How to control LGSVL vehicle by publishing ros topic
Hi everyone,
I'm trying to run autoware.ai 1.14 alongside LGSVL simulator. Currently I have set autoware 1.14 on Ubuntu 18.04, and LGSVL simulator on Windows10, two computers are connected via rosbridge_websocket. I can receive lidar and all other sensor messages on Ubuntu link text, but it seems like I cannot control the vehicle via /vehicle_cmd. According to the topic list on LGSVL, I noticed that the simulator cannot receive any messages. Although i'm publishing the topic of 5Hz, the count number of /vehicle_cmd remains 0 all the time, and the vehicle is not moving as well.
I publish the topic like this: link text
The vehicle I choose is Jaguar2015XE, and autopilot version is ROS1 autoware1.14
I have set ROS_MASTER_URI and ROS_IP properly on the server side (Ubuntu) and LGSVL shows "Bridge Status: Connected", link text so I'm pretty sure it's not the connection problem
Does anybody know what's going on here? Is there something wrong with the settings or do I forgot some important things?
Much Appreciate!
