Simulator Messages
This page details the messages available by default in the simulator. Each bridge type (ROS, ROS2, CyberRT) will have its own message types.
Table of Contents
ROS Message Types top#
The simulator supports many of the common standard ROS messages. Additionally, the simulator supports custom ROS messages defined for Autoware AI as well as the simulator's template messages for Autonomous Driving which are included in lgsvl_msgs.
Below is a list of these messages.
| Message Type | Namespace | Associated Sensor | Default Topic Name | Notes |
|---|---|---|---|---|
std_msgs/Header |
Ros | - | - | Standard header used for ROS messages |
std_msgs/Time |
Ros | - | - | Usually used for timestamps in std_msgs/Header |
rosgraph_msg/Clock |
Ros | Clock Sensor | /clock |
Required when /use_sim_time param is set to true |
std_msgs/ColorRGBA |
Ros | - | - | - |
sensor_msgs/CompressedImage |
Ros | Camera Sensor | - | JPEG encoded images - usually subscribed to by AD stacks for camera images |
sensor_msgs/Image |
Ros | Camera Sensor | - | Uncompressed images - usually subscribed to by AD stacks for camera images |
sensor_msgs/Imu |
Ros | Imu Sensor | - | Linear acceleration, angular velocity, and (optional) orientation as a quaternion |
sensor_msgs/Joy |
Ros | - | - | Reports the state of a joystick / wheel axes and buttons |
sensor_msgs/LaserScan |
Ros | - | - | Single beam LiDAR points reported as an array of range measurements |
sensor_msgs/PointCloud2 |
Ros | LiDAR Sensor | - | Point cloud data as typically output from a 3D LiDAR's driver |
sensor_msgs/PointField |
Ros | - | - | Included in sensor_msgs/PointCloud2 to provide type information on the point |
sensor_msgs/NavSatStatus |
Ros | GPS Sensor | - | Status report for GNSS |
sensor_msgs/NavSatFix |
Ros | GPS Sensor | - | GNSS position fix reported llh format |
nav_msgs/Odometry |
Ros | GPS Odometry Sensor | - | An odometry message containing a pose and a twist message |
nmea_msgs/Sentence |
Ros | GPS Sensor | - | GNSS fix represented as an NMEA sentence - used in Autoware AI |
geometry_msgs/Point |
Ros | - | - | XYZ coordinates |
geometry_msgs/Pose |
Ros | - | - | 3D position and orientation (quaternion) |
geometry_msgs/PoseWithCovariance |
Ros | - | - | geometry_msgs/Pose with an additional covariance field |
geometry_msgs/Quaternion |
Ros | - | - | - |
geometry_msgs/Twist |
Ros | - | - | Linear and angular velocity |
geometry_msgs/TwistStamped |
Ros | - | lgsvl_msgs/DetectedRadarObject- |
Contains s geometry_msgs/Twist and a std_msgs/Header |
geometry_msgs/TwistWithCovariance |
Ros | - | - | Contains a geometry_msgs/Twist with an additional covariance field |
geometry_msgs/Vector3 |
Ros | - | - | 3D vector with x, y, z coordinates |
std_srvs/Empty |
Ros | - | - | Empty service |
std_srvs/SetBool |
Ros | - | - | Service for setting a boolean parameter |
std_srvs/Trigger |
Ros | - | - | Service for triggering an event |
autoware_msgs/steer_cmd |
Autoware | - | - | Steer command message |
autoware_msgs/accel_cmd |
Autoware | - | - | Acceleration command message |
autoware_msgs/brake_cmd |
Autoware | - | - | Brake command message |
autoware_msgs/lamp_cmd |
Autoware | - | - | Message for controlling lights on vehicle |
autoware_msgs/ControlCommand |
Autoware | - | - | Vehicle control command providing linear velocity, linear acceleration, and a steering angle |
autoware_msgs/VehicleCmd |
Autoware | AutowareAI Control Sensor | /vehicle_cmd |
Complete vehicle control command containing the other 'command' message - simulator subscribes to this |
autoware_msgs/DetectedObject |
Autoware | - | - | Attributes of objects detected by perception |
autoware_msgs/DetectedObjectArray |
Autoware | - | - | Array of autoware_msgs/DetectedObject |
lgsvl_msgs/BoundingBox2D |
Lgsvl | - | - | 2D ground truth bounding box for objects in view of the vehicle |
lgsvl_msgs/BoundingBox3D |
Lgsvl | - | - | 3D ground truth bounding box for objects in view of the vehicle |
lgsvl_msgs/Detection2D |
Lgsvl | - | - | Ground truth detection data for obstacles in 2D |
lgsvl_msgs/Detection2DArray |
Lgsvl | Ground Truth 2D Sensor | - | Array of ground truth values for 2D detections |
lgsvl_msgs/Detection3D |
Lgsvl | - | - | Ground truth detection data for obstacles in 3D |
lgsvl_msgs/Detection3DArray |
Lgsvl | Ground Truth 3D Sensor | - | Array of ground truth values for 3D detections |
lgsvl_msgs/Signal |
Lgsvl | - | - | Ground truth traffic light information |
lgsvl_msgs/SignalArray |
Lgsvl | Signal Sensor | - | Array of lgsvl_msgs/Signal for all traffic lights in view of ego |
lgsvl_msgs/CanBusData |
Lgsvl | CanBus Sensor | - | Collection of information available through CAN bus and published by simulator |
lgsvl_msgs/VehicleControlData |
Lgsvl | Vehicle Control Sensor | - | Vehicle control command simulator can subscribe to |
lgsvl_msgs/VehicleStateData |
Lgsvl | Vehicle State Sensor | - | Feedback from vehicle control command published by simulator which can be used for implementing a feedback controller |
lgsvl_msgs/VehicleOdometry |
Lgsvl | Vehicle Odometry Sensor | - | Velocity and front and rear wheel angle measurements |
lgsvl_msgs/DetectedRadarObject |
Lgsvl | - | - | Representation of an obstacle detected by radar |
lgsvl_msgs/DetectedRadarObjectArray |
Lgsvl | Radar Sensor | - | Array of lgsvl_msgs/DetectedRadarObject published by the simulator |
lgsvl_srvs/Int |
Lgsvl | - | - | Service that sends an integer value |
lgsvl_srvs/String |
Lgsvl | - | - | Service that sends a string |
ROS 2 Message Types top#
There is a lot of overlap between the message types supported for ROS and ROS 2 with the main difference being Autoware AI.
| Message Type | Namespace | Associated Sensor | Default Topic Name | Notes |
|---|---|---|---|---|
std_msgs/Header |
Ros2 | - | - | Standard header used for ROS 2 messages |
builtin_interfaces/Time |
Ros2 | - | - | Usually used for timestamps in std_msgs/Header |
rosgraph_msg/Clock |
Ros2 | Clock Sensor | /clock |
Required when /use_sim_time param is set to true |
std_msgs/ColorRGBA |
Ros2 | - | - | - |
sensor_msgs/CompressedImage |
Ros2 | Camera Sensor | - | JPEG encoded images - usually subscribed to by AD stacks for camera images |
sensor_msgs/Image |
Ros2 | Camera Sensor | - | Uncompressed images - usually subscribed to by AD stacks for camera images |
sensor_msgs/Imu |
Ros2 | Imu Sensor | - | Linear acceleration, angular velocity, and (optional) orientation as a quaternion |
nav_msgs/Odometry |
Ros2 | GPS Odometry Sensor | - | An odometry message containing a pose and a twist message |
sensor_msgs/LaserScan |
Ros2 | - | - | Single beam LiDAR points reported as an array of range measurements |
sensor_msgs/PointCloud2 |
Ros2 | LiDAR Sensor | - | Point cloud data as typically output from a 3D LiDAR's driver |
sensor_msgs/PointField |
Ros2 | - | - | Included in sensor_msgs/PointCloud2 to provide type information on the point |
sensor_msgs/NavSatStatus |
Ros2 | GPS Sensor | - | Status report for GNSS |
sensor_msgs/NavSatFix |
Ros2 | GPS Sensor | - | GNSS position fix reported llh format |
nmea_msgs/Sentence |
Ros2 | GPS Sensor | - | GNSS fix represented as an NMEA sentence |
geometry_msgs/Point |
Ros2 | - | - | XYZ coordinates |
geometry_msgs/Pose |
Ros2 | - | - | 3D position and orientation (quaternion) |
geometry_msgs/PoseWithCovariance |
Ros2 | - | - | geometry_msgs/Pose with an additional covariance field |
geometry_msgs/Quaternion |
Ros2 | - | - | - |
geometry_msgs/Twist |
Ros2 | - | - | Linear and angular velocity |
geometry_msgs/TwistStamped |
Ros2 | - | lgsvl_msgs/DetectedRadarObject- |
Contains s geometry_msgs/Twist and a std_msgs/Header |
geometry_msgs/TwistWithCovariance |
Ros2 | - | - | Contains a geometry_msgs/Twist with an additional covariance field |
geometry_msgs/Vector3 |
Ros2 | - | - | 3D vector with x, y, z coordinates |
lgsvl_msgs/BoundingBox2D |
Lgsvl | - | - | 2D ground truth bounding box for objects in view of the vehicle |
lgsvl_msgs/BoundingBox3D |
Lgsvl | - | - | 3D ground truth bounding box for objects in view of the vehicle |
lgsvl_msgs/Detection2D |
Lgsvl | - | - | Ground truth detection data for obstacles in 2D |
lgsvl_msgs/Detection2DArray |
Lgsvl | Ground Truth 2D Sensor | - | Array of ground truth values for 2D detections |
lgsvl_msgs/Detection3D |
Lgsvl | - | - | Ground truth detection data for obstacles in 3D |
lgsvl_msgs/Detection3DArray |
Lgsvl | Ground Truth 3D Sensor | - | Array of ground truth values for 3D detections |
lgsvl_msgs/Signal |
Lgsvl | - | - | Ground truth traffic light information |
lgsvl_msgs/SignalArray |
Lgsvl | Signal Sensor | - | Array of lgsvl_msgs/Signal for all traffic lights in view of ego |
lgsvl_msgs/CanBusData |
Lgsvl | CanBus Sensor | - | Collection of information available through CAN bus and published by simulator |
lgsvl_msgs/VehicleControlData |
Lgsvl | Vehicle Control Sensor | - | Vehicle control command simulator can subscribe to |
lgsvl_msgs/VehicleStateData |
Lgsvl | Vehicle State Sensor | - | Feedback from vehicle control command published by simulator which can be used for implementing a feedback controller |
lgsvl_msgs/VehicleOdometry |
Lgsvl | Vehicle Odometry Sensor | - | Velocity and front and rear wheel angle measurements |
lgsvl_msgs/DetectedRadarObject |
Lgsvl | - | - | Representation of an obstacle detected by radar |
lgsvl_msgs/DetectedRadarObjectArray |
Lgsvl | Radar Sensor | - | Array of lgsvl_msgs/DetectedRadarObject published by the simulator |
CyberRT Message Types top#
Latest versions of Apollo (>=3.5) use a middleware called CyberRT. The SVL Simulator provides a bridge for communication with Apollo using CyberRT messages. The supported messages are listed below:
| Message Type | Namespace | Associated Sensor | Default Channel Name | Notes |
|---|---|---|---|---|
apollo.canbus.Chassis |
Cyber | CanBus Sensor | /apollo/canbus/chassis |
CAN bus message published by the simulator |
apollo.control.ControlCommand |
Cyber | CanBus Sensor | /apollo/control |
Vehicle control message the simulator subscribes to |
apollo.localization.Gps |
Cyber | GPS Odometry Sensor | /apollo/sensor/gnss/odometry |
Vehicle world coordinates in UTM as well as orientation and velocity |
apollo.drivers.gnss.GnssBestPose |
Cyber | GPS Sensor | /apollo/sensor/gnss/best_pose |
World coordinates in LLH |
apollo.drivers.gnss.Imu |
Cyber | IMU Sensor | /apollo/sensor/gnss/imu |
Raw IMU sensor measurements |
apollo.drivers.gnss.CorrectedImu |
Cyber | IMU Sensor | /apollo/sensor/gnss/corrected_imu |
Corrected IMU measurements along with orientation |
apollo.drivers.gnss.InsStat |
Cyber | GPS-INS Status | /apollo/sensor/gnss/ins_stat |
INS Status |
apollo.drivers.ContiRadar |
Cyber | Radar Sensor | /apollo/sensor/conti_radar |
Continental radar messages |
apollo.drivers.PointCloud |
Cyber | LiDAR Sensor | /apollo/sensor/lidar128/compensator/PointCloud2 |
Compensated LiDAR pointcloud message |
apollo.drivers.Image |
Cyber | Camera Sensor | /apollo/sensor/camera/front_12mm/image |
images from RGB camera |
apollo.drivers.CompressedImage |
Cyber | Camera Sensor | /apollo/sensor/camera/front_12mm/image/compressed |
Compressed (jpg encoded) images from RGB camera |
apollo.perception.PerceptionObstacles |
Cyber | Ground Truth 3D Sensor | /apollo/perception/obstacles |
List of detected obstacles used in modular testing to replace the perception module |
apollo.perception.TrafficLightDetection |
Cyber | Signal Sensor | /apollo/perception/traffic_light |
List of detected traffic lights and their status used in modular testing to replace the perception module |