autoware auto avp demo: JoyStick controling lgsvl ego car failed to get reversed.

edit

## Description

According to lgsvl docs, I changed the ros2bridge from 'websocker-bridge' to 'ros2-lgsvl-bridge' to get better performance.

But I found that the ego car cannot be reversed control through vehicle interface node using the joy node

My joystick is logitech F310, the same as yours.

I want to know if the problem is in the simulator or the vehicle interface.

thanks!

How to Reproduce

Environment

• ubuntu20.04
• lgsvl 2020.06
• ros2-lgsvl-bridge(note web-socket-bridge)
• autoware.auto avp 1.0.0 code

the launch files are below zs_joy.launch.py

zs_lgsvl.launch.py

zs_localization.launch.py

1. launch lgsvl, and select autonomousstuff environment according to avp demo
2. launch lgsvl bridge, see zs_lgsvl.launch.py
3. launch localization and perception stack, localizing the car through rviz2, seezs_localization.launch.py
4. launch joy stack, see zs_joy.launch.py, changing the joy control mode from raw to basic
5. try to control ego car through joy node, touch Y button to get the reversed gear, and let car drive

Current Behavior

the ego car drive forward, not backward.

Expected behavior

the ego car drive backward.