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How to change the selected gear in the LGSVL simulator

asked 2021-01-27 10:38:34 -0500

guillermoherreraf
51 ●7 ●9 ●13

Hello! I currently have the LGSVL simulator running on a Windows machine connected via ethernet to a Jetson Xavier NX (with Autoware.Auto and ROS2 Dashing - installed from source). I created a new node to send commands to the vehicle by publishing to the /lgsvl/vehicle_control_cmd topic. I manage to control the throttle, brake and steering, but I have not been able to change the gear to reverse. I tried changing both the target_gear and the current_gear attributes from the /lgsvl/vehicle_control_cmd and /lgsvl/vehicle_state_cmd, respectively. However, the selected_gear does not change (from /lgsvl/state_report). Any idea how to change the gear by publishing to a topic?