apollo日志

record_file:    data/obstacle.00000
version:        1.0
duration:       22.681360 Seconds
begin_time:     2019-06-21 12:09:01
end_time:       2019-06-21 12:09:24
size:           1785645195 Bytes (1.663012 GB)
is_complete:    true
message_number: 43042
channel_number: 49
channel_info:                   /apollo/guardian                                      2269 messages: apollo.guardian.GuardianCommand
                /apollo/prediction                                      73 messages: apollo.prediction.PredictionObstacles
                /apollo/monitor                                         29 messages: apollo.common.monitor.MonitorMessage
                /apollo/sensor/radar/front                             313 messages: apollo.drivers.ContiRadar
                /tf                                                   4535 messages: apollo.transform.TransformStampeds
                /apollo/localization/pose                             2268 messages: apollo.localization.LocalizationEstimate
                /apollo/localization/msf_status                       2268 messages: apollo.localization.LocalizationStatus
                /tf_static                                               1 messages: apollo.transform.TransformStampeds
                /apollo/sensor/livox/PointCloud2                         0 messages: apollo.drivers.PointCloud
                /apollo/sensor/lidar/fusion/compensator/PointCloud2       0 messages: apollo.drivers.PointCloud
                /apollo/sensor/gnss/gnss_status                         23 messages: apollo.drivers.gnss.GnssStatus
                /apollo/sensor/gnss/ins_status                          23 messages: apollo.drivers.gnss.InsStatus
                /apollo/sensor/gnss/best_pose                          226 messages: apollo.drivers.gnss.GnssBestPose
                /apollo/sensor/gnss/corrected_imu                     2266 messages: apollo.localization.CorrectedImu
                /apollo/sensor/gnss/ins_stat                            23 messages: apollo.drivers.gnss.InsStat
                /apollo/sensor/gnss/rtk_eph                             72 messages: apollo.drivers.gnss.GnssEphemeris
                /apollo/sensor/gnss/rtk_obs                             45 messages: apollo.drivers.gnss.EpochObservation
                /apollo/sensor/gnss/heading                             23 messages: apollo.drivers.gnss.Heading
                /apollo/sensor/gnss/imu                               2834 messages: apollo.drivers.gnss.Imu
                /apollo/sensor/gnss/honeywell_imu                        0 messages: apollo.drivers.gnss.Imu
                /apollo/sensor/gnss/odometry                          2266 messages: apollo.localization.Gps
                /apollo/control                                       2252 messages: apollo.control.ControlCommand
                /apollo/canbus/chassis                                2174 messages: apollo.canbus.Chassis
                /apollo/planning                                        70 messages: apollo.planning.ADCTrajectory
                /apollo/routing_request                                  0 messages: apollo.routing.RoutingRequest
                /apollo/navigation                                       0 messages: apollo.relative_map.NavigationInfo
                /apollo/routing_response                                 0 messages: apollo.routing.RoutingResponse
                /apollo/hmi/status                                       5 messages: apollo.dreamview.HMIStatus
                /apollo/control/pad                                      0 messages: apollo.control.PadMessage
                /apollo/drive_event                                      0 messages: apollo.common.DriveEvent
                /apollo/hmi/audio_capture                                0 messages: apollo.dreamview.AudioCapture
                /apollo/relative_map                                   217 messages: apollo.relative_map.MapMsg
                /apollo/canbus/chassis_detail                         2172 messages: apollo.canbus.ChassisDetail
                /apollo/sensor/camera/front_left_6mm/image              82 messages: apollo.drivers.Image
                /apollo/sensor/camera/front_right_6mm/image             77 messages: apollo.drivers.Image
                /apollo/sensor/camera/front_left_25mm/image             89 messages: apollo.drivers.Image
                /apollo/sensor/camera/front_right_25mm/image            33 messages: apollo.drivers.Image
                /apollo/perception/obstacles                            64 messages: apollo.perception.PerceptionObstacles
                /apollo/perception/vision_traffic_light                  0 messages: apollo.perception.TrafficLightDetection
                /apollo/sensor/lidar16/front/left/Scan                   0 messages: apollo.drivers.rslidar.RslidarScan
                /apollo/sensor/lidar16/front/right/Scan                  0 messages: apollo.drivers.rslidar.RslidarScan
                /apollo/sensor/lidar16/front/left/PointCloud2            0 messages: apollo.drivers.PointCloud
                /apollo/sensor/gnss/stream_status                        0 messages: apollo.drivers.gnss.StreamStatus
                /apollo/sensor/gnss/raw_data                         16225 messages: apollo.drivers.gnss.RawData
                /apollo/sensor/gnss/rtcm_data                           22 messages: apollo.drivers.gnss.RawData
                /apollo/sensor/lidar16/front/right/PointCloud2           0 messages: apollo.drivers.PointCloud
                /apollo/sensor/lidar16/front/left/compensator/PointCloud2       0 messages: apollo.drivers.PointCloud
                /apollo/sensor/lidar16/front/right/compensator/PointCloud2       0 messages: apollo.drivers.PointCloud
                /apollo/monitor/system_status                            3 messages: apollo.monitor.SystemStatus

I0430 09:26:51.214046 10332 traffic_decider.cc:155]  [DEBUG] Applied rule BACKSIDE_VEHICLE
I0430 09:26:51.214095 10332 traffic_decider.cc:155]  [DEBUG] Applied rule CHANGE_LANE
I0430 09:26:51.214125 10332 traffic_decider.cc:155]  [DEBUG] Applied rule CROSSWALK
I0430 09:26:51.214146 10332 traffic_decider.cc:155]  [DEBUG] Applied rule DESTINATION
I0430 09:26:51.214169 10332 traffic_decider.cc:155]  [DEBUG] Applied rule KEEP_CLEAR
I0430 09:26:51.214186 10332 traffic_decider.cc:155]  [DEBUG] Applied rule PULL_OVER
I0430 09:26:51.214205 10332 traffic_decider.cc:155]  [DEBUG] Applied rule REFERENCE_LINE_END
I0430 09:26:51.214229 10332 traffic_decider.cc:155]  [DEBUG] Applied rule REROUTING
I0430 09:26:51.214247 10332 traffic_decider.cc:155]  [DEBUG] Applied rule STOP_SIGN
I0430 09:26:51.214269 10332 traffic_decider.cc:155]  [DEBUG] Applied rule TRAFFIC_LIGHT