topic_conf {
  adccontainer_topic_name: "/apollo/prediction/adccontainer"
  container_topic_name: "/apollo/prediction/container"
  evaluator_topic_name: "/apollo/prediction/evaluator"
  localization_topic: "/apollo/localization/pose"
  perception_obstacle_topic: "/apollo/perception/obstacles"
  perception_obstacles_topic_name: "/apollo/prediction/perception_obstacles"
  planning_trajectory_topic: "/apollo/planning"
  prediction_topic: "/apollo/prediction"
  storytelling_topic: "/apollo/storytelling"
}
obstacle_conf {
  obstacle_type: VEHICLE
  obstacle_status: ON_LANE
  evaluator_type: COST_EVALUATOR
  predictor_type: SINGLE_LANE_PREDICTOR
}
obstacle_conf {
  obstacle_type: VEHICLE
  obstacle_status: OFF_LANE
  predictor_type: EMPTY_PREDICTOR
}
obstacle_conf {
  obstacle_type: PEDESTRIAN
  predictor_type: FREE_MOVE_PREDICTOR
}
obstacle_conf {
  obstacle_type: BICYCLE
  obstacle_status: ON_LANE
  evaluator_type: COST_EVALUATOR
  predictor_type: SINGLE_LANE_PREDICTOR
}
obstacle_conf {
  obstacle_type: BICYCLE
  obstacle_status: OFF_LANE
  predictor_type: EMPTY_PREDICTOR
}
obstacle_conf {
  obstacle_type: UNKNOWN
  obstacle_status: ON_LANE
  evaluator_type: COST_EVALUATOR
  predictor_type: SINGLE_LANE_PREDICTOR
}
obstacle_conf {
  obstacle_type: UNKNOWN
  obstacle_status: OFF_LANE
  predictor_type: EMPTY_PREDICTOR
}