Does the lgsvl_interface package only works with the LGSVL simulator running within ADE?
Hello!
I have installed Autoware.Auto in a Jetson Xavier NX from source and I have the LGSVL simulator installed in another machine running Windows 10. I have already tested the connection between them with the ros2_lgsvl_bridge
and installing the ROS2 lgsvl_msg
package in the AutowareAuto workspace. I succesfully send the simulated sensors data from the simulator to the Jetson and visualize it with rviz2 (mainly Lidar pointcloud and camera raw images). The procedure I followed is basically this one, with some modifications considering I'm not using the ADE environment.
Next, I wanted to try some of the demos from AutowareAuto with the described configuration. I connected a videogame controller to the Jetson and ran the ros2 launch lgsvl_interface lgsvl_vehicle_control_command.launch.py
, following this. I also ran ros2 topic echo /joy
to see that there is data being published to the topic, and everything looks fine. However, the simulator fails to connect to the Jetson and I believe it is related to the lgsvl_interface
package.
So my main question is, in order to use the lgsvl_interface
package do we need to run the simulator within the ADE environment, or can I still succesfully use it with my configuration: LGSVL simulator running on a Windows machine and AutowareAuto stack installed from source in a Jetson Xavier NX?