf_.block_buf_size()];
+     std::lock_guard<std::mutex> _g(block_buf_lock_);
+     block_buf_addrs_[i] = addr;
+   }
+ 
+-  if (i != conf_.block_num()) {
+-    AERROR << "create block buf failed.";
++  // create arena block buf
++  uint32_t ai = 0;
++  for (; ai < ShmConf::ARENA_BLOCK_NUM; ++ai) {
++    uint8_t* addr = \
++        new(static_cast<char*>(managed_shm_) + sizeof(State) + \
++             conf_.block_num() * sizeof(Block) + \
++             ShmConf::ARENA_BLOCK_NUM * sizeof(Block) + \
++             conf_.block_num() * conf_.block_buf_size() + \
++             ai * ShmConf::ARENA_MESSAGE_SIZE) uint8_t[
++              ShmConf::ARENA_MESSAGE_SIZE];
++    std::lock_guard<std::mutex> _g(arena_block_buf_lock_);
++    arena_block_buf_addrs_[ai] = addr;
++  }
++
++  if (ai != ShmConf::ARENA_BLOCK_NUM || i != conf_.block_num()) {
++    AERROR << "create arena block or block buf failed.";
+     state_->~State();
+     state_ = nullptr;
+     blocks_ = nullptr;
++    arena_blocks_ = nullptr;
+     {
+       std::lock_guard<std::mutex> _g(block_buf_lock_);
+       block_buf_addrs_.clear();
+     }
++    {
++      std::lock_guard<std::mutex> _g(arena_block_buf_lock_);
++      arena_block_buf_addrs_.clear();
++    }
+     shmdt(managed_shm_);
+     managed_shm_ = nullptr;
+     shmctl(shmid, IPC_RMID, 0);
+@@ -174,12 +207,26 @@ bool XsiSegment::OpenOnly() {
+     return false;
+   }
+ 
++  // get field arena_blocks_
++  arena_blocks_ = reinterpret_cast<Block*>(
++    static_cast<char*>(managed_shm_) + sizeof(State) + \
++    sizeof(Block) * conf_.block_num());
++  if (arena_blocks_ == nullptr) {
++    AERROR << "get blocks failed.";
++    state_ = nullptr;
++    shmdt(managed_shm_);
++    managed_shm_ = nullptr;
++    return false;
++  }
++
+   // get block buf
+   uint32_t i = 0;
+   for (; i < conf_.block_num(); ++i) {
+     uint8_t* addr = reinterpret_cast<uint8_t*>(
+-        static_cast<char*>(managed_shm_) + sizeof(State) +
+-        conf_.block_num() * sizeof(Block) + i * conf_.block_buf_size());
++        static_cast<char*>(managed_shm_) + sizeof(State) + \
++        conf_.block_num() * sizeof(Block) + \
++        ShmConf::ARENA_BLOCK_NUM * sizeof(Block) + \
++        i * conf_.block_buf_size());
+ 
+     if (addr == nullptr) {
+       break;
+@@ -188,15 +235,36 @@ bool XsiSegment::OpenOnly() {
+     block_buf_addrs_[i] = addr;
+   }
+ 
+-  if (i != conf_.block_num()) {
++  // get arena block buf
++  uint32_t ai = 0;
++  for (; ai < ShmConf::ARENA_BLOCK_NUM; ++ai) {
++    uint8_t* addr = reinterpret_cast<uint8_t*>(
++        static_cast<char*>(managed_shm_) + sizeof(State) + \
++        conf_.block_num() * sizeof(Block) + ShmConf::ARENA_BLOCK_NUM * \
++        sizeof(Block) + conf_.block_num() * conf_.block_buf_size() + \
++        ai * ShmConf::ARENA_MESSAGE_SIZE);
++
++    if (addr == nullptr) {
++      break;
++    }
++    std::lock_guard<std::mutex> _g(arena_block_buf_lock_);
++    arena_block_buf_addrs_[ai] = addr;
++  }
++
++  if (i != conf_.block_num() || ai != ShmConf::ARENA_BLOCK_NUM) {
+     AERROR << "open only failed.";
+     state_->~State();
+     state_ = nullptr;
+     blocks_ = nullptr;
++    arena_blocks_ = nullptr;
+     {
+       std::lock_guard<std::mutex> _g(block_buf_lock_);
+       block_buf_addrs_.clear();
+     }
++    {
++      std::lock_guard<std::mutex> _g(arena_block_buf_lock_);
++      arena_block_buf_addrs_.clear();
++    }
+     shmdt(managed_shm_);
+     managed_shm_ = nullptr;
+     shmctl(shmid, IPC_RMID, 0);
+@@ -222,10 +290,15 @@ bool XsiSegment::Remove() {
+ void XsiSegment::Reset() {
+   state_ = nullptr;
+   blocks_ = nullptr;
++  arena_blocks_ = nullptr;
+   {
+     std::lock_guard<std::mutex> _g(block_buf_lock_);
+     block_buf_addrs_.clear();
+   }
++  {
++    std::lock_guard<std::mutex> _g(arena_block_buf_lock_);
++    arena_block_buf_addrs_.clear();
++  }
+   if (managed_shm_ != nullptr) {
+     shmdt(managed_shm_);
+     managed_shm_ = nullptr;
+diff --git a/cyber/transport/transmitter/hybrid_transmitter.h b/cyber/transport/transmitter/hybrid_transmitter.h
+index 1afba70..fe176d4 100644
+--- a/cyber/transport/transmitter/hybrid_transmitter.h
++++ b/cyber/transport/transmitter/hybrid_transmitter.h
+@@ -25,12 +25,13 @@
+ #include <unordered_map>
+ #include <vector>
+ 
++#include "cyber/proto/role_attributes.pb.h"
++#include "cyber/proto/transport_conf.pb.h"
+ #include "cyber/common/global_data.h"
+ #include "cyber/common/log.h"
+ #include "cyber/common/types.h"
+-#include "cyber/proto/role_attributes.pb.h"
+-#include "cyber/proto/transport_conf.pb.h"
+ #include "cyber/task/task.h"
++#include "cyber/transport/dispatcher/rtps_dispatcher.h"
+ #include "cyber/transport/message/history.h"
+ #include "cyber/transport/rtps/participant.h"
+ #include "cyber/transport/transmitter/intra_transmitter.h"
+@@ -71,6 +72,8 @@ class HybridTransmitter : public Transmitter<M> {
+ 
+   bool Transmit(const MessagePtr& msg, const MessageInfo& msg_info) override;
+ 
++  bool AcquireMessage(std::shared_ptr<M>& msg);
++
+  private:
+   void InitMode();
+   void ObtainConfig();
+@@ -141,7 +144,7 @@ void HybridTransmitter<M>::Enable(const RoleAttributes& opposite_attr) {
+   uint64_t id = opposite_attr.id();
+   std::lock_guard<std::mutex> lock(mutex_);
+   receivers_[mapping_table_[relation]].insert(id);
+-  transmitters_[mapping_table_[relation]]->Enable();
++  transmitters_[mapping_table_[relation]]->Enable(opposite_attr);
+   TransmitHistoryMsg(opposite_attr);
+ }
+ 
+@@ -155,9 +158,7 @@ void HybridTransmitter<M>::Disable(const RoleAttributes& opposite_attr) {
+   uint64_t id = opposite_attr.id();
+   std::lock_guard<std::mutex> lock(mutex_);
+   receivers_[mapping_table_[relation]].erase(id);
+-  if (receivers_[mapping_table_[relation]].empty()) {
+-    transmitters_[mapping_table_[relation]]->Disable();
+-  }
++  transmitters_[mapping_table_[relation]]->Disable(opposite_attr);
+ }
+ 
+ template <typename M>
+@@ -165,12 +166,25 @@ bool HybridTransmitter<M>::Transmit(const MessagePtr& msg,
+                                     const MessageInfo& msg_info) {
+   std::lock_guard<std::mutex> lock(mutex_);
+   history_->Add(msg, msg_info);
++  bool return_val = false;
+   for (auto& item : transmitters_) {
+     item.second->Transmit(msg, msg_info);
+   }
+   return true;
+ }
+ 
++template <typename M>
++bool HybridTransmitter<M>::AcquireMessage(std::shared_ptr<M>& msg) {
++  bool result = false;
++  for (auto& item : transmitters_) {
++    result = item.second->AcquireMessage(msg);
++    if (result) {
++      return true;
++    }
++  }
++  return false;
++}
++
+ template <typename M>
+ void HybridTransmitter<M>::InitMode() {
+   mode_ = std::make_shared<proto::CommunicationMode>();
+diff --git a/cyber/transport/transmitter/intra_transmitter.h b/cyber/transport/transmitter/intra_transmitter.h
+index 1235652..de9ab7c 100644
+--- a/cyber/transport/transmitter/intra_transmitter.h
++++ b/cyber/transport/transmitter/intra_transmitter.h
+@@ -39,13 +39,23 @@ class IntraTransmitter : public Transmitter<M> {
+   void Enable() override;
+   void Disable() override;
+ 
++  void Enable(const RoleAttributes& opposite_attr) override;
++  void Disable(const RoleAttributes& opposite_attr) override;
++
+   bool Transmit(const MessagePtr& msg, const MessageInfo& msg_info) override;
+ 
++  bool AcquireMessage(std::shared_ptr<M>& msg);
++
+  private:
+   uint64_t channel_id_;
+   IntraDispatcherPtr dispatcher_;
+ };
+ 
++template <typename M>
++bool IntraTransmitter<M>::AcquireMessage(std::shared_ptr<M>& msg) {
++  return false;
++}
++
+ template <typename M>
+ IntraTransmitter<M>::IntraTransmitter(const RoleAttributes& attr)
+     : Transmitter<M>(attr),
+@@ -57,6 +67,18 @@ IntraTransmitter<M>::~IntraTransmitter() {
+   Disable();
+ }
+ 
++template <typename M>
++void IntraTransmitter<M>::Enable(const RoleAttributes& opposite_attr) {
++  (void)opposite_attr;
++  this->Enable();
++}
++
++template <typename M>
++void IntraTransmitter<M>::Disable(const RoleAttributes& opposite_attr) {
++  (void)opposite_attr;
++  this->Disable();
++}
++
+ template <typename M>
+ void IntraTransmitter<M>::Enable() {
+   if (!this->enabled_) {
+diff --git a/cyber/transport/transmitter/rtps_transmitter.h b/cyber/transport/transmitter/rtps_transmitter.h
+index 54864c2..7ec65ff 100644
+--- a/cyber/transport/transmitter/rtps_transmitter.h
++++ b/cyber/transport/transmitter/rtps_transmitter.h
+@@ -17,18 +17,19 @@
+ #ifndef CYBER_TRANSPORT_TRANSMITTER_RTPS_TRANSMITTER_H_
+ #define CYBER_TRANSPORT_TRANSMITTER_RTPS_TRANSMITTER_H_
+ 
++#include <cstddef>
+ #include <memory>
+ #include <string>
+ 
+ #include "cyber/common/log.h"
+ #include "cyber/message/message_traits.h"
++#include "cyber/statistics/statistics.h"
++#include "cyber/time/time.h"
++#include "cyber/transport/dispatcher/subscriber_listener.h"
+ #include "cyber/transport/rtps/attributes_filler.h"
+ #include "cyber/transport/rtps/participant.h"
++#include "cyber/transport/rtps/publisher.h"
+ #include "cyber/transport/transmitter/transmitter.h"
+-#include "fastrtps/Domain.h"
+-#include "fastrtps/attributes/PublisherAttributes.h"
+-#include "fastrtps/participant/Participant.h"
+-#include "fastrtps/publisher/Publisher.h"
+ 
+ namespace apollo {
+ namespace cyber {
+@@ -38,6 +39,7 @@ template <typename M>
+ class RtpsTransmitter : public Transmitter<M> {
+  public:
+   using MessagePtr = std::shared_ptr<M>;
++  using ParticipantPtr = std::shared_ptr<Participant>;
+ 
+   RtpsTransmitter(const RoleAttributes& attr,
+                   const ParticipantPtr& participant);
+@@ -46,15 +48,25 @@ class RtpsTransmitter : public Transmitter<M> {
+   void Enable() override;
+   void Disable() override;
+ 
++  void Enable(const RoleAttributes& opposite_attr) override;
++  void Disable(const RoleAttributes& opposite_attr) override;
++
+   bool Transmit(const MessagePtr& msg, const MessageInfo& msg_info) override;
+ 
++  bool AcquireMessage(std::shared_ptr<M>& msg);
++
+  private:
+   bool Transmit(const M& msg, const MessageInfo& msg_info);
+ 
+   ParticipantPtr participant_;
+-  eprosima::fastrtps::Publisher* publisher_;
++  PublisherPtr publisher_;
+ };
+ 
++template <typename M>
++bool RtpsTransmitter<M>::AcquireMessage(std::shared_ptr<M>& msg) {
++  return false;
++}
++
+ template <typename M>
+ RtpsTransmitter<M>::RtpsTransmitter(const RoleAttributes& attr,
+                                     const ParticipantPtr& participant)
+@@ -65,6 +77,18 @@ RtpsTransmitter<M>::~RtpsTransmitter() {
+   Disable();
+ }
+ 
++template <typename M>
++void RtpsTransmitter<M>::Enable(const RoleAttributes& opposite_attr) {
++  (void)opposite_attr;
++  this->Enable();
++}
++
++template <typename M>
++void RtpsTransmitter<M>::Disable(const RoleAttributes& opposite_attr) {
++  (void)opposite_attr;
++  this->Disable();
++}
++
+ template <typename M>
+ void RtpsTransmitter<M>::Enable() {
+   if (this->enabled_) {
+@@ -73,11 +97,9 @@ void RtpsTransmitter<M>::Enable() {
+ 
+   RETURN_IF_NULL(participant_);
+ 
+-  eprosima::fastrtps::PublisherAttributes pub_attr;
+-  RETURN_IF(!AttributesFiller::FillInPubAttr(
+-      this->attr_.channel_name(), this->attr_.qos_profile(), &pub_attr));
+-  publisher_ = eprosima::fastrtps::Domain::createPublisher(
+-      participant_->fastrtps_participant(), pub_attr);
++  publisher_ = participant_->CreatePublisher(this->attr_.channel_name(),
++                                             this->attr_.qos_profile());
++
+   RETURN_IF_NULL(publisher_);
+   this->enabled_ = true;
+ }
+@@ -99,30 +121,21 @@ bool RtpsTransmitter<M>::Transmit(const MessagePtr& msg,
+ template <typename M>
+ bool RtpsTransmitter<M>::Transmit(const M& msg, const MessageInfo& msg_info) {
+   if (!this->enabled_) {
+-    ADEBUG << "not enable.";
++    ADEBUG << "RtpsTransmitter not enable.";
+     return false;
+   }
+ 
+   UnderlayMessage m;
+   RETURN_VAL_IF(!message::SerializeToString(msg, &m.data()), false);
+-
+-  eprosima::fastrtps::rtps::WriteParams wparams;
+-
+-  char* ptr =
+-      reinterpret_cast<char*>(&wparams.related_sample_identity().writer_guid());
+-
+-  memcpy(ptr, msg_info.sender_id().data(), ID_SIZE);
+-  memcpy(ptr + ID_SIZE, msg_info.spare_id().data(), ID_SIZE);
+-
+-  wparams.related_sample_identity().sequence_number().high =
+-      (int32_t)((msg_info.seq_num() & 0xFFFFFFFF00000000) >> 32);
+-  wparams.related_sample_identity().sequence_number().low =
+-      (int32_t)(msg_info.seq_num() & 0xFFFFFFFF);
++  m.timestamp(msg_info.send_time());
++  m.seq(msg_info.seq_num());
+ 
+   if (participant_->is_shutdown()) {
+     return false;
+   }
+-  return publisher_->write(reinterpret_cast<void*>(&m), wparams);
++
++  RETURN_VAL_IF_NULL(publisher_, NULL);
++  return publisher_->Write(m, msg_info);
+ }
+ 
+ }  // namespace transport
+diff --git a/cyber/transport/transmitter/shm_transmitter.h b/cyber/transport/transmitter/shm_transmitter.h
+index b4a6667..5d8a0d5 100644
+--- a/cyber/transport/transmitter/shm_transmitter.h
++++ b/cyber/transport/transmitter/shm_transmitter.h
+@@ -21,12 +21,16 @@
+ #include <iostream>
+ #include <memory>
+ #include <string>
++#include <type_traits>
+ 
+ #include "cyber/common/global_data.h"
+ #include "cyber/common/log.h"
+ #include "cyber/common/util.h"
++#include "cyber/message/arena_message_wrapper.h"
+ #include "cyber/message/message_traits.h"
++#include "cyber/statistics/statistics.h"
+ #include "cyber/transport/shm/notifier_factory.h"
++#include "cyber/transport/shm/protobuf_arena_manager.h"
+ #include "cyber/transport/shm/readable_info.h"
+ #include "cyber/transport/shm/segment_factory.h"
+ #include "cyber/transport/transmitter/transmitter.h"
+@@ -35,6 +39,9 @@ namespace apollo {
+ namespace cyber {
+ namespace transport {
+ 
++template <typename T, typename U>
++struct type_check : std::is_same<typename std::decay<T>::type, U>::type {};
++
+ template <typename M>
+ class ShmTransmitter : public Transmitter<M> {
+  public:
+@@ -46,8 +53,13 @@ class ShmTransmitter : public Transmitter<M> {
+   void Enable() override;
+   void Disable() override;
+ 
++  void Enable(const RoleAttributes& opposite_attr);
++  void Disable(const RoleAttributes& opposite_attr);
++
+   bool Transmit(const MessagePtr& msg, const MessageInfo& msg_info) override;
+ 
++  bool AcquireMessage(std::shared_ptr<M>& msg);
++
+  private:
+   bool Transmit(const M& msg, const MessageInfo& msg_info);
+ 
+@@ -55,15 +67,44 @@ class ShmTransmitter : public Transmitter<M> {
+   uint64_t channel_id_;
+   uint64_t host_id_;
+   NotifierPtr notifier_;
++  std::atomic<int> serialized_receiver_count_;
++  std::atomic<int> arena_receiver_count_;
++  bool arena_transmit_;
+ };
+ 
++template <typename M>
++bool ShmTransmitter<M>::AcquireMessage(std::shared_ptr<M>& msg) {
++  if (this->enabled_) {
++    auto msg_o = msg.get();
++    auto arena_manager = ProtobufArenaManager::Instance();
++    if (!arena_manager->Enable() ||
++        !arena_manager->EnableSegment(this->attr_.channel_id())) {
++      ADEBUG << "arena manager enable failed.";
++      return false;
++    }
++    arena_manager->AcquireArenaMessage(channel_id_, msg);
++    if (msg.get() != msg_o) {
++      return true;
++    } else {
++      return false;
++    }
++  }
++  return false;
++}
++
+ template <typename M>
+ ShmTransmitter<M>::ShmTransmitter(const RoleAttributes& attr)
+     : Transmitter<M>(attr),
+       segment_(nullptr),
+       channel_id_(attr.channel_id()),
+-      notifier_(nullptr) {
++      notifier_(nullptr),
++      serialized_receiver_count_(0),
++      arena_receiver_count_(0) {
+   host_id_ = common::Hash(attr.host_ip());
++  arena_transmit_ = common::GlobalData::Instance()->IsChannelEnableArenaShm(
++                        this->attr_.channel_id()) &&
++                    !type_check<M, message::RawMessage>::value &&
++                    !type_check<M, message::PyMessageWrap>::value;
+ }
+ 
+ template <typename M>
+@@ -71,12 +112,71 @@ ShmTransmitter<M>::~ShmTransmitter() {
+   Disable();
+ }
+ 
++template <typename M>
++void ShmTransmitter<M>::Enable(const RoleAttributes& opposite_attr) {
++  if (arena_transmit_) {
++    if (opposite_attr.message_type() ==
++            message::MessageType<message::RawMessage>() ||
++        opposite_attr.message_type() ==
++            message::MessageType<message::PyMessageWrap>()) {
++      serialized_receiver_count_.fetch_add(1);
++    } else {
++      arena_receiver_count_.fetch_add(1);
++    }
++  } else {
++    serialized_receiver_count_.fetch_add(1);
++  }
++  if (!this->enabled_) {
++    this->Enable();
++  }
++}
++
++template <typename M>
++void ShmTransmitter<M>::Disable(const RoleAttributes& opposite_attr) {
++  if (this->enabled_) {
++    if (arena_transmit_) {
++      if (opposite_attr.message_type() ==
++              message::MessageType<message::RawMessage>() ||
++          opposite_attr.message_type() ==
++              message::MessageType<message::PyMessageWrap>()) {
++        serialized_receiver_count_.fetch_sub(1);
++      } else {
++        arena_receiver_count_.fetch_sub(1);
++      }
++      if (serialized_receiver_count_.load() <= 0 &&
++          arena_receiver_count_.load() <= 0) {
++        this->Disable();
++      }
++    } else {
++      serialized_receiver_count_.fetch_sub(1);
++      if (serialized_receiver_count_.load() <= 0) {
++        this->Disable();
++      }
++    }
++  }
++}
++
+ template <typename M>
+ void ShmTransmitter<M>::Enable() {
+   if (this->enabled_) {
+     return;
+   }
+ 
++  if (serialized_receiver_count_.load() == 0 &&
++      arena_receiver_count_.load() == 0) {
++    AERROR << "please enable shm transmitter by passing role attr.";
++    return;
++  }
++
++  if (arena_transmit_) {
++    auto arena_manager = ProtobufArenaManager::Instance();
++    if (!arena_manager->Enable() ||
++        !arena_manager->EnableSegment(this->attr_.channel_id())) {
++      AERROR << "arena manager enable failed.";
++      return;
++    }
++  }
++
+   segment_ = SegmentFactory::CreateSegment(channel_id_);
+   notifier_ = NotifierFactory::CreateNotifier();
+   this->enabled_ = true;
+@@ -104,35 +204,119 @@ bool ShmTransmitter<M>::Transmit(const M& msg, const MessageInfo& msg_info) {
+     return false;
+   }
+ 
++  ReadableInfo readable_info;
++  WritableBlock arena_wb;
+   WritableBlock wb;
+-  std::size_t msg_size = message::ByteSize(msg);
+-  if (!segment_->AcquireBlockToWrite(msg_size, &wb)) {
+-    AERROR << "acquire block failed.";
+-    return false;
+-  }
+ 
+-  ADEBUG << "block index: " << wb.index;
+-  if (!message::SerializeToArray(msg, wb.buf, static_cast<int>(msg_size))) {
+-    AERROR << "serialize to array failed.";
+-    segment_->ReleaseWrittenBlock(wb);
+-    return false;
+-  }
+-  wb.block->set_msg_size(msg_size);
++  readable_info.set_host_id(host_id_);
++  readable_info.set_channel_id(channel_id_);
++  readable_info.set_arena_block_index(-1);
++  readable_info.set_block_index(-1);
++
++  if (arena_transmit_) {
++    // std::size_t msg_size = sizeof(message::ArenaMessageWrapper);
++    std::size_t msg_size = 1024;
++    if (!segment_->AcquireArenaBlockToWrite(msg_size, &arena_wb)) {
++      AERROR << "acquire block failed.";
++      return false;
++    }
++
++    ADEBUG << "arena block index: " << arena_wb.index;
++    auto arena_manager = ProtobufArenaManager::Instance();
++    auto msg_wrapper = arena_manager->CreateMessageWrapper();
++    arena_manager->SetMessageChannelId(msg_wrapper.get(), channel_id_);
++    M* msg_p;
++    // arena_manager->CreateMessage(msg_wrapper.get(), msg);
++    if (!message::SerializeToArenaMessageWrapper(msg, msg_wrapper.get(),
++                                                 &msg_p)) {
++      AERROR << "serialize to arena message wrapper failed.";
++      segment_->ReleaseArenaWrittenBlock(arena_wb);
++      return false;
++    }
++    auto segment = arena_manager->GetSegment(channel_id_);
++    // auto msg_n =
++    // std::shared_ptr<M>(
++    // msg_p, [arena_manager, segment, msg_wrapper](M* p) {
++    // auto related_blocks =
++    //     arena_manager->GetMessageRelatedBlocks(msg_wrapper.get());
++    // for (auto block_index : related_blocks) {
++    //   // segment->ReleaseBlockForWriteByIndex(block_index);
++    //   segment->RemoveBlockWriteLock(block_index);
++    // }
++    // });
++    // for (auto block_index :
++    //      arena_manager->GetMessageRelatedBlocks(msg_wrapper.get())) {
++    //   segment->LockBlockForWriteByIndex(block_index);
++    // }
++    memcpy(arena_wb.buf, msg_wrapper->GetData(), msg_size);
++    arena_wb.block->set_msg_size(msg_size);
++
++    char* msg_info_addr = reinterpret_cast<char*>(arena_wb.buf) + msg_size;
++    if (!msg_info.SerializeTo(msg_info_addr, MessageInfo::kSize)) {
++      AERROR << "serialize message info failed.";
++      segment_->ReleaseArenaWrittenBlock(arena_wb);
++      return false;
++    }
++    arena_wb.block->set_msg_info_size(MessageInfo::kSize);
++    readable_info.set_arena_block_index(arena_wb.index);
++    if (serialized_receiver_count_.load() > 0) {
++      std::size_t msg_size = message::ByteSize(msg);
++      if (!segment_->AcquireBlockToWrite(msg_size, &wb)) {
++        AERROR << "acquire block failed.";
++        return false;
++      }
++
++      ADEBUG << "block index: " << wb.index;
++      if (!message::SerializeToArray(msg, wb.buf, static_cast<int>(msg_size))) {
++        AERROR << "serialize to array failed.";
++        segment_->ReleaseWrittenBlock(wb);
++        return false;
++      }
++      wb.block->set_msg_size(msg_size);
+ 
+-  char* msg_info_addr = reinterpret_cast<char*>(wb.buf) + msg_size;
+-  if (!msg_info.SerializeTo(msg_info_addr, MessageInfo::kSize)) {
+-    AERROR << "serialize message info failed.";
++      char* msg_info_addr = reinterpret_cast<char*>(wb.buf) + msg_size;
++      if (!msg_info.SerializeTo(msg_info_addr, MessageInfo::kSize)) {
++        AERROR << "serialize message info failed.";
++        segment_->ReleaseWrittenBlock(wb);
++        return false;
++      }
++      wb.block->set_msg_info_size(MessageInfo::kSize);
++      segment_->ReleaseWrittenBlock(wb);
++      segment_->ReleaseArenaWrittenBlock(arena_wb);
++      readable_info.set_block_index(wb.index);
++    } else {
++      segment_->ReleaseArenaWrittenBlock(arena_wb);
++    }
++  } else {
++    std::size_t msg_size = message::ByteSize(msg);
++    if (!segment_->AcquireBlockToWrite(msg_size, &wb)) {
++      AERROR << "acquire block failed.";
++      return false;
++    }
++
++    ADEBUG << "block index: " << wb.index;
++    if (!message::SerializeToArray(msg, wb.buf, static_cast<int>(msg_size))) {
++      AERROR << "serialize to array failed.";
++      segment_->ReleaseWrittenBlock(wb);
++      return false;
++    }
++    wb.block->set_msg_size(msg_size);
++
++    char* msg_info_addr = reinterpret_cast<char*>(wb.buf) + msg_size;
++    if (!msg_info.SerializeTo(msg_info_addr, MessageInfo::kSize)) {
++      AERROR << "serialize message info failed.";
++      segment_->ReleaseWrittenBlock(wb);
++      return false;
++    }
++    wb.block->set_msg_info_size(MessageInfo::kSize);
+     segment_->ReleaseWrittenBlock(wb);
+-    return false;
++    readable_info.set_block_index(wb.index);
+   }
+-  wb.block->set_msg_info_size(MessageInfo::kSize);
+-  segment_->ReleaseWrittenBlock(wb);
+-
+-  ReadableInfo readable_info(host_id_, wb.index, channel_id_);
+ 
+   ADEBUG << "Writing sharedmem message: "
+          << common::GlobalData::GetChannelById(channel_id_)
+-         << " to block: " << wb.index;
++         << " to normal block: " << readable_info.block_index()
++         << " to arena block: " << readable_info.arena_block_index();
+   return notifier_->Notify(readable_info);
+ }
+ 
+diff --git a/cyber/transport/transmitter/transmitter.h b/cyber/transport/transmitter/transmitter.h
+index b8fc7f7..de0fa96 100644
+--- a/cyber/transport/transmitter/transmitter.h
++++ b/cyber/transport/transmitter/transmitter.h
+@@ -22,6 +22,7 @@
+ #include <string>
+ 
+ #include "cyber/event/perf_event_cache.h"
++#include "cyber/statistics/statistics.h"
+ #include "cyber/transport/common/endpoint.h"
+ #include "cyber/transport/message/message_info.h"
+ 
+@@ -43,26 +44,32 @@ class Transmitter : public Endpoint {
+   virtual void Enable() = 0;
+   virtual void Disable() = 0;
+ 
++  virtual bool AcquireMessage(std::shared_ptr<M>& msg) = 0;
++
+   virtual void Enable(const RoleAttributes& opposite_attr);
+   virtual void Disable(const RoleAttributes& opposite_attr);
+ 
+   virtual bool Transmit(const MessagePtr& msg);
+   virtual bool Transmit(const MessagePtr& msg, const MessageInfo& msg_info) = 0;
+ 
+-  uint64_t NextSeqNum() { return ++seq_num_; }
++  uint64_t NextSeqNum() {
++    (*seq_num_) << 1;
++    return seq_num_->get_value();
++  }
+ 
+-  uint64_t seq_num() const { return seq_num_; }
++  uint64_t seq_num() const { return seq_num_->get_value(); }
+ 
+  protected:
+-  uint64_t seq_num_;
+   MessageInfo msg_info_;
++  std::shared_ptr<::bvar::Adder<int>> seq_num_;
+ };
+ 
+ template <typename M>
+-Transmitter<M>::Transmitter(const RoleAttributes& attr)
+-    : Endpoint(attr), seq_num_(0) {
++Transmitter<M>::Transmitter(const RoleAttributes& attr) : Endpoint(attr) {
+   msg_info_.set_sender_id(this->id_);
+-  msg_info_.set_seq_num(this->seq_num_);
++  msg_info_.set_seq_num(0);
++  seq_num_ =
++      statistics::Statistics::Instance()->CreateAdder<int>(Endpoint::attr_);
+ }
+ 
+ template <typename M>
+@@ -71,6 +78,7 @@ Transmitter<M>::~Transmitter() {}
+ template <typename M>
+ bool Transmitter<M>::Transmit(const MessagePtr& msg) {
+   msg_info_.set_seq_num(NextSeqNum());
++  msg_info_.set_send_time(Time::Now().ToNanosecond());
+   PerfEventCache::Instance()->AddTransportEvent(
+       TransPerf::TRANSMIT_BEGIN, attr_.channel_id(), msg_info_.seq_num());
+   return Transmit(msg, msg_info_);
+diff --git a/cyber/transport/transport.cc b/cyber/transport/transport.cc
+index 0234871..a9d6d0c 100644
+--- a/cyber/transport/transport.cc
++++ b/cyber/transport/transport.cc
+@@ -17,6 +17,7 @@
+ #include "cyber/transport/transport.h"
+ 
+ #include "cyber/common/global_data.h"
++#include "cyber/transport/dispatcher/rtps_dispatcher.h"
+ 
+ namespace apollo {
+ namespace cyber {
+@@ -28,7 +29,7 @@ Transport::Transport() {
+   intra_dispatcher_ = IntraDispatcher::Instance();
+   shm_dispatcher_ = ShmDispatcher::Instance();
+   rtps_dispatcher_ = RtpsDispatcher::Instance();
+-  rtps_dispatcher_->set_participant(participant_);
++  rtps_dispatcher_->SetParticipant(participant_);
+ }
+ 
+ Transport::~Transport() { Shutdown(); }
+@@ -53,7 +54,11 @@ void Transport::CreateParticipant() {
+   std::string participant_name =
+       common::GlobalData::Instance()->HostName() + "+" +
+       std::to_string(common::GlobalData::Instance()->ProcessId());
+-  participant_ = std::make_shared<Participant>(participant_name, 11512);
++  participant_ = std::make_shared<
++      Participant>(participant_name, 11512);
++  if (!participant_->Init()) {
++    AERROR << "Transport inner participant init failed!";
++  }
+ }
+ 
+ }  // namespace transport

From 58dff0e85c594c678c7794b4d50b5e04037e6558 Mon Sep 17 00:00:00 2001
From: minhanghuang <job@minhang.me>
Date: Tue, 17 Dec 2024 16:01:51 +0800
Subject: [PATCH 08/14] chore(script): update install.py for v10

---
 README.md  |  11 +++-
 install.py | 182 ++++++++++++++++++++++++++++++++++++++++++++++++++++-
 2 files changed, 189 insertions(+), 4 deletions(-)

diff --git a/README.md b/README.md
index 252607e..5fc2fd5 100644
--- a/README.md
+++ b/README.md
@@ -20,10 +20,19 @@
 
 ```shell
 sudo apt update
-sudo apt install -y uuid-dev libncurses5-dev python3-dev python3-pip
+sudo apt install -y wget autoconf automake libtool g++ pkg-config uuid-dev libncurses5-dev python3-dev python3-pip
 python3 -m pip install protobuf==3.14.0
 ```
 
+| dependence   |  v9.0.0           |  v10.0.0  |
+| :---: |  :---: |:---:|
+| C++ STANDARD |   C++14           |   C+17    |
+| gcc/g++      |   system default  |   8.1+    |
+| FastDDS      |   v1.5.0           |   v2.14.3 |
+| protobuf      |   v3.14.0           |   v3.14.0 |
+| bvar      |              |   new |
+| gperftools      |              |   gperftools-2.8  |
+
 ## #2 Build
 
 1. clone
diff --git a/install.py b/install.py
index f87676f..702d288 100644
--- a/install.py
+++ b/install.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import subprocess
+import re
 import os
 import argparse
 import time
@@ -32,15 +33,23 @@ def _load_environment(self):
 
     def _cmd(self, command):
         """执行系统命令，使用指定的环境变量"""
+        if command is None:
+            return None
         print("[command] {}".format(command))
         subprocess.run(command, shell=True, env=self.environment)
 
     def start(self):
+        self._clone_gcc()
+        self._clone_cmake()
         self._clone_setup()
-        self._clone_nlohmann_json()
         self._clone_tinyxml2()
+        # # self._clone_dds()
+        self._clone_dds2()
+        self._clone_nlohmann_json()
+        self._clone_proj() # ros_bridge of apollo v10
         self._clone_gfamily()
-        self._clone_dds()
+        self._clone_gperftools() # apollo v10
+        self._unpack_bvar() # apollo v10
 
     def _clone_github_repo(self, repo_url, repo_name, *args):
         dowload_path = os.path.join(self._dowload_path, repo_name)
@@ -73,6 +82,58 @@ def _clone_setup(self):
         self._cmd("make install -j$(nproc)")
         os.chdir(self._current_path)
 
+    def _clone_gcc(self):
+        print("start to install gcc")
+        gcc_version = "0.0"
+        try:
+            result = subprocess.run(['gcc', '--version'], stdout=subprocess.PIPE, universal_newlines=True, check=True)
+            output = result.stdout.splitlines()[0]
+            match = re.search(r'(\d+\.\d+\.\d+)', output)
+            if match:
+                gcc_version = match.group(1)
+                print(f"GCC version: {gcc_version}")
+            if "8.1" < gcc_version:
+                print("GCC version is greater than or equal to 8.1.0, skip installation")
+                return None
+        except Exception as e:
+            print("gcc error: {}".format(e))
+
+        self._cmd("apt update")
+        self._cmd("apt install -y software-properties-common")
+        self._cmd("add-apt-repository -y ppa:ubuntu-toolchain-r/test")
+        self._cmd("apt update")
+        self._cmd("apt install -y gcc-9 g++-9")
+        self._cmd("update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 100")
+        self._cmd("update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-9 100")
+        return None
+
+    def _clone_cmake(self):
+        print("start to install cmake")
+        cmake_version = "0.0.0"
+        try:
+            result = subprocess.run(['cmake', '--version'], stdout=subprocess.PIPE, universal_newlines=True, check=True)
+            output = result.stdout.splitlines()[0]
+            match = re.search(r'(\d+\.\d+\.\d+)', output)
+            if match:
+                cmake_version = match.group(1)
+                print(f"CMake version: {cmake_version}")
+            if "3.20" < cmake_version:
+                print("CMake version is greater than 3.20, skip installation")
+                return None
+        except Exception as e:
+            print("cmake error: {}".format(e))
+
+        print("CMake version is less than 3.20, start installation")
+        self._cmd("wget -t 10 {} -P {}".format("https://cmake.org/files/v3.22/cmake-3.22.0-linux-x86_64.tar.gz",self._dowload_path))
+        os.chdir(self._dowload_path)
+        self._cmd("tar -zxvf cmake-3.22.0-linux-x86_64.tar.gz")
+        self._cmd("cp -r cmake-3.22.0-linux-x86_64/bin/* /usr/local/bin")
+        self._cmd("cp -r cmake-3.22.0-linux-x86_64/doc/* /usr/local/doc")
+        self._cmd("cp -r cmake-3.22.0-linux-x86_64/share/* /usr/local/share")
+        self._cmd("rm -rf cmake-3.22.0-linux-x86_64*")
+        os.chdir(self._current_path)
+        return None
+
     def _clone_nlohmann_json(self):
         self._clone_github_repo(
             "https://github.com/nlohmann/json.git",
@@ -103,6 +164,47 @@ def _clone_tinyxml2(self):
         self._cmd("make install -j$(nproc)")
         os.chdir(self._current_path)
 
+    def _clone_gperftools(self):
+        self._clone_github_repo(
+            "https://github.com/gperftools/gperftools.git",
+            "gperftools",
+            "--single-branch",
+            "--branch=gperftools-2.8",
+            "--depth=1"
+        )
+        os.chdir(os.path.join(self._dowload_path, "gperftools"))
+        self._cmd("./autogen.sh || sleep 1 && ./autogen.sh")
+        self._cmd(
+            "./configure --prefix={} --libdir={}".format(
+                self._install_prefix, os.path.join(self._install_prefix, "lib")
+            )
+        )
+        self._cmd("make install -j$(nproc)")
+        os.chdir(self._current_path)
+
+        return None
+
+    def _clone_proj(self):
+        self._clone_github_repo(
+            "https://github.com/OSGeo/PROJ.git",
+            "PROJ",
+            "--single-branch",
+            "--branch=7.1.0",
+            "--depth=1"
+        )
+        os.chdir(os.path.join(self._dowload_path, "PROJ"))
+        self._cmd("mkdir -p build")
+        os.chdir("build")
+        self._cmd(
+            "cmake -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX={} -DBUILD_SHARED_LIBS=ON ..".format(
+                self._install_prefix
+            )
+        )
+        self._cmd("make install -j$(nproc)")
+        os.chdir(self._current_path)
+
+        return None
+
     def _clone_gfamily(self):
         self._clone_github_repo(
             "https://github.com/gflags/gflags.git",
@@ -209,6 +311,80 @@ def _clone_dds(self):
         self._cmd("rm -rf fast-rtps-1.5.0-1/")
         os.chdir(self._current_path)
 
+    def _clone_dds2(self):
+        self._clone_github_repo(
+            "https://github.com/chriskohlhoff/asio.git",
+            "asio",
+            "--single-branch",
+            "--branch=asio-1-18-1",
+            "--depth=1"
+        )
+        self._clone_github_repo(
+            "https://github.com/eProsima/foonathan_memory_vendor.git",
+            "foonathan_memory_vendor",
+            "--single-branch",
+            "--branch=v1.3.1",
+            "--depth=1"
+        )
+        self._clone_github_repo(
+            "https://github.com/eProsima/Fast-CDR.git",
+            "Fast-CDR",
+            "--single-branch",
+            "--branch=v2.2.2",
+            "--depth=1"
+        )
+        self._clone_github_repo(
+            "https://github.com/eProsima/Fast-DDS.git",
+            "Fast-DDS",
+            "--single-branch",
+            "--branch=v2.14.3",
+            "--depth=1"
+        )
+        os.chdir(os.path.join(self._dowload_path, "asio/asio"))
+        self._cmd("./autogen.sh")
+        self._cmd("./configure --prefix={}".format(self._install_prefix))
+        self._cmd("make install -j$(nproc)")
+        os.chdir(self._current_path)
+
+        os.chdir(os.path.join(self._dowload_path, "foonathan_memory_vendor"))
+        self._cmd("mkdir -p build")
+        os.chdir("build")
+        self._cmd("cmake -DCMAKE_INSTALL_PREFIX={} -DBUILD_SHARED_LIBS=ON ..".format(
+                self._install_prefix))
+        self._cmd("make install -j$(nproc)")
+        os.chdir(self._current_path)
+
+        os.chdir(os.path.join(self._dowload_path, "Fast-CDR"))
+        self._cmd("mkdir -p build")
+        os.chdir("build")
+        self._cmd("cmake -DCMAKE_INSTALL_PREFIX={} -DBUILD_SHARED_LIBS=ON ..".format(
+                self._install_prefix))
+        self._cmd("make install -j$(nproc)")
+        os.chdir(self._current_path)
+
+        os.chdir(os.path.join(self._dowload_path, "Fast-DDS"))
+        self._cmd("mkdir -p build")
+        os.chdir("build")
+        self._cmd("cmake -DCMAKE_INSTALL_PREFIX={} -DBUILD_SHARED_LIBS=ON ..".format(
+                self._install_prefix))
+        self._cmd("make install -j$(nproc)")
+        os.chdir(self._current_path)
+
+        return None
+
+    def _unpack_bvar(self):
+        download_url = "https://raw.githubusercontent.com/wiki/minhanghuang/CyberRT/libs"
+        bvar_name = "bvar_9.0.0-rc-r2_amd64.deb"
+        if "x86_64" == self._machine:
+            pass
+        else:
+            bvar_name = "bvar_9.0.0-rc-r3_arm64.deb"
+        download_url = download_url + "/" + bvar_name
+        self._cmd("wget -t 10 {} -O {}".format(download_url, os.path.join(self._dowload_path, "bvar.deb")))
+        self._cmd("dpkg -x {} {}".format(os.path.join(self._dowload_path, "bvar.deb"), os.path.join(self._dowload_path, "bvar")))
+        self._cmd("cp -r {}* {}".format(os.path.join(self._dowload_path, "bvar/usr/local/"), self._install_prefix))
+        return None
+
 def parse_config():
     parser = argparse.ArgumentParser(description="install")
     parser.add_argument("--platform", type=str, default=platform.machine(), help="platform")
@@ -219,6 +395,6 @@ def parse_config():
 if __name__ == "__main__":
     args = parse_config()
     print(f"args.platform: {args.platform}, args.install_prefix: {args.install_prefix}")
-    time.sleep(3)
+    # time.sleep(3)
     install = Install(args.platform, args.install_prefix)
     install.start()

From 9d58d49977ca8f5c7b92f39888e83d76238ef824 Mon Sep 17 00:00:00 2001
From: minhanghuang <job@minhang.me>
Date: Tue, 17 Dec 2024 16:08:07 +0800
Subject: [PATCH 09/14] chore(ci): update ci for v10

---
 ...uild.yaml => ubuntu-latest-arrch64-v10.0.0-build.yaml} | 6 +++---
 ...v9.0.0-build.yaml => ubuntu-latest-v10.0.0-build.yaml} | 6 +++---
 ...0.0-build.yaml => ubuntu18-arrch64-v10.0.0-build.yaml} | 6 +++---
 ...tu18-v9.0.0-build.yaml => ubuntu18-v10.0.0-build.yaml} | 8 ++++----
 ...0.0-build.yaml => ubuntu20-arrch64-v10.0.0-build.yaml} | 6 +++---
 ...tu20-v9.0.0-build.yaml => ubuntu20-v10.0.0-build.yaml} | 6 +++---
 ...0.0-build.yaml => ubuntu22-arrch64-v10.0.0-build.yaml} | 6 +++---
 ...tu22-v9.0.0-build.yaml => ubuntu22-v10.0.0-build.yaml} | 6 +++---
 ...tu24-v9.0.0-build.yaml => ubuntu24-v10.0.0-build.yaml} | 6 +++---
 README.md                                                 | 2 +-
 10 files changed, 29 insertions(+), 29 deletions(-)
 rename .github/workflows/{ubuntu-latest-arrch64-v9.0.0-build.yaml => ubuntu-latest-arrch64-v10.0.0-build.yaml} (73%)
 rename .github/workflows/{ubuntu-latest-v9.0.0-build.yaml => ubuntu-latest-v10.0.0-build.yaml} (76%)
 rename .github/workflows/{ubuntu18-arrch64-v9.0.0-build.yaml => ubuntu18-arrch64-v10.0.0-build.yaml} (76%)
 rename .github/workflows/{ubuntu18-v9.0.0-build.yaml => ubuntu18-v10.0.0-build.yaml} (77%)
 rename .github/workflows/{ubuntu20-arrch64-v9.0.0-build.yaml => ubuntu20-arrch64-v10.0.0-build.yaml} (72%)
 rename .github/workflows/{ubuntu20-v9.0.0-build.yaml => ubuntu20-v10.0.0-build.yaml} (76%)
 rename .github/workflows/{ubuntu22-arrch64-v9.0.0-build.yaml => ubuntu22-arrch64-v10.0.0-build.yaml} (72%)
 rename .github/workflows/{ubuntu22-v9.0.0-build.yaml => ubuntu22-v10.0.0-build.yaml} (76%)
 rename .github/workflows/{ubuntu24-v9.0.0-build.yaml => ubuntu24-v10.0.0-build.yaml} (76%)

diff --git a/.github/workflows/ubuntu-latest-arrch64-v9.0.0-build.yaml b/.github/workflows/ubuntu-latest-arrch64-v10.0.0-build.yaml
similarity index 73%
rename from .github/workflows/ubuntu-latest-arrch64-v9.0.0-build.yaml
rename to .github/workflows/ubuntu-latest-arrch64-v10.0.0-build.yaml
index bf99daa..04011cd 100644
--- a/.github/workflows/ubuntu-latest-arrch64-v9.0.0-build.yaml
+++ b/.github/workflows/ubuntu-latest-arrch64-v10.0.0-build.yaml
@@ -1,10 +1,10 @@
-name: ubuntu-latest v9.0.0 build arrch64
+name: ubuntu-latest v10.0.0 build arrch64
 run-name: ubuntu latest arrch64
 
 on:
   push:
     branches:
-      - v9.0.0
+      - v10.0.0
 
 jobs:
   build-arm-ubuntu-latest:
@@ -22,7 +22,7 @@ jobs:
 
           install: |
             apt update
-            apt install -y lsb-release git wget pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev
+            apt install -y lsb-release git wget libcurl4-openssl-dev pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev autoconf automake libtool libeigen3-dev libtiff-dev libsqlite3-dev sqlite3
 
           run: |
             echo "-----------------------"
diff --git a/.github/workflows/ubuntu-latest-v9.0.0-build.yaml b/.github/workflows/ubuntu-latest-v10.0.0-build.yaml
similarity index 76%
rename from .github/workflows/ubuntu-latest-v9.0.0-build.yaml
rename to .github/workflows/ubuntu-latest-v10.0.0-build.yaml
index 3a66785..1e8cfff 100644
--- a/.github/workflows/ubuntu-latest-v9.0.0-build.yaml
+++ b/.github/workflows/ubuntu-latest-v10.0.0-build.yaml
@@ -1,10 +1,10 @@
-name: ubuntu-latest v9.0.0 build x86-64
+name: ubuntu-latest v10.0.0 build x86-64
 run-name: ubuntu latest x86-64
 
 on:
   push:
     branches:
-      - v9.0.0
+      - v10.0.0
 
 jobs:
   build-amd-ubuntu-latest:
@@ -21,7 +21,7 @@ jobs:
           DEBIAN_FRONTEND: noninteractive
         run: |
           apt update
-          apt install -y lsb-release git wget pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev
+          apt install -y lsb-release git wget libcurl4-openssl-dev pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev autoconf automake libtool libeigen3-dev libtiff-dev libsqlite3-dev sqlite3
           cd /workspace/${{ github.repository }} && python3 install.py
 
       - name: Build
diff --git a/.github/workflows/ubuntu18-arrch64-v9.0.0-build.yaml b/.github/workflows/ubuntu18-arrch64-v10.0.0-build.yaml
similarity index 76%
rename from .github/workflows/ubuntu18-arrch64-v9.0.0-build.yaml
rename to .github/workflows/ubuntu18-arrch64-v10.0.0-build.yaml
index 2b63369..c790e6f 100644
--- a/.github/workflows/ubuntu18-arrch64-v9.0.0-build.yaml
+++ b/.github/workflows/ubuntu18-arrch64-v10.0.0-build.yaml
@@ -1,10 +1,10 @@
-name: ubuntu18.04 v9.0.0 build arrch64
+name: ubuntu18.04 v10.0.0 build arrch64
 run-name: ubuntu18 arrch64
 
 on:
   push:
     branches:
-      - v9.0.0
+      - v10.0.0
 
 jobs:
   build-arm-ubuntu18:
@@ -26,7 +26,7 @@ jobs:
 
           install: |
             apt update
-            apt install -y lsb-release git wget pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev
+            apt install -y lsb-release git wget libcurl4-openssl-dev pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev autoconf automake libtool libeigen3-dev libtiff-dev libsqlite3-dev sqlite3
 
           run: |
             echo "-----------------------"
diff --git a/.github/workflows/ubuntu18-v9.0.0-build.yaml b/.github/workflows/ubuntu18-v10.0.0-build.yaml
similarity index 77%
rename from .github/workflows/ubuntu18-v9.0.0-build.yaml
rename to .github/workflows/ubuntu18-v10.0.0-build.yaml
index 2d01209..e82a6ac 100644
--- a/.github/workflows/ubuntu18-v9.0.0-build.yaml
+++ b/.github/workflows/ubuntu18-v10.0.0-build.yaml
@@ -1,4 +1,4 @@
-name: ubuntu18.04 v9.0.0 build x86-64
+name: ubuntu18.04 v10.0.0 build x86-64
 run-name: ubuntu18 x86-64
 
 env:
@@ -7,11 +7,11 @@ env:
 on:
   push:
     branches:
-      - v9.0.0
+      - v10.0.0
 
   pull_request:
     branches:
-      - v9.0.0
+      - v10.0.0
 
 jobs:
   build-amd-ubuntu18:
@@ -30,7 +30,7 @@ jobs:
           DEBIAN_FRONTEND: noninteractive
         run: |
           apt update
-          apt install -y lsb-release git wget pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev
+          apt install -y lsb-release git wget libcurl4-openssl-dev pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev autoconf automake libtool libeigen3-dev libtiff-dev libsqlite3-dev sqlite3
           python3 install.py
 
       - name: Build
diff --git a/.github/workflows/ubuntu20-arrch64-v9.0.0-build.yaml b/.github/workflows/ubuntu20-arrch64-v10.0.0-build.yaml
similarity index 72%
rename from .github/workflows/ubuntu20-arrch64-v9.0.0-build.yaml
rename to .github/workflows/ubuntu20-arrch64-v10.0.0-build.yaml
index e5a2b58..db160c0 100644
--- a/.github/workflows/ubuntu20-arrch64-v9.0.0-build.yaml
+++ b/.github/workflows/ubuntu20-arrch64-v10.0.0-build.yaml
@@ -1,10 +1,10 @@
-name: ubuntu20.04 v9.0.0 build arrch64
+name: ubuntu20.04 v10.0.0 build arrch64
 run-name: ubuntu20 arrch64
 
 on:
   push:
     branches:
-      - v9.0.0
+      - v10.0.0
 
 jobs:
   build-arm-ubuntu20:
@@ -22,7 +22,7 @@ jobs:
 
           install: |
             apt update
-            apt install -y lsb-release git wget pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev
+            apt install -y lsb-release git wget libcurl4-openssl-dev pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev autoconf automake libtool libeigen3-dev libtiff-dev libsqlite3-dev sqlite3
 
           run: |
             echo "-----------------------"
diff --git a/.github/workflows/ubuntu20-v9.0.0-build.yaml b/.github/workflows/ubuntu20-v10.0.0-build.yaml
similarity index 76%
rename from .github/workflows/ubuntu20-v9.0.0-build.yaml
rename to .github/workflows/ubuntu20-v10.0.0-build.yaml
index 11d4de4..410211d 100644
--- a/.github/workflows/ubuntu20-v9.0.0-build.yaml
+++ b/.github/workflows/ubuntu20-v10.0.0-build.yaml
@@ -1,10 +1,10 @@
-name: ubuntu20.04 v9.0.0 build x86-64
+name: ubuntu20.04 v10.0.0 build x86-64
 run-name: ubuntu20 x86-64
 
 on:
   push:
     branches:
-      - v9.0.0
+      - v10.0.0
 
 jobs:
   build-amd-ubuntu20:
@@ -21,7 +21,7 @@ jobs:
           DEBIAN_FRONTEND: noninteractive
         run: |
           apt update
-          apt install -y lsb-release git wget pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev
+          apt install -y lsb-release git wget libcurl4-openssl-dev pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev autoconf automake libtool libeigen3-dev libtiff-dev libsqlite3-dev sqlite3
           cd /workspace/${{ github.repository }} && python3 install.py
 
       - name: Build
diff --git a/.github/workflows/ubuntu22-arrch64-v9.0.0-build.yaml b/.github/workflows/ubuntu22-arrch64-v10.0.0-build.yaml
similarity index 72%
rename from .github/workflows/ubuntu22-arrch64-v9.0.0-build.yaml
rename to .github/workflows/ubuntu22-arrch64-v10.0.0-build.yaml
index 85531a8..df41155 100644
--- a/.github/workflows/ubuntu22-arrch64-v9.0.0-build.yaml
+++ b/.github/workflows/ubuntu22-arrch64-v10.0.0-build.yaml
@@ -1,10 +1,10 @@
-name: ubuntu22.04 v9.0.0 build arrch64
+name: ubuntu22.04 v10.0.0 build arrch64
 run-name: ubuntu22 arrch64
 
 on:
   push:
     branches:
-      - v9.0.0
+      - v10.0.0
 
 jobs:
   build-arm-ubuntu22:
@@ -22,7 +22,7 @@ jobs:
 
           install: |
             apt update
-            apt install -y lsb-release git wget pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev
+            apt install -y lsb-release git wget libcurl4-openssl-dev pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev autoconf automake libtool libeigen3-dev libtiff-dev libsqlite3-dev sqlite3
 
           run: |
             echo "-----------------------"
diff --git a/.github/workflows/ubuntu22-v9.0.0-build.yaml b/.github/workflows/ubuntu22-v10.0.0-build.yaml
similarity index 76%
rename from .github/workflows/ubuntu22-v9.0.0-build.yaml
rename to .github/workflows/ubuntu22-v10.0.0-build.yaml
index 3c09fce..527ffb8 100644
--- a/.github/workflows/ubuntu22-v9.0.0-build.yaml
+++ b/.github/workflows/ubuntu22-v10.0.0-build.yaml
@@ -1,10 +1,10 @@
-name: ubuntu22.04 v9.0.0 build x86-64
+name: ubuntu22.04 v10.0.0 build x86-64
 run-name: ubuntu22 x86-64
 
 on:
   push:
     branches:
-      - v9.0.0
+      - v10.0.0
 
 jobs:
   build-amd-ubuntu22:
@@ -21,7 +21,7 @@ jobs:
           DEBIAN_FRONTEND: noninteractive
         run: |
           apt update
-          apt install -y lsb-release git wget pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev
+          apt install -y lsb-release git wget libcurl4-openssl-dev pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev autoconf automake libtool libeigen3-dev libtiff-dev libsqlite3-dev sqlite3
           cd /workspace/${{ github.repository }} && python3 install.py
 
       - name: Build
diff --git a/.github/workflows/ubuntu24-v9.0.0-build.yaml b/.github/workflows/ubuntu24-v10.0.0-build.yaml
similarity index 76%
rename from .github/workflows/ubuntu24-v9.0.0-build.yaml
rename to .github/workflows/ubuntu24-v10.0.0-build.yaml
index e77ec23..56af5ac 100644
--- a/.github/workflows/ubuntu24-v9.0.0-build.yaml
+++ b/.github/workflows/ubuntu24-v10.0.0-build.yaml
@@ -1,10 +1,10 @@
-name: ubuntu24.04 v9.0.0 build x86-64
+name: ubuntu24.04 v10.0.0 build x86-64
 run-name: ubuntu24 x86-64
 
 on:
   push:
     branches:
-      - v9.0.0
+      - v10.0.0
 
 jobs:
   build-amd-ubuntu24:
@@ -21,7 +21,7 @@ jobs:
           DEBIAN_FRONTEND: noninteractive
         run: |
           apt update
-          apt install -y lsb-release git wget pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev
+          apt install -y lsb-release git wget libcurl4-openssl-dev pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev autoconf automake libtool libeigen3-dev libtiff-dev libsqlite3-dev sqlite3
           cd /workspace/${{ github.repository }} && python3 install.py
 
       - name: Build
diff --git a/README.md b/README.md
index 5fc2fd5..75395dd 100644
--- a/README.md
+++ b/README.md
@@ -20,7 +20,7 @@
 
 ```shell
 sudo apt update
-sudo apt install -y wget autoconf automake libtool g++ pkg-config uuid-dev libncurses5-dev python3-dev python3-pip
+sudo apt install -y wget libcurl4-openssl-dev autoconf automake libtool g++ pkg-config uuid-dev libncurses5-dev python3-dev python3-pip libeigen3-dev libtiff-dev libsqlite3-dev sqlite3
 python3 -m pip install protobuf==3.14.0
 ```
 

From e429b0b8a99e214b252ed34347020ad9e5d952ff Mon Sep 17 00:00:00 2001
From: minhanghuang <job@minhang.me>
Date: Sat, 21 Dec 2024 15:16:48 +0800
Subject: [PATCH 10/14] feat(cmake): upgrade CXX version to C++17,add v10
 dependency library

---
 CMakeLists.txt | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3b1c5a1..b2d42c1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.5.1)
 
 project(cyber VERSION 10.0.0) # Apollo Version
 
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)   # Apollo v10
 set(TARGET_NAME ${PROJECT_NAME})
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 if(NOT CMAKE_BUILD_TYPE)
@@ -47,6 +47,7 @@ pkg_check_modules(Python REQUIRED python3)
 pkg_check_modules(Uuid REQUIRED uuid)
 pkg_check_modules(Gflags REQUIRED gflags)
 pkg_check_modules(NlohmannJson REQUIRED nlohmann_json)
+pkg_check_modules(GperfTools REQUIRED libtcmalloc)
 
 # set(Python_VERSION "${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}")
 set(Python_VERSION "${Python_VERSION}")
@@ -72,6 +73,7 @@ set(DEPENCENCY_INCLUDE_DIRS
   ${glog_INCLUDE_DIRS}
   ${Gflags_INCLUDE_DIRS}
   ${NlohmannJson_INCLUDE_DIRS}
+  ${GperfTools_INCLUDE_DIRS}
 )
 
 set(DEPENCENCY_LIB_DIRS
@@ -83,6 +85,7 @@ set(DEPENCENCY_LIB_DIRS
   ${glog_LIBRARY_DIRS}
   ${Gflags_LIBRARY_DIRS}
   ${NlohmannJson_LIBRARY_DIRS}
+  ${GperfTools_LIBRARY_DIRS}
 )
 
 set(DEPENCENCY_LIBS
@@ -161,6 +164,7 @@ file(GLOB CYBER_SRCS
     "cyber/transport/*/*.cc"
     "cyber/*.cc"
     "cyber/sysmo/*.cc"
+    "cyber/statistics/*.cc"
     ${CROUTINE_FILE}
 )
 
@@ -179,8 +183,11 @@ target_link_libraries(${TARGET_NAME}
     ${NlohmannJson_LIBRARIES}
     ${Protobuf_LIBRARIES}
     ${Uuid_LIBRARIES}
+    ${GperfTools_LIBRARIES} # gperftools
+    profiler                # gperftools
     fastrtps
     fastcdr
+    bvar
     atomic
     dl
     rt

From 7873a7b9fc6bf39fb5047f8165c355ce6466ec66 Mon Sep 17 00:00:00 2001
From: minhanghuang <job@minhang.me>
Date: Fri, 27 Dec 2024 17:56:06 +0800
Subject: [PATCH 11/14] feat(v10): Added ros_bridge module

---
 CMakeLists.txt                  | 10 ++++++----
 cyber/ros_bridge/CMakeLists.txt | 31 +++++++++++++++++++++++++++++++
 2 files changed, 37 insertions(+), 4 deletions(-)
 create mode 100644 cyber/ros_bridge/CMakeLists.txt

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b2d42c1..0d682d7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -42,6 +42,7 @@ find_package(fastrtps REQUIRED)
 find_package(fastcdr REQUIRED)
 find_package(glog REQUIRED)
 find_package(Protobuf REQUIRED)
+find_package(Eigen3 REQUIRED)
 # find_package(Python REQUIRED COMPONENTS Interpreter Development)
 pkg_check_modules(Python REQUIRED python3)
 pkg_check_modules(Uuid REQUIRED uuid)
@@ -68,6 +69,7 @@ set(DEPENCENCY_INCLUDE_DIRS
   ${fastcdr_INCLUDE_DIR}
   ${fastrtps_INCLUDE_DIR}
   ${Protobuf_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
   ${Python_INCLUDE_DIRS}
   ${Uuid_INCLUDE_DIRS}
   ${glog_INCLUDE_DIRS}
@@ -100,10 +102,9 @@ include_directories(
 
 link_directories(${DEPENCENCY_LIB_DIRS})
 
-file(GLOB CYBER_PROTO_FILES
-  "${CMAKE_CURRENT_SOURCE_DIR}/modules/common_msgs/**/*.proto"
-  "${CMAKE_CURRENT_SOURCE_DIR}/cyber/proto/*.proto"
-  "${CMAKE_CURRENT_SOURCE_DIR}/cyber/examples/proto/*.proto"
+file(GLOB_RECURSE CYBER_PROTO_FILES
+  "${CMAKE_CURRENT_SOURCE_DIR}/modules/*.proto"
+  "${CMAKE_CURRENT_SOURCE_DIR}/cyber/*.proto"
 )
 
 if(${CYBER_MSGS_CACHE})
@@ -194,6 +195,7 @@ target_link_libraries(${TARGET_NAME}
 )
 
 add_subdirectory(cyber/mainboard)
+add_subdirectory(cyber/ros_bridge)
 add_subdirectory(cyber/examples)
 add_subdirectory(cyber/python)
 add_subdirectory(cyber/tools)
diff --git a/cyber/ros_bridge/CMakeLists.txt b/cyber/ros_bridge/CMakeLists.txt
new file mode 100644
index 0000000..19ef058
--- /dev/null
+++ b/cyber/ros_bridge/CMakeLists.txt
@@ -0,0 +1,31 @@
+project(ros_bridge VERSION 10.0.0)
+
+find_package(PROJ REQUIRED)
+
+include_directories(
+  ${PROJ_INCLUDE_DIRS}
+)
+
+link_directories(
+  ${PROJ_LIBRARY_DIRS}
+)
+
+file(GLOB_RECURSE ROS_BRIDGE_SOURCES
+  "${CMAKE_CURRENT_SOURCE_DIR}/*.cc"
+)
+
+add_executable(ros_bridge
+  ${ROS_BRIDGE_SOURCES}
+)
+
+target_link_libraries(ros_bridge
+    ${TARGET_NAME}
+    ${PROJ_LIBRARIES}
+    ${GperfTools_LIBRARIES}
+    profiler
+    pthread
+)
+
+set_target_properties(ros_bridge PROPERTIES
+    RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin/cyber/ros_bridge
+)

From df2c9dba9bebcd520d16dd98796af29312007042 Mon Sep 17 00:00:00 2001
From: minhanghuang <job@minhang.me>
Date: Sat, 21 Dec 2024 15:21:41 +0800
Subject: [PATCH 12/14] chore(cyber): comment out the eprosima_wrap macro
 definition

---
 cyber/base/macros.h              | 2 +-
 cyber/ros_bridge/common/macros.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/cyber/base/macros.h b/cyber/base/macros.h
index 96442a3..1d8618d 100644
--- a/cyber/base/macros.h
+++ b/cyber/base/macros.h
@@ -20,7 +20,7 @@
 #include <cstdlib>
 #include <new>
 
-#define eprosima eprosima_wrap
+// #define eprosima eprosima_wrap
 
 #if __GNUC__ >= 3
 #define cyber_likely(x) (__builtin_expect((x), 1))
diff --git a/cyber/ros_bridge/common/macros.h b/cyber/ros_bridge/common/macros.h
index feccf11..1e23af1 100644
--- a/cyber/ros_bridge/common/macros.h
+++ b/cyber/ros_bridge/common/macros.h
@@ -20,7 +20,7 @@
 // replacement macro for eprosima namespace to eprosima_wrap
 // for adapting different version fastdds on a single process
 #ifndef eprosima
-#define eprosima eprosima_wrap
+// #define eprosima eprosima_wrap
 #endif
 
 #endif  // ROS_BRIDGE_MACROS_H_

From 8e025e7410289e66271666f475b701b9fd73917b Mon Sep 17 00:00:00 2001
From: minhanghuang <job@minhang.me>
Date: Fri, 27 Dec 2024 11:21:31 +0800
Subject: [PATCH 13/14] fix(recorder): cyber_recorder bugfix

---
 cyber/tools/cyber_recorder/recorder.cc | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/cyber/tools/cyber_recorder/recorder.cc b/cyber/tools/cyber_recorder/recorder.cc
index bceee68..ec8303b 100644
--- a/cyber/tools/cyber_recorder/recorder.cc
+++ b/cyber/tools/cyber_recorder/recorder.cc
@@ -202,8 +202,16 @@ bool Recorder::InitReadersImpl() {
   }
 
   // listen new writers in future
-  change_conn_ = channel_manager->AddChangeListener(
-      std::bind(&Recorder::TopologyCallback, this, std::placeholders::_1));
+  // must use async callback, otherwise deadlock may be occurred.
+  auto topology_callback =
+      [this](const apollo::cyber::proto::ChangeMsg& change_msg) {
+        apollo::cyber::Async(
+            [this, change_msg] { this->TopologyCallback(change_msg); });
+      };
+  change_conn_ = channel_manager->AddChangeListener(topology_callback);
+  // change_conn_ = channel_manager->AddChangeListener(
+  //     std::bind(&Recorder::TopologyCallback, this, std::placeholders::_1));
+
   if (!change_conn_.IsConnected()) {
     AERROR << "change connection is not connected";
     return false;

From bca7c59c7956fc020279ca6772f1f1c0f1b383ab Mon Sep 17 00:00:00 2001
From: minhanghuang <job@minhang.me>
Date: Sat, 18 Jan 2025 14:52:24 +0800
Subject: [PATCH 14/14] feat(third_party): Added Fast-CDR-v2.2.2 patch file

---
 install.py                    |  1 +
 scripts/Fast-CDR_v2.2.2.patch | 75 +++++++++++++++++++++++++++++++++++
 2 files changed, 76 insertions(+)
 create mode 100644 scripts/Fast-CDR_v2.2.2.patch

diff --git a/install.py b/install.py
index 702d288..5f0efe8 100644
--- a/install.py
+++ b/install.py
@@ -355,6 +355,7 @@ def _clone_dds2(self):
         os.chdir(self._current_path)
 
         os.chdir(os.path.join(self._dowload_path, "Fast-CDR"))
+        self._cmd("patch -p1 < {}".format(os.path.join(self._current_path,"scripts/Fast-CDR_v2.2.2.patch")))
         self._cmd("mkdir -p build")
         os.chdir("build")
         self._cmd("cmake -DCMAKE_INSTALL_PREFIX={} -DBUILD_SHARED_LIBS=ON ..".format(
diff --git a/scripts/Fast-CDR_v2.2.2.patch b/scripts/Fast-CDR_v2.2.2.patch
new file mode 100644
index 0000000..7f5c5ed
--- /dev/null
+++ b/scripts/Fast-CDR_v2.2.2.patch
@@ -0,0 +1,75 @@
+diff --git a/include/fastcdr/Cdr.h b/include/fastcdr/Cdr.h
+index ba51fa2..d90dafb 100644
+--- a/include/fastcdr/Cdr.h
++++ b/include/fastcdr/Cdr.h
+@@ -689,6 +689,9 @@ public:
+     Cdr_DllAPI Cdr& serialize(
+             const char* string_t);
+ 
++    Cdr_DllAPI Cdr& serialize(
++            const char* string_t, size_t str_length);
++
+     /*!
+      * @brief This function serializes a wstring.
+      * @param string_t The pointer to the wstring that will be serialized in the buffer.
+@@ -708,7 +711,7 @@ public:
+     Cdr& serialize(
+             const std::string& string_t)
+     {
+-        return serialize(string_t.c_str());
++        return serialize(string_t.c_str(), string_t.size());
+     }
+ 
+     /*!
+diff --git a/src/cpp/Cdr.cpp b/src/cpp/Cdr.cpp
+index 189ee21..3d1a5a5 100644
+--- a/src/cpp/Cdr.cpp
++++ b/src/cpp/Cdr.cpp
+@@ -813,6 +813,47 @@ Cdr& Cdr::serialize(
+     return *this;
+ }
+ 
++Cdr& Cdr::serialize(
++        const char* string_t, size_t str_length)
++{
++    uint32_t length = 0;
++
++    if (string_t != nullptr)
++    {
++        // length = size_to_uint32(strlen(string_t)) + 1;
++        length = (uint32_t)str_length + 1;
++    }
++
++    if (length > 0)
++    {
++        Cdr::state state_before_error(*this);
++        serialize(length);
++
++        if (((end_ - offset_) >= length) || resize(length))
++        {
++            // Save last datasize.
++            last_data_size_ = sizeof(uint8_t);
++
++            offset_.memcopy(string_t, length);
++            offset_ += length;
++        }
++        else
++        {
++            set_state(state_before_error);
++            throw NotEnoughMemoryException(NotEnoughMemoryException::NOT_ENOUGH_MEMORY_MESSAGE_DEFAULT);
++        }
++    }
++    else
++    {
++        serialize(length);
++    }
++
++    serialized_member_size_ = SERIALIZED_MEMBER_SIZE;
++
++    return *this;
++}
++
++
+ Cdr& Cdr::serialize(
+         const wchar_t* string_t)
+ {