How to Extract and Store Object Information from CARLA Simulator Through Apollo Bridge?

[i-kj]

Hello,

I am working on a project to enhance 3D object detection within the CARLA simulator using the Apollo platform. My end goal is to:

• Detect objects in the field of view of the ego vehicle.
  

• Append an ID to each detected object.
  

• Extract specific information about the object (e.g., dimensions).
  

• Store all this information in a file on my local computer.
  

I am aware that Apollo has powerful perception and prediction modules that operate on sensor data, and that the CARLA-Apollo bridge can be used for seamless integration between the two platforms.

My questions are:

1. Is it possible to use Apollo's perception or prediction modules to extract the information about other vehicles (like dimensions) in the CARLA simulator?

2. If yes, which ROS/Cyber RT topics should I subscribe to for getting this information? Are there any specific messages or services that can help me extract this data?

3. Can I create a ROS/Cyber node to subscribe to these topics and log the data locally? If yes, are there any guidelines or examples I could follow?

4. Lastly, are there any existing utilities within Apollo or CARLA that would make this task easier?

I am relatively new to Apollo and CARLA, and any guidance on how to achieve these objectives would be greatly appreciated.

Thank you in advance!