[LGSVL - 2] Establishment of the AD Simulation Environment

1. Configuration of PC-2 (contains AD Solution)

 - Ubuntu 18.04.5

 - ROS2(Eloquent)

 - NVIDIA Driver 440

2. How to receive the data from the LGSVL simulator

[Citation]

www.lgsvlsimulator.com/docs/ros2-bridge/

www.lgsvlsimulator.com/docs/lgsvl-msgs/

 

A. Installation of "lgsvl_msgs" in ROS2

 - Installation

sudo apt update sudo apt install ros-eloquent-lgsvl_msgs

 - Building from source

git clone https://github.com/lgsvl/lgsvl_msgs.git cd lgsvl_msgs colcon build source install/setup.bash

B. Installation of ROS2 Bridge

- You don't need "ros2-web-bridge", because,

"The LGSVL Simulator can publish and subscribe to ROS 2 messages by connecting to the ROS2 LGSVL Bridge. This custom, native ROS2 bridge yields higher performance than the previously used ros2-web-bridge."

 

- Installing Colcon

sudo apt update sudo apt install python3-colcon-common-extensions

- Installing Boost

sudo apt install libboost-all-dev

- Installing the ROS2 LGSVL Bridge

git clone https://github.com/lgsvl/ros2-lgsvl-bridge.git source /opt/ros/eloquent/setup.bash cd ros2-lgsvl-bridge git checkout eloquent-devel colcon build --cmake-args '-DCMAKE_BUILD_TYPE=Release'

- Running the ROS2 LGSVL Bridge

source ros2-lgsvl-bridge/install/setup.bash lgsvl_bridge

 

- If the LGSVL simulator PC and the algorithm PC are connected, you can see topics that the LGSVL transmits.

ros2 topic list