Want to connect OSSDC/LGSVL simulator with autoware universe

[chavankunal]

Hello,
I want to connect external simualtor with autoware universe. I am using ossdc/lgsvl simulator with autoware auto. It is connected through ros2-lgsvl bridge.
Now i want to use autoware universe with it. How can i connect ossdc or external simulator with autoware universe?
Thank You.

[mitsudome-r]

Currently, Autoware Universe is connected with AWSIM simulator developed by Robotec.ai and TIER IV.
In theory, if you can modify ros2-lgsvl bridge to support ROS messages by AWSIM, then it should be to connect with Autoware Universe. You can check out pub/sub topics of AWSIM in this documentation: https://tier4.github.io/AWSIM/Components/ROS2/ROS2TopicList/