Apollo Cyber Integration Example¶

Note

Example directory: [SimOne installation directory]\SimOneAPI\Cyber

For the SimOneAPI direct call layer (InitSimOneAPI / GetGps / SetDrive, etc.), refer to Technical Architecture.

Integration Approaches¶

SimOne provides two Apollo integration approaches:

Approach 1: ApolloCybertronBridge

The bridge program TransNodeCyber establishes communication between SimOne and Apollo without modifying Apollo's internal code.

Approach 2: Direct Apollo API Integration

Call SimOneAPI directly to retrieve data and implement data forwarding logic independently.

Build¶

Must be built inside an Apollo Docker container:

# 1. Set library path (replace with the actual lib directory path)
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:<SimOneAPI lib path>

# 2. Run the build script
cd [SimOne installation directory]\SimOneAPI\Cyber
./gen_make_release.sh

After a successful build, the executable TransNodeCyber is generated in the run/ directory.

Configuration¶

Edit config.ini in the same directory before running:

[BridgeIO]
BridgeIO_IP = 127.0.0.1        # SimOne BridgeIO service IP

[HostVehicle]
Vehicle_ID = 0                  # Ego vehicle ID (must match the SimOne configuration)

[Sensor]
ENABLED = 0                     # Enable physical sensor data (Camera/Lidar): 1 = enabled
IMG_IP = 127.0.0.1              # Camera UDP service IP
IMG_PORT = 0                    # Camera UDP port
PCD_IP = 127.0.0.1              # Lidar UDP service IP
PCD_PORT = 0                    # Lidar UDP data port
PCD_PORT_INFO = 0               # Lidar UDP info port
PCD_FRAMEID = velodyne128       # Point cloud frame_id (must match the Apollo map configuration)
PCD_CHANNEL = /apollo/sensor/lidar128/compensator/PointCloud2  # Point cloud publish channel (configurable)

Runtime Flow¶

main()
 ├── config_ini()      Read config.ini
 └── run()
      ├── init()       Initialize SimOneAPI + configure sensor parameters
      ├── pub_thread   Publish data to Apollo every 16 ms ──────────────────┐
      │    ├── Chassis / IMU (chassis status, inertial data)                 │
      │    ├── GPS / INS Stat (pose, velocity, INS status)                   │
      │    ├── Obstacles (ground-truth obstacles)                             │ Async callbacks
      │    ├── TrafficLight (traffic light status)                            │ Image / PointCloud
      │    ├── ContiRadar (millimeter-wave radar targets)                     │
      │    └── RoutingReq (global routing waypoints, every 32 ms) ───────────┘
      └── rcv_thread   Receive Apollo control commands every 16 ms
           ├── Control (throttle/brake/steering) → SetDrive
           └── Trajectory (planned trajectory points) → SetDriveTrajectory

Communication Interface¶

Apollo–SimOne simulation communication interface:

Module	Interface Function	Data Direction	Message Channel	Proto Message Structure
Control	Longitudinal control (throttle/brake/steering)	Apollo → SimOne	/apollo/control	apollo/modules/control/proto/control_cmd.proto
Planning	Navigation request (global routing waypoints)	SimOne → Apollo	/apollo/routing_request	apollo/modules/routing/proto/routing.proto
	Navigation response	Apollo → SimOne	/apollo/routing_response	apollo/modules/routing/proto/routing.proto
	Planned trajectory	Apollo → SimOne	/apollo/planning	apollo/modules/planning/proto/planning.proto
Canbus	Chassis message (ego vehicle chassis status)	SimOne → Apollo	/apollo/canbus/chassis	apollo/modules/canbus/proto/chassis.proto
Localization	IMU (angular velocity, acceleration)	SimOne → Apollo	/apollo/sensor/gnss/corrected_imu	apollo/modules/localization/proto/imu.proto
Localization	GPS (vehicle pose, velocity)	SimOne → Apollo	/apollo/sensor/gnss/odometry	apollo/modules/localization/proto/gps.proto
Driver	INS status	SimOne → Apollo	/apollo/sensor/gnss/ins_stat	apollo/modules/drivers/gnss/proto/ins.proto
Perception	Obstacle perception (ground truth)	SimOne → Apollo	/apollo/perception/obstacles	apollo/modules/perception/proto/perception_obstacle.proto
	Traffic light perception	SimOne → Apollo	/apollo/perception/traffic_light	apollo/modules/perception/proto/traffic_light_detection.proto
	Millimeter-wave radar (Continental)	SimOne → Apollo	/apollo/sensor/conti_radar	apollo/modules/drivers/proto/conti_radar.proto
Sensor	Lidar point cloud	SimOne → Apollo	/apollo/sensor/lidar128/compensator/PointCloud2 (configurable via `PCD_CHANNEL`)	sensor_msgs/PointCloud2
Sensor	Camera image	SimOne → Apollo	/apollo/sensor/camera/...	sensor_msgs/Image

Data Conversion Notes¶

Note

The bridge program applies the following coordinate system conversions and enum mappings when forwarding data. Implementations that bypass the bridge must maintain these conversions.

1. GPS heading (oriZ) coordinate offset

SimOne uses the OpenDRIVE coordinate system while Apollo uses ENU. The heading angles differ by 90°:

// SimOne oriZ → Apollo quaternion (offset by π/2)
cybertron::quat q(cybertron::vec3(oriX, oriY, oriZ - (M_PI / 2)));

2. Obstacle type mapping

SimOne Type	Apollo proto type	Description
Truck / Bus / SpecialVehicle	5	VEHICLE
Pedestrian	3	PEDESTRIAN
Bicycle	4	BICYCLE
Others	0	UNKNOWN

3. Traffic light color mapping

SimOne Status	Apollo color value	Description
Red	1	Red light
Yellow	2	Yellow light
Green	3	Green light
Black	4	Light off
Unknown	0	UNKNOWN

4. Control command scaling

Apollo control values are percentages (0–100) and must be scaled before passing to SimOneAPI:

pData->throttle = mCyberControl.mThrottle * 0.01;   // percentage → [0, 1]
pData->brake    = mCyberControl.mBrake    * 0.01;
pData->steering = -mCyberControl.mSteering * 0.01;  // sign reversed (coordinate system difference)