How Autoware is simulated in Gazebo

[Napolleon4]

Hello, I am using Ros2 based Autoware and I am trying to simulate it in Gazebo, but I could not find a way, can you please help?

[hakuturu583]

Currently, I think Autoware does not officially support gazebo.
But other simulators including open source simulator support Autoware.

Please check this document.
https://autowarefoundation.github.io/autoware-documentation/main/tutorials/

[TZECHIN6]

For gazebo to use ackermann like control, i believe libgazebo_ros_ackermann_drive should be included in the gazebo sim, secondly based on the plugin requirement, it requires extra description for each wheel joint and steering joint, which autoware doesnt publish. Thus, you might create a extra robot description for publish those joint and links.

      <front_left_joint>fr_left_joint</front_left_joint>
      <front_right_joint>fr_right_joint</front_right_joint>
      <rear_left_joint>re_left_joint</rear_left_joint>
      <rear_right_joint>re_right_joint</rear_right_joint>
      <left_steering_joint>fr_steer_left_joint</left_steering_joint>
      <right_steering_joint>fr_steer_right_joint</right_steering_joint>
      <steering_wheel_joint>front_steer_joint</steering_wheel_joint>