Example JSON Configuration for an Autoware Auto Vehicle #

Bridge Type top#

ROS2

Published Topics top#

Topic	Sensor Name
/lgsvl/state_report	CAN Bus
/gnss/fix	GPS
/lgsvl/gnss_odom	GPS Odometry
/imu/imu_raw	IMU
/lidar_front/points_raw	LidarFront
/lidar_rear/points_raw	LidarRear
/lgsvl/clock	Simulation Clock

Subscribed Topics top#

Topic	Sensor Name
/lgsvl/vehicle_control_cmd	Autoware Car Control
/lgsvl/vehicle_state_cmd	Autoware Auto Vehicle State

Complete JSON Configuration top#

[
  {
    "type": "CanBusSensor",
    "name": "CAN Bus",
    "params": {
      "Frequency": 10,
      "Topic": "/lgsvl/state_report"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "GpsSensor",
    "name": "GPS",
    "params": {
      "Frequency": 12.5,
      "Topic": "/gnss/fix",
      "Frame": "gnss",
      "IgnoreMapOrigin": true
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "GpsOdometrySensor",
    "name": "GPS Odometry",
    "params": {
      "Frequency": 30.0,
      "Topic": "/lgsvl/gnss_odom",
      "Frame": "odom",
      "ChildFrame": "base_link",
      "IgnoreMapOrigin": true
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "ImuSensor",
    "name": "IMU",
    "params": {
      "Topic": "/imu/imu_raw",
      "Frame": "imu"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "LidarSensor",
    "name": "LidarFront",
    "params": {
      "LaserCount": 16,
      "MinDistance": 2.0,
      "MaxDistance": 100,
      "RotationFrequency": 10,
      "MeasurementsPerRotation": 360,
      "FieldOfView": 20,
      "CenterAngle": 0,
      "Compensated": true,
      "PointColor": "#ff000000",
      "Topic": "/lidar_front/points_raw",
      "Frame": "lidar_front"
    },
    "transform": {
      "x": 0.022,
      "y": 1.49,
      "z": 1.498,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "LidarSensor",
    "name": "LidarRear",
    "params": {
      "LaserCount": 16,
      "MinDistance": 2.0,
      "MaxDistance": 100,
      "RotationFrequency": 10,
      "MeasurementsPerRotation": 360,
      "FieldOfView": 20,
      "CenterAngle": 0,
      "Compensated": true,
      "PointColor": "#ff000000",
      "Topic": "/lidar_rear/points_raw",
      "Frame": "lidar_rear"
    },
    "transform": {
      "x": 0.022,
      "y": 1.49,
      "z": 0.308,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "LGSVLControlSensor",
    "name": "Autoware Car Control",
    "params": {
      "Topic": "/lgsvl/vehicle_control_cmd"
    }
  },
  {
    "type": "VehicleStateSensor",
    "name": "Autoware Auto Vehicle State",
    "params": {
      "Topic": "/lgsvl/vehicle_state_cmd"
    }
  },
  {
    "type": "KeyboardControlSensor",
    "name": "Keyboard Car Control"
  },
  {
    "type": "ClockSensor",
    "name": "Simulation Clock",
    "params": {
      "Topic": "/lgsvl/clock"
    }
  }
]