How to control LGSVL vehicle by publishing ros topic

asked 2021-06-22 04:17:04 -0600

Ricky gravatar image

updated 2021-06-22 04:39:35 -0600

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!

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