Trajectory following test with Autoware.Auto and LGSVL simulator
Greetings!
I'm trying to run the trajectory following test on a Jetson AGX (Autoware.Auto installed from source + ROS Dashing) with the LGSVL simulator running on another machine. I see that in the lgsvl_interface
node it is expected the odometry information from the vehicle in the format of lgsvl_msgs::VehicleOdometry
messages. However, when I add the corresponding sensor in the .json
file, LGSVL throws an error saying that that sensor is not currently supported.
To deal with this issue, in the LgsvlInterface::on_odometry
method, I set the longitudinal velocity of the nav_base
frame equal to the linear velocity of the base_link
frame, Vx, (comming from the /lgsvl/gnss_odom
topic). This is true assuming planar motion and because the rotation matrix between the two frames is the identity 3x3.
However, for the front_wheel_angle_rad
field, I do not know where I can get the proper value, which is required by the controller node.