Localization: Set utm zone id to 10, and add gnss topics in record sh file. (#1846)

* Localization: Set utm zone id to 10, and set auto play mode in visualization toll.

* Localization: Add localization related topics in record sh file.

modules/localization/conf/localization.conf

@@ -102,7 +102,7 @@
 # local_utm_zone_id.
 # type: int
 # default: int
---local_utm_zone_id=50
+--local_utm_zone_id=10
 
 # trans_gpstime_to_utctime.
 # type: bool

modules/localization/msf/local_tool/local_visualization/engine/visualization_engine.cc

@@ -205,6 +205,10 @@ void VisualizationEngine::Visualize(
   Draw();
 }
 
+void VisualizationEngine::SetAutoPlay(bool auto_play) {
+    auto_play_ = auto_play;
+}
+
 void VisualizationEngine::Preprocess(const std::string &map_folder) {
   std::string image_path = map_folder_ + "/image";
   std::string image_visual_path = map_folder_ + "/map_visual";

modules/localization/msf/local_tool/local_visualization/engine/visualization_engine.h

@@ -152,9 +152,7 @@ class VisualizationEngine {
             const unsigned int loc_info_num = 1);
   void Visualize(const std::vector<LocalizatonInfo> &loc_infos,
                  const std::vector<Eigen::Vector3d> &cloud);
-  // void SetAutoPlay() {
-  //   auto_play_
-  // }
+  void SetAutoPlay(bool auto_play);
 
  private:
   void Preprocess(const std::string &map_folder);

modules/localization/msf/local_tool/local_visualization/engine/visualization_manager.cc

@@ -323,6 +323,8 @@ bool VisualizationManager::Init(const std::string &map_folder,
   }
   std::cout << "Visualization engine init succeed." << std::endl;
 
+  visual_engine_.SetAutoPlay(true);
+
   return true;
 }
 

scripts/record_bag.sh

@@ -58,10 +58,14 @@ function start() {
         /apollo/sensor/camera/traffic/image_long \
         /apollo/sensor/conti_radar \
         /apollo/sensor/delphi_esr \
-        /apollo/sensor/gnss/gnss_status \
-        /apollo/sensor/gnss/odometry \
-        /apollo/sensor/gnss/ins_stat \
+        /apollo/sensor/gnss/best_pose \
         /apollo/sensor/gnss/corrected_imu \
+        /apollo/sensor/gnss/gnss_status \     
+        /apollo/sensor/gnss/imu \
+        /apollo/sensor/gnss/ins_stat \
+        /apollo/sensor/gnss/odometry \
+        /apollo/sensor/gnss/rtk_eph \
+        /apollo/sensor/gnss/rtk_obs \        
         /apollo/sensor/mobileye \
         /apollo/sensor/velodyne64/compensator/PointCloud2 \
         /apollo/canbus/chassis \