Example JSON Configuration for an Autoware Vehicle #

Bridge Type top#

ROS

Published Topics top#

Topic	Sensor Name
/nmea_sentence	GPS
/odom	GPS Odometry
/imu_raw	IMU
/points_raw	Lidar
/simulator/camera_node/image/compressed	Main Camera

Subscribed Topics top#

Topic	Sensor Name
/vehicle_cmd	Autoware Car Control

Complete JSON Configuration top#

[
  {
    "type": "GpsSensor",
    "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": "GpsOdometrySensor",
    "name": "GPS Odometry",
    "params": {
      "Frequency": 12.5,
      "Topic": "/odom",
      "Frame": "gps",
      "IgnoreMapOrigin": true
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "ImuSensor",
    "name": "IMU",
    "params": {
      "Topic": "/imu_raw",
      "Frame": "imu"
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "LidarSensor",
    "name": "Lidar",
    "params": {
      "LaserCount": 32,
      "MinDistance": 0.5,
      "MaxDistance": 100,
      "RotationFrequency": 10,
      "MeasurementsPerRotation": 360,
      "FieldOfView": 41.33,
      "CenterAngle": 10,
      "Compensated": true,
      "PointColor": "#ff000000",
      "Topic": "/points_raw",
      "Frame": "velodyne"
    },
    "transform": {
      "x": 0,
      "y": 1.96,
      "z": 1.0510799,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "ColorCameraSensor",
    "name": "Main Camera",
    "params": {
      "Width": 1920,
      "Height": 1080,
      "Frequency": 15,
      "JpegQuality": 75,
      "FieldOfView": 50,
      "MinDistance": 0.1,
      "MaxDistance": 2000,
      "Topic": "/simulator/camera_node/image/compressed",
      "Frame": "camera"
    },
    "transform": {
      "x": 0,
      "y": 1.348,
      "z": 1.219,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "KeyboardControlSensor",
    "name": "Keyboard Car Control"
  },
  {
    "type": "AutowareAiControlSensor",
    "name": "Autoware Car Control",
    "params": {
      "Topic": "/vehicle_cmd"
    }
  }
]