How to get distance from detected objects in autoware [closed]

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Hi all!

When I use Yolo3 algorithm in Autoware with LGSVL simulation, it can detect objects and display on RViz (ImageViewePlugin) through topic /detection/image_detector/objects

How can I get distance from LGSVL simulator to detected objects and display them on RViz?

I checked the following nodes on Autoware:

• lidar_euclidean_cluster_detect
• range_fusion
• imm_ukf_pda_track
• naive_motion_predict
• costmap_generator
• astar_avoid
• pure_pursuit
• twist_filter

but it does not get the distance.

My environment:

• Ubuntu 18.04
• Autoware (docker) 1.12.0 melodic.

Thank you very much!