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It looks like twist_gate listens to /lamp_cmd, which is usually produced by Decision Maker. twist_gate should then pass this along as part of the VehicleCmd message type to your vehicle interface (looks like you're using a DataSpeed DBW system). You may need to have some node parse out the lamp_cmd from the VehicleCmd and send a message to /turn_signal_cmd to activate it in your DBW system as this is not part of Autoware.ai currently.
In fact, if you would like to contribute a DataSpeed interface package to Autoware.ai, contributions are always welcome! (keeping in mind that feature additions will end at the end of 2020 as described here)
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