perception-motion-service

Introduction

The motion service module provides current motion estimation.

Directory Structure

motion_service
├── BUILD      // bazel build file
├── README.md
├── conf       // dag config file
├── cyberfile.xml  // package description file
├── dag
├── launch
├── motion     // main process
├── motion_service_component.cc   // component
├── motion_service_component.h
└── proto      // proto file

Modules

MotionServiceComponent

apollo::perception::camera::MotionServiceComponent

Input

Channel	Type	Description	Name
`/apollo/sensor/camera/front_6mm/image`	`apollo::perception::camera::ImageMsgType`	camera drive message	`msg`
`/apollo/localization/pose`	`apollo::perception::camera::LocalizationMsgType`	localization message	`msg`

Output

Channel	Type	Description	Name
`/apollo/perception/motion_service`	`apollo::perception::MotionService`	motion service message	`msg`

How to run

You can start the lane detection module with the following command.

bash

cyber_launch start modules/perception/motion_service/launch/motion_service.launch