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The current release of LGSVL (2020.06) had an unfortunate oversight during release: They forgot to add support for the VehicleOdometry message in the ROS2 plugin. However, Autoware.Auto provides a custom version of LGSVL which uses the Ros2NativeBridge developed by Robotec.ai instead of the LGSVL bridge and that plugin _does_ support the VehicleOdometry message. To use this on your simulation machine, install ade using these instructions and then follow the instructions on our LGSVL Simulator page to launch the simulator from ade. I tried to build a one-line Docker command that would allow you to run the LGSVL sim that we provide stand-alone (without ADE) but the command that ade builds is way too complex to try to generate myself.
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