Configuring Localization Topics

This section describes properties for configuring localization topics that scenario_simulator_v2 publishes to Autoware.

Parameter file

Localization topics are configurable from the ROS 2 parameter file given to the launch argument parameter_file_path of scenario_test_runner. The default value of parameter_file_path is the path to a sample parameter file.

All parameters that can be specified and their default values are shown in the sample parameter file. In practice, it is not necessary to specify all parameters except for some that are mandatory. In that case, the simulator will behave as if similar default values had been specified.

Most parameters should have their uses understood just by looking at the sample parameter file or by reading the comments in the file. Below we discuss some parameters that require additional detailed explanation.

Name	Value	Default	Description
<topic-name>.version	An int type value in YYYYMMDD format	None (mandatory)	Suffix of scenario_test_runner launch argument architecture_type, used to maintain backward compatibility of the simulator when changing the Autoware interface.