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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