ROS2 topic & service list
Ros2ForUnity
AWSIM works with ROS2 thanks to the use of Ros2ForUnity - read the details here.
If you want to generate a custom message to allow it to be used in AWSIM please read this tutorial.
ROS2 topic list
List of subscribers
| Category | Topic | Message type | frame_id |
Hz |
QoS |
|---|---|---|---|---|---|
Control |
|||||
| Ackermann Control | /control/command/control_cmd |
autoware_control_msgs/Control |
- | 60 |
Reliable,TransientLocal,KeepLast/1 |
| Gear | /control/command/gear_cmd |
autoware_vehicle_msgs/GearCommand |
- | 10 |
Reliable,TransientLocal,KeepLast/1 |
| Turn Indicators | /control/command/turn_indicators_cmd |
autoware_vehicle_msgs/TurnIndicatorsCommand |
- | 10 |
Reliable,TransientLocal,KeepLast/1 |
| Hazard Lights | /control/command/hazard_lights_cmd |
autoware_vehicle_msgs/HazardLightsCommand |
- | 10 |
Reliable,TransientLocal,KeepLast/1 |
| Emergency | /control/command/emergency_cmd |
tier4_vehicle_msgs/VehicleEmergencyStamped |
- | 60 |
Reliable,TransientLocal,KeepLast/1 |
Control mode |
|||||
| Engage | /vehicle/engage |
autoware_vehicle_msgs/Engage |
- | - | Reliable,TransientLocal,KeepLast/1 |
List of publishers
| Category | Topic | Message type | frame_id |
Hz |
QoS |
|---|---|---|---|---|---|
Clock |
|||||
| Clock | /clock |
rosgraph_msgs/Clock |
- | 100 |
Best effort,Volatile,Keep last/1 |
Sensors |
|||||
| Camera | /sensing/camera/traffic_light/camera_info |
sensor_msgs/CameraInfo |
traffic_light_left_camera/camera_link |
10 |
Best effort,Volatile,Keep last/1 |
| Camera | /sensing/camera/traffic_light/image_raw |
sensor_msgs/Image |
traffic_light_left_camera/camera_link |
10 |
Best effort,Volatile,Keep last/1 |
| GNSS | /sensing/gnss/pose |
geometry_msgs/Pose |
gnss_link |
1 |
Reliable,Volatile,Keep last/1 |
| GNSS | /sensing/gnss/pose_with_covariance |
geometry_msgs/PoseWithCovarianceStamped |
gnss_link |
1 |
Reliable,Volatile,Keep last/1 |
| IMU | /sensing/imu/tamagawa/imu_raw |
sensor_msgs/Imu |
tamagawa/imu_link |
30 |
Reliable,Volatile,Keep last/1000 |
| Top LiDAR | /sensing/lidar/top/pointcloud_raw |
sensor_msgs/PointCloud2 |
sensor_kit_base_link |
10 |
Best effort,Volatile,Keep last/5 |
| Top LiDAR | /sensing/lidar/top/pointcloud_raw_ex |
sensor_msgs/PointCloud2 |
sensor_kit_base_link |
10 |
Best effort,Volatile,Keep last/5 |
Vehicle Status |
|||||
| Velocity | /vehicle/status/velocity_status |
autoware_vehicle_msgs/VelocityReport |
base_line |
30 |
Reliable,Volatile,Keep last/1 |
| Steering | /vehicle/status/steering_status |
autoware_vehicle_msgs/SteeringReport |
- | 30 |
Reliable,Volatile,Keep last/1 |
| Control Mode | /vehicle/status/control_mode |
autoware_vehicle_msgs/ControlModeReport |
- | 30 |
Reliable,Volatile,Keep last/1 |
| Gear | /vehicle/status/gear_status |
autoware_vehicle_msgs/GearReport |
- | 30 |
Reliable,Volatile,Keep last/1 |
| Turn Indicators | /vehicle/status/turn_indicators_status |
autoware_vehicle_msgs/TurnIndicatorsReport |
- | 30 |
Reliable,Volatile,Keep last/1 |
| Hazard Lights | /vehicle/status/hazard_lights_status |
autoware_vehicle_msgs/HazardLightsReport |
- | 30 |
Reliable,Volatile,Keep last/1 |
Ground Truth |
|||||
| Pose | /awsim/ground_truth/vehicle/pose |
geometry_msgs/PoseStamped |
base_link |
100 |
Reliable,Volatile,Keep last/1 |
ROS2 service list
| Category | Service | Message type | client or server |
|---|---|---|---|
| vehicle | input/control_mode_request |
autoware_vehicle_msgs/srv/ControlModeCommand |
server |