Add support for autoware_auto_msgs in LGSVL
Description
The LGSVL simulator should have first class ROS 2 support for the following messages:
- Input: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/blob/master/src/messages/autoware_auto_msgs/msg/VehicleControlCommand.msg
- Input: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/blob/master/src/messages/autoware_auto_msgs/msg/VehicleStateCommand.msg (Some fields and constants might be subject to change)
- Output: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/blob/master/src/messages/autoware_auto_msgs/msg/VehicleStateReport.msg (some fields and constants might be subject to change
- Output: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/blob/master/src/messages/autoware_auto_msgs/msg/VehicleOdometry.msg
Purpose
To integrate with the simulator, currently a horrible workaround is required involving:
graph LR
A[vehicle_interface]
B[ros1_bridge]
C[websocket]
D[LGSVL simulator]
A --autoware_msgs/VehicleCmd--> B --> C --> D
Where it should instead be:
graph LR
A[vehicle_interface]
C[websocket]
D[LGSVL simulator]
A --autoware_auto_msgs/VehicleControlCommand --> C --> D
Desired Behavior
Autoware auto messages should work out of the box.
Definition of Done
-
The above stated commands are supported: -
VehicleControlCommand -
VehicleStateCommand -
VehicleOdometry -
VehicleStateReport
-
-
Ideally some plugin-based system would also be available so we don't have to burden the LGE folks to update the LGSVL converters