ROS Helper Nodes for utilising LGSVL Simulator in Autonomous Vehicles Development

• Ground Truth Objects: Convert lgsvl 3D ground truth objects to autoware and jsk_recognition messages and visualize them in Rviz
• Vehicle Status Publishing: The ego vehicle's Can Bus data are extracted from the lgsvl simulator and published to ROS
• Map Format Supports: Support pointcloud map, lanelet2 map, vector map formats
• Global Planning: Provide Global Planning in lanelet2 map format (Issue discovered, fixing...)
• Joystick Control: Drive in the Simulator with a joystick (currently support Xbox, Logitech F710 joysticks, and control settings like Forza Horizon, Japan Hand, USA Hand)
• Vehicle State Control: Control the Ego Vehicle's State with lgsvl_msgs::VehicleStateData message (including control of all the lights, blinkers, wipers, etc)
• Vehicle Motion Control: Control the Ego Vehicle's Motion with lgsvl_msgs::VehicleControlData message (with Reversing Enabled)
• Vehicle Model: Display the ego vehicle model in Rviz

TODOs

• feat: Packing functions into this pkg
• feat: 2D Ground Truth Objects
• feat: Support for Other Sensors
• feat: Relocalization?

Known Issues

• BorregasAve lanelet2 map contains minor connection errors
• PCD Map stays idle during driving (suspected to be the publishing rate issue)

• lanelet2
• lgsvl-msgs
• autoware-msgs
• jsk-recognition-msgs

# clone the repo
cd catkin_ws/src
git clone https://github.com/SS47816/lgsvl_utils.git

# install dependencies & build 
cd ..
rosdep install --from-paths src --ignore-src -r -y
catkin_make
source devel/setup.bash

Step 1: Download LGSVL Simulator and register an account

Step 2: Select a the UT Lexus Vehicle and upload the sensor configuration provided in lgsvl_utils/lgsvl_assets/sensor_config/[Custom] Autoware AI.json

Step 3: Select the BorregasAve Map and start the simulation

Step 4: Launch the nodes in this lgsvl_utils pkg using the lgsvl_utils/launch/lgsvl_borregas.launch

# launch the all the nodes on the example BorregasAve Map
roslaunch lgsvl_utils lgsvl_borregas.launch 

You are welcome contributing to the package by opening a pull-request

We are following: Google C++ Style Guide, C++ Core Guidelines, and ROS C++ Style Guide

MIT License