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项目代码解析与实现

1. 头文件包含

#include 
   
    #include 
    
     #include 
     
    
   

2. 预定义与类型声明

using apollo::cyber::Writer;using apollo::cyber::Reader;using apollo::cyber::Time;using apollo::cyber::Node;using apollo::drivers::Gps;using apollo::drivers::Image;using apollo::drivers::Imu;using apollo::drivers::PCLPointCloud2Array;using apollo::cyber::record::RecordReader;using apollo::cyber::record::RecordViewer;

3. 读取数据的实现

std::shared_ptr
   
     record_reader_ptr = std::make_shared
    
     (file_path);std::set
     
       channel_list = record_reader_ptr->GetChannelList();std::shared_ptr
      
        recorder_viewer = std::make_shared
       
        (record_reader_ptr);for (const auto& msg : *recorder_viewer) {    if (msg.channel_name == channel_name_) {        double time = msg.time;        Gps gps_msg;        gps_msg.ParseFromString(msg.content);    }}
       
      
     
    
   

4. 节点初始化与数据处理

class Scheduler {public:    Scheduler();    ~Scheduler();    void initialize(const std::vector
   
    & params);    void run();private:    void imuHandler(const std::shared_ptr
    
     & msg);    void gpsHandler(const std::shared_ptr
     
      & msg);    void cloudHandler(const std::shared_ptr
      
       & msg);private:    std::unique_ptr
       
         node_;    GpsReaderPtr gps_reader_;    PointCloud2ArrayReaderPtr cloud_reader_;};
       
      
     
    
   

5. 初始化节点

void Scheduler::initialize() {    gps_reader_ = node_->CreateReader
   
    ("gps_topic", 5, [this](const std::shared_ptr
    
     & msg) {        gpsHandler(msg);    });    cloud_reader_ = node_->CreateReader
     
      ("cloud_topic", 5, [this](const std::shared_ptr
      
       & msg) {        cloudHandler(msg);    });    imu_reader_ = node_->CreateReader
       
        ("imu_topic", 10, [this](const std::shared_ptr
        
         & msg) { imuHandler(msg); });}
        
       
      
     
    
   

6. 回调函数实现

void Scheduler::gpsHandler(const std::shared_ptr
   
    & msg) {    double x = pose_msg->pos().x();    double y = pose_msg->pos().y();    double z = pose_msg->pos().z();}void Scheduler::cloudHandler(const std::shared_ptr
    
     & msg) {    pcl::PointCloud
     
      ::Ptr cloud(new pcl::PointCloud
      
       ());    adlab::common::util::fromProto(*(msg->mutable_clouds(0)), *cloud->get());}void Scheduler::imuHandler(const std::shared_ptr
       
        & msg) {    double time = static_cast
        
         (msg->utime()) * 1e-6; const auto& acc = msg->linear_accel(); Eigen::Vector3d acceleration(acc.x(), acc.y(), acc.z()); const auto& omega = msg->rotation_rate(); Eigen::Vector3d angular_velocity(omega.x(), omega.y(), omega.z());}
        
       
      
     
    
   

7. 主函数实现

#include 
   
    #include 
    
     DEFINE_string(configs, "configs.yaml", "");int main(int argc, char** argv) {    google::ParseCommandLineFlags(&argc, &argv, true);    std::vector
     
       arguments;    arguments.push_back(FLAGS_configs);    adlab::cyber::Init(argv[0]);    google::SetLogDestination(google::INFO, "");    ros::init(argc, argv, "node");    Scheduler scheduler;    scheduler.initialize(arguments);    adlab::cyber::Rate rate(10);    while (adlab::cyber::OK()) {        scheduler.run();        rate.Sleep();    }    adlab::cyber::WaitForShutdown();    return 0;}
     
    
   

操作指南

1. 播放记录

cyber_record play -f data

2. 查看记录信息

cyber_record info data

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