ROS2 topic list
The following is a summary of the ROS2 topics that the AWSIM node subscribes to and publishes on.
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.
List of subscribers
Category | Topic | Message type | frame_id |
Hz |
QoS |
---|---|---|---|---|---|
Control |
|||||
Ackermann Control | /control/command/control_cmd |
autoware_auto_control_msgs/AckermannControlCommand |
- | 60 |
Reliable ,TransientLocal ,KeepLast/1 |
Gear | /control/command/gear_cmd |
autoware_auto_vehicle_msgs/GearCommand |
- | 10 |
Reliable ,TransientLocal ,KeepLast/1 |
Turn Indicators | /control/command/turn_indicators_cmd |
autoware_auto_vehicle_msgs/TurnIndicatorsCommand |
- | 10 |
Reliable ,TransientLocal ,KeepLast/1 |
Hazard Lights | /control/command/hazard_lights_cmd |
autoware_auto_vehicle_msgs/HazardLightsCommand |
- | 10 |
Reliable ,TransientLocal ,KeepLast/1 |
Emergency | /control/command/emergency_cmd |
tier4_vehicle_msgs/msg/VehicleEmergencyStamped |
- | 60 |
Reliable ,TransientLocal ,KeepLast/1 |
Control mode |
|||||
Engage | /vehicle/engage |
autoware_auto_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_auto_vehicle_msgs/VelocityReport |
base_line |
30 |
Reliable ,Volatile ,Keep last/1 |
Steering | /vehicle/status/steering_status |
autoware_auto_vehicle_msgs/SteeringReport |
- | 30 |
Reliable ,Volatile ,Keep last/1 |
Control Mode | /vehicle/status/control_mode |
autoware_auto_vehicle_msgs/ControlModeReport |
- | 30 |
Reliable ,Volatile ,Keep last/1 |
Gear | /vehicle/status/gear_status |
autoware_auto_vehicle_msgs/GearReport |
- | 30 |
Reliable ,Volatile ,Keep last/1 |
Turn Indicators | /vehicle/status/turn_indicators_status |
autoware_auto_vehicle_msgs/TurnIndicatorsReport |
- | 30 |
Reliable ,Volatile ,Keep last/1 |
Hazard Lights | /vehicle/status/hazard_lights_status |
autoware_auto_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 |