Which LGSVL simulator GPS topic are used in the AutowareAuto Avp Demo
Hi,
I am looking into the topics for lgsvl simulator gps data that are published on ros2 bridge.
As there are two topics published by the LGSVL simulator -
1). GPS Device - "/gnss/fix"
2). GPS Odometry - "/lgsvl/odom "
I want to understand which topic data of lgsvl simulator GPS is used by AutowareAuto or Is there any other topic data used by AutowareAuto or in AVP-Demo.
Also, I have gone through the code of AVP demo and finds out that imu0: /imu/imu_raw lines in odom_state_estimator.param.yaml file are not uisng then what is the impact of it.
Regards,
Rahul