How to change the selected gear in the LGSVL simulator
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?