Closed lethal233 closed 3 months ago
In Autoware Docker, remember to source install/setup.bash
Inspect ROS topics:
ros2 topic info <topic_name>
If you want to list all publishers and subscribers in detail, use:
ros2 topic info --v <topic_name>
To see the information published in the topic:
ros2 launch scenario_test_runner scenario_test_runner.launch.py \
architecture_type:=awf/universe \
record:=false \
scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' \
sensor_model:=sample_sensor_kit \
vehicle_model:=sample_vehicle
ros2 topic echo <topic_name>
ros2 topic ech/planning/scenario_planning/trajectory
for example):
- time_from_start:
sec: 0
nanosec: 0
pose:
position:
x: 3790.567281193354
y: 73810.59814503009
z: -2.7922909968937697
orientation:
x: 0.002396582037636447
y: -0.009927773817067928
z: 0.23464891275807337
w: 0.9720265343307394
longitudinal_velocity_mps: 0.0
lateral_velocity_mps: 0.0
acceleration_mps2: 0.10000000149011612
heading_rate_rps: 0.0
front_wheel_angle_rad: 0.0
rear_wheel_angle_rad: 0.0
sora@71722e36d87c:~/Desktop/shilonl/autoware$ ros2 topic echo /planning/hazard_lights_cmd
---
stamp:
sec: 1706048508
nanosec: 258304479
command: 1
---
stamp:
sec: 1706048508
nanosec: 359006121
command: 1
---
stamp:
sec: 1706048508
nanosec: 459840986
command: 1
---
stamp:
sec: 1706048508
nanosec: 561205923
command: 1
---
stamp:
sec: 1706048508
nanosec: 660190346
command: 1
---
stamp:
sec: 1706048508
nanosec: 759686456
command: 1
References:
Procedures: