Apollo to Virest VTD ROS bridge.

[Thinsheep]

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System information

• OS Platform and Distribution (e.g., Linux Ubuntu 18.04): linux ubuntu 20.04
• Apollo installed from (source or binary): Source
• Apollo version (3.5, 5.0, 5.5, 6.0): 6.0
• Output of apollo.sh config if on master branch:

Hi Together,

I want to establish the communication between Apollo 6.0 and Vires VTD simulator.
Vires VTD + ROS interface <=> Apollo Cyber to ROS
I write the ROS interface for Vires VTD and use the Cyber to ROS bridge from AUROAI
https://github.com/AuroAi/apollo_ros_bridge

I have a few basic questions:

1. What topics VTD publishes to ROS server and what topics Apollo publishes to ROS server?
   Is it like below?
   VTD to Apollo : sensor messages etc
   Apollo to VTD simulator: Throttle, Brake, Accelerator, etc
   Where can I get the full list of topics to publish/subscribe between Apollo and Simulator?

2. What if Apollo need some data but it is not available in the simulator?
   I may have wrong understanding here.

[Thinsheep]

Hi,
Any hints order documents to know inputs and outputs between Apollo and Simulator?
I got to write ROS topics (ROS interfaces) for the Vires VTD simulator.