Example JSON Configuration for an Autoware Auto Vehicle

Bridge Type top#

ROS2

Published Topics top#

Topic	Sensor Name
/autoware_auto_msgs/VehicleStateReport	CAN Bus
/nmea_sentence	GPS
/autoware_auto_msgs/VehicleOdometry	GPS Odometry
/imu_raw	IMU
/points_raw	LidarFront
/points_raw_rear	LidarRear
/simulator/camera_node/image/compressed	Main Camera

Subscribed Topics top#

Topic	Sensor Name
/autoware_auto_msgs/RawControlCommand	Autoware Car Control
/autoware_auto_msgs/VehicleStateCommand	Autoware Auto Vehicle State

Complete JSON Configuration top#

[
  {
    "type": "CAN-Bus",
    "name": "CAN Bus",
    "params": {
      "Frequency": 10,
      "Topic": "/vehicle_state_report"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "GPS Device",
    "name": "GPS",
    "params": {
      "Frequency": 12.5,
      "Topic": "/nmea_sentence",
      "Frame": "gps",
      "IgnoreMapOrigin": true
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "GPS Odometry",
    "name": "GPS Odometry",
    "params": {
      "Frequency": 12.5,
      "Topic": "/vehicle_odometry",
      "Frame": "gps",
      "IgnoreMapOrigin": true
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "IMU",
    "name": "IMU",
    "params": {
      "Topic": "/imu_raw",
      "Frame": "imu"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "Lidar",
    "name": "LidarFront",
    "params": {
      "LaserCount": 16,
      "MinDistance": 2.0,
      "MaxDistance": 100,
      "RotationFrequency": 10,
      "MeasurementsPerRotation": 360,
      "FieldOfView": 20,
      "CenterAngle": 0,
      "Compensated": true,
      "PointColor": "#ff000000",
      "Topic": "/points_raw",
      "Frame": "velodyne_front"
    },
    "transform": {
      "x": 0,
      "y": 1.8,
      "z": 0.02,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
{
    "type": "Lidar",
    "name": "LidarRear",
    "params": {
      "LaserCount": 16,
      "MinDistance": 2.0,
      "MaxDistance": 100,
      "RotationFrequency": 10,
      "MeasurementsPerRotation": 360,
      "FieldOfView": 20,
      "CenterAngle": 0,
      "Compensated": true,
      "PointColor": "#ff000000",
      "Topic": "/points_raw_rear",
      "Frame": "velodyne_rear"
    },
    "transform": {
      "x": 0,
      "y": 1.8,
      "z": -1.17,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "Color Camera",
    "name": "Main Camera",
    "params": {
      "Width": 1920,
      "Height": 1080,
      "Frequency": 15,
      "JpegQuality": 75,
      "FieldOfView": 50,
      "MinDistance": 0.1,
      "MaxDistance": 1000,
      "Topic": "/simulator/camera_node/image/compressed",
      "Frame": "camera"
    },
    "transform": {
      "x": 0,
      "y": 1.7,
      "z": -0.2,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "Vehicle Control",
    "name": "Autoware Car Control",
    "params": {
      "Topic": "/vehicle_control_command"
    }
  },
  {
    "type": "Vehicle State",
    "name": "Autoware Auto Vehicle State",
    "params": {
      "Topic": "/vehicle_state_command"
    }
  }
]