Interfacing Autoware with a different simulator

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Simone,

Great question! I have meant to put this in the docs for a while but haven't been able to make time. Here are the basics that you need to support a new drive-by-wire system or simulator:

• ROS2 Hardware Driver (including ROS2 messages) or simulator bridge
• Autoware.Auto Vehicle Interface
  • See https://autowarefoundation.gitlab.io/... for existing implementation. This will be changing some during our current ODD development cycle.
• ROS URDF File Describing Sensor Frames
  • Measurements in ROS Frame (X, Y, Z, R, P, Y in RHR, X-forward) for the offsets of each sensor and the CoG from a common reference point - for Ackermann-style vehicles, usually the center of the rear axle
• Platform Measurements
  • Mass (kg)
  • Wheelbase (m)
  • Front overhang (m) - front axle to front of vehicle
  • Rear overhang (m) - rear axle to rear of vehicle
  • Width (m)
  • Wheel angle range (rad) - +/- from center - front and rear
  • 3D Mesh if visualization in RViz is desired (Collada DOM / .dae file)

The first two items are required to support a generic simulator interface (independent of vehicle) while the second two are required for each vehicle platform within the simulator that you want to support.

Please let me know if you would like to meet to discuss any implementation details. We are happy to support as many platforms and simulators as possible and would love to help those who want to make it happen!