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| # ROS2 topic list | ||
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| The following is a summary of the *ROS2* topics that the *AWSIM* node subscribes to and publishes on. | ||
| # ROS2 topic and service list | ||
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| !!! Note "Ros2ForUnity" | ||
| *AWSIM* works with *ROS2* thanks to the use of `Ros2ForUnity` - read the details [here](../ROS2ForUnity/).<br> | ||
| If you want to generate a custom message to allow it to be used in *AWSIM* please read this [tutorial](../AddACustomROS2Message/). | ||
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| ## ROS2 topic list | ||
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| ## List of subscribers | ||
| | Category | Topic | Message type | `frame_id` | `Hz` | `QoS` | | ||
| | :---------------------------------------------------: | :------------------------------------- | :--------------------------------------------: | :--------: | :---: | :------------------------------------------------: | | ||
| | <p style="color:rgb(0,255,255);">**Control**</p> | | | | | | | ||
| | Ackermann Control | `/control/command/control_cmd` | `autoware_control_msgs/Control` | - | `60` | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` | | ||
| | Gear | `/control/command/gear_cmd` | `autoware_vehicle_msgs/GearCommand` | - | `10` | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` | | ||
| | Turn Indicators | `/control/command/turn_indicators_cmd` | `autoware_vehicle_msgs/TurnIndicatorsCommand` | - | `10` | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` | | ||
| | Hazard Lights | `/control/command/hazard_lights_cmd` | `autoware_vehicle_msgs/HazardLightsCommand` | - | `10` | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` | | ||
| | Emergency | `/control/command/emergency_cmd` | `tier4_vehicle_msgs/VehicleEmergencyStamped` | - | `60` | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` | | ||
| | <p style="color:rgb(0,144,255);">**Control mode**</p> | | | | | | | ||
| | Engage | `/vehicle/engage` | `autoware_vehicle_msgs/Engage` | - | - | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` | | ||
| ### List of subscribers | ||
| | Category | Topic | Message type | `frame_id` | `Hz` | `QoS` | | ||
| | :---------------------------------------------------: | :------------------------------------- | :-------------------------------------------: | :--------: | :---: | :------------------------------------------------: | | ||
| | <p style="color:rgb(0,255,255);">**Control**</p> | | | | | | | ||
| | Ackermann Control | `/control/command/control_cmd` | `autoware_control_msgs/Control` | - | `60` | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` | | ||
| | Gear | `/control/command/gear_cmd` | `autoware_vehicle_msgs/GearCommand` | - | `10` | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` | | ||
| | Turn Indicators | `/control/command/turn_indicators_cmd` | `autoware_vehicle_msgs/TurnIndicatorsCommand` | - | `10` | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` | | ||
| | Hazard Lights | `/control/command/hazard_lights_cmd` | `autoware_vehicle_msgs/HazardLightsCommand` | - | `10` | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` | | ||
| | Emergency | `/control/command/emergency_cmd` | `tier4_vehicle_msgs/VehicleEmergencyStamped` | - | `60` | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` | | ||
| | <p style="color:rgb(0,144,255);">**Control mode**</p> | | | | | | | ||
| | Engage | `/vehicle/engage` | `autoware_vehicle_msgs/Engage` | - | - | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` | | ||
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| ## List of publishers | ||
| ### List of publishers | ||
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| | Category | Topic | Message type | `frame_id` | `Hz` | `QoS` | | ||
| | :-----------------------------------------------------: | :------------------------------------------ | :-----------------------------------------------: | :-------------------------------------: | :---: | :--------------------------------------------: | | ||
| | <p style="color:rgb(0,144,255);">**Clock**</p> | | | | | | | ||
| | Clock | `/clock` | `rosgraph_msgs/Clock` | - | `100` | `Best effort`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | <p style="color:rgb(0,144,255);">**Sensors**</p> | | | | | | | ||
| | Camera | `/sensing/camera/traffic_light/camera_info` | `sensor_msgs/CameraInfo` | `traffic_light_left_camera/camera_link` | `10` | `Best effort`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | Camera | `/sensing/camera/traffic_light/image_raw` | `sensor_msgs/Image` | `traffic_light_left_camera/camera_link` | `10` | `Best effort`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | GNSS | `/sensing/gnss/pose` | `geometry_msgs/Pose` | `gnss_link` | `1` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | GNSS | `/sensing/gnss/pose_with_covariance` | `geometry_msgs/PoseWithCovarianceStamped ` | `gnss_link` | `1` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | IMU | `/sensing/imu/tamagawa/imu_raw` | `sensor_msgs/Imu` | `tamagawa/imu_link` | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1000` | | ||
| | Top LiDAR | `/sensing/lidar/top/pointcloud_raw` | `sensor_msgs/PointCloud2` | `sensor_kit_base_link` | `10` | `Best effort`,<br>`Volatile`,<br>`Keep last/5` | | ||
| | Top LiDAR | `/sensing/lidar/top/pointcloud_raw_ex` | `sensor_msgs/PointCloud2` | `sensor_kit_base_link` | `10` | `Best effort`,<br>`Volatile`,<br>`Keep last/5` | | ||
| | <p style="color:rgb(0,255,144);">**Vehicle Status**</p> | | | | | | | ||
| | Velocity | `/vehicle/status/velocity_status` | `autoware_vehicle_msgs/VelocityReport` | `base_line` | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | Steering | `/vehicle/status/steering_status` | `autoware_vehicle_msgs/SteeringReport` | - | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | Control Mode | `/vehicle/status/control_mode` | `autoware_vehicle_msgs/ControlModeReport` | - | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | Gear | `/vehicle/status/gear_status` | `autoware_vehicle_msgs/GearReport` | - | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | Turn Indicators | `/vehicle/status/turn_indicators_status` | `autoware_vehicle_msgs/TurnIndicatorsReport` | - | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | Hazard Lights | `/vehicle/status/hazard_lights_status` | `autoware_vehicle_msgs/HazardLightsReport` | - | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | <p style="color:rgb(144,255,144);">**Ground Truth**</p> | | | | | | | ||
| | Pose | `/awsim/ground_truth/vehicle/pose` | `geometry_msgs/PoseStamped` | `base_link` | `100` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | Category | Topic | Message type | `frame_id` | `Hz` | `QoS` | | ||
| | :-----------------------------------------------------: | :------------------------------------------ | :------------------------------------------: | :-------------------------------------: | :---: | :--------------------------------------------: | | ||
| | <p style="color:rgb(0,144,255);">**Clock**</p> | | | | | | | ||
| | Clock | `/clock` | `rosgraph_msgs/Clock` | - | `100` | `Best effort`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | <p style="color:rgb(0,144,255);">**Sensors**</p> | | | | | | | ||
| | Camera | `/sensing/camera/traffic_light/camera_info` | `sensor_msgs/CameraInfo` | `traffic_light_left_camera/camera_link` | `10` | `Best effort`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | Camera | `/sensing/camera/traffic_light/image_raw` | `sensor_msgs/Image` | `traffic_light_left_camera/camera_link` | `10` | `Best effort`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | GNSS | `/sensing/gnss/pose` | `geometry_msgs/Pose` | `gnss_link` | `1` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | GNSS | `/sensing/gnss/pose_with_covariance` | `geometry_msgs/PoseWithCovarianceStamped ` | `gnss_link` | `1` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | IMU | `/sensing/imu/tamagawa/imu_raw` | `sensor_msgs/Imu` | `tamagawa/imu_link` | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1000` | | ||
| | Top LiDAR | `/sensing/lidar/top/pointcloud_raw` | `sensor_msgs/PointCloud2` | `sensor_kit_base_link` | `10` | `Best effort`,<br>`Volatile`,<br>`Keep last/5` | | ||
| | Top LiDAR | `/sensing/lidar/top/pointcloud_raw_ex` | `sensor_msgs/PointCloud2` | `sensor_kit_base_link` | `10` | `Best effort`,<br>`Volatile`,<br>`Keep last/5` | | ||
| | <p style="color:rgb(0,255,144);">**Vehicle Status**</p> | | | | | | | ||
| | Velocity | `/vehicle/status/velocity_status` | `autoware_vehicle_msgs/VelocityReport` | `base_line` | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | Steering | `/vehicle/status/steering_status` | `autoware_vehicle_msgs/SteeringReport` | - | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | Control Mode | `/vehicle/status/control_mode` | `autoware_vehicle_msgs/ControlModeReport` | - | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | Gear | `/vehicle/status/gear_status` | `autoware_vehicle_msgs/GearReport` | - | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | Turn Indicators | `/vehicle/status/turn_indicators_status` | `autoware_vehicle_msgs/TurnIndicatorsReport` | - | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | Hazard Lights | `/vehicle/status/hazard_lights_status` | `autoware_vehicle_msgs/HazardLightsReport` | - | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` | | ||
| | <p style="color:rgb(144,255,144);">**Ground Truth**</p> | | | | | | | ||
| | Pose | `/awsim/ground_truth/vehicle/pose` | `geometry_msgs/PoseStamped` | `base_link` | `100` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` | | ||
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| ## ROS2 service list | ||
| | Category | Service | Message type | client or server | | ||
| | :------: | :--------------------------- | :--------------------------------------------: | :--------------: | | ||
| | vehicle | `input/control_mode_request` | `autoware_vehicle_msgs/srv/ControlModeCommand` | server | |