ROS2 topic list

The tables of topics AWSIM publishes and subscribes from can be found below. The list can be extended by the user for the specific use case. To see how to custom messages type for ROS2, please refer to Add custom ROS2 message type document.

Publisher list

category	topic	msg	frame_id	hz	QoS
clock	`/clock`	`rosgraph_msgs/Clock`	none	`100`	`Best effort`, `Volatile`, `Keep last/1`
camera	`/sensing/camera/traffic_light/camera_info`	`sensor_msgs/CameraInfo`	`traffic_light_left_camera/camera_link`	`10`	`Best effort`, `Volatile`, `Keep last/1`
camera	`/sensing/camera/traffic_light/image_raw`	`sensor_msgs/Image`	`traffic_light_left_camera/camera_link`	`10`	`Best effort`, `Volatile`, `Keep last/1`
gnss	`/sensing/gnss/pose`	`geometry_msgs/Pose`	`gnss_link`	`1`	`Reliable`, `Volatile`, `Keep last/1`
gnss	`/sensing/gnss/pose_with_covariance`	`geometry_msgs/PoseWithCovarianceStamped`	`gnss_link`	`1`	`Reliable`, `Volatile`, `Keep last/1`
imu	`/sensing/imu/tamagawa/imu_raw`	`sensor_msgs/Imu`	`tamagawa/imu_link`	`30`	`Reliable`, `Volatile`, `Keep last/1000`
lidar	`/sensing/lidar/top/pointcloud_raw`	`sensor_msgs/PointCloud2`	`sensor_kit_base_link`	`10`	`Best effort`, `Volatile`, `Keep last/5`
lidar	`/sensing/lidar/top/pointcloud_raw_ex`	`sensor_msgs/PointCloud2`	`sensor_kit_base_link`	`10`	`Best effort`, `Volatile`, `Keep last/5`
vehicle status	`/vehicle/status/control_mode`	`autoware_auto_vehicle_msgs/ControlModeReport`	none	`30`	`Reliable`, `Volatile`, `Keep last/1`
vehicle status	`/vehicle/status/gear_status`	`autoware_auto_vehicle_msgs/GearReport`	none	`30`	`Reliable`, `Volatile`, `Keep last/1`
vehicle status	`/vehicle/status/steering_status`	`autoware_auto_vehicle_msgs/SteeringReport`	none	`30`	`Reliable`, `Volatile`, `Keep last/1`
vehicle status	`/vehicle/status/turn_indicators_status`	`autoware_auto_vehicle_msgs/TurnIndicatorsReport`	none	`30`	`Reliable`, `Volatile`, `Keep last/1`
vehicle status	`/vehicle/status/hazard_lights_status`	`autoware_auto_vehicle_msgs/HazardLightsReport`	none	`30`	`Reliable`, `Volatile`, `Keep last/1`
vehicle status	`/vehicle/status/velocity_status`	`autoware_auto_vehicle_msgs/VehicleReport`	none	`30`	`Reliable`, `Volatile`, `Keep last/1`
ground_truth	`/awsim/ground_truth/vehicle/pose`	`geometry_msgs/PoseStamped`	`base_link`	`100`	`Reliable`, `Volatile`, `Keep last/1`

Subscriber list

category	topic	msg	frame_id	hz	QoS
control	`/control/command/turn_indicators_cmd`	`autoware_auto_vehicle_msgs/TurnIndicatorsCommand`	none	`10`	`Reliable`, `TransientLocal`, `KeepLast/1`
control	`/control/command/hazard_lights_cmd`	`autoware_auto_vehicle_msgs/HazardLightsCommand`	none	`10`	`Reliable`, `TransientLocal`, `KeepLast/1`
control	`/control/command/control_cmd`	`autoware_auto_control_msgs/AckermannControlCommand`	none	`60`	`Reliable`, `TransientLocal`, `KeepLast/1`
control	`/control/command/gear_cmd`	`autoware_auto_vehicle_msgs/GearCommand`	none	`10`	`Reliable`, `TransientLocal`, `KeepLast/1`
control	`/control/command/emergency_cmd`	`tier4_vehicle_msgs/msg/VehicleEmergencyStamped`	none	`60`	`Reliable`, `TransientLocal`, `KeepLast/1`