feat(ros_lgsvl_bridge): add autoware_msg and lgsvl_simulator_bridge to ros forder

src/ros/catkin/src/autoware_msgs/CHANGELOG.rst

@@ -0,0 +1,469 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package autoware_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.13.0 (2019-12-03)
+-------------------
+* Adding service message for TF-based TLR
+* Update package.xml files to Format 2.
+* Contributors: Joshua Whitley
+
+1.12.0 (2019-07-12)
+-------------------
+
+1.11.0 (2019-03-21)
+-------------------
+* [Feature] Rebuild decision maker (`#1609 <https://github.com/CPFL/Autoware/issues/1609>`_)
+* Fix license notice in corresponding package.xml
+* Cleanup WaypointState.msg and add sttering_state=STR_BACK (`#1822 <https://github.com/CPFL/Autoware/issues/1822>`_)
+* Initial release of object filter
+* Contributors: Abraham Monrroy, Kenji Funaoka, amc-nu, s-azumi
+
+1.10.0 (2019-01-17)
+-------------------
+* Feature/perception visualization cleanup (`#1648 <https://github.com/CPFL/Autoware/issues/1648>`_)
+  * * Initial commit for visualization package
+  * Removal of all visualization messages from perception nodes
+  * Visualization dependency removal
+  * Launch file modification
+  * * Fixes to visualization
+  * Error on Clustering CPU
+  * Reduce verbosity on markers
+  * intial commit
+  * * Changed to 2 spaces indentation
+  * Added README
+  * Fixed README messages type
+  * 2 space indenting
+  * ros clang format
+  * Publish acceleration and velocity from ukf tracker
+  * Remove hardcoded path
+  * Updated README
+  * updated prototype
+  * Prototype update for header and usage
+  * Removed unknown label from being reported
+  * Updated publishing orientation to match develop
+  * * Published all the trackers
+  * Added valid field for visualization and future compatibility with ADAS ROI filtering
+  * Add simple functions
+  * Refacor code
+  * * Reversed back UKF node to develop
+  * Formatted speed
+  * Refactor codes
+  * Refactor codes
+  * Refactor codes
+  * Refacor codes
+  * Make tracking visualization work
+  * Relay class info in tracker node
+  * Remove dependency to jskbbox and rosmarker in ukf tracker
+  * apply rosclang to ukf tracker
+  * Refactor codes
+  * Refactor codes
+  * add comment
+  * refactor codes
+  * Revert "Refactor codes"
+  This reverts commit 135aaac46e49cb18d9b76611576747efab3caf9c.
+  * Revert "apply rosclang to ukf tracker"
+  This reverts commit 4f8d1cb5c8263a491f92ae5321e5080cb34b7b9c.
+  * Revert "Remove dependency to jskbbox and rosmarker in ukf tracker"
+  This reverts commit 4fa1dd40ba58065f7afacc5e478001078925b27d.
+  * Revert "Relay class info in tracker node"
+  This reverts commit 1637baac44c8d3d414cc069f3af12a79770439ae.
+  * delete dependency to jsk and remove pointcloud_frame
+  * get direction nis
+  * set velocity_reliable true in tracker node
+  * Add divided function
+  * add function
+  * Sanity checks
+  * Relay all the data from input DetectedObject
+  * Divided function work both for immukf and sukf
+  * Add comment
+  * Refactor codes
+  * Pass immukf test
+  * make direction assisted tracking work
+  * Visualization fixes
+  * Refacor codes
+  * Refactor codes
+  * Refactor codes
+  * refactor codes
+  * refactor codes
+  * Refactor codes
+  * refactor codes
+  * Tracker Merging step added
+  * Added launch file support for merging phase
+  * lane assisted with sukf
+  * Refactor codes
+  * Refactor codes
+  * * change only static objects
+  * keep label of the oldest tracker
+  * Static Object discrimination
+  * Non rotating bouding box
+  * no disappear if detector works
+  * Modify removeRedundant a bit
+  * Replacement of JSK visualization for RViz Native Markers
+  * Added Models namespace to visualization
+  * Naming change for matching the perception component graph
+  * * Added 3D Models for different classes in visualization
+  * 2D Rect node visualize_rects added to visualization_package
+* Fix Ndt/NDT naming convention
+* Contributors: Abraham Monrroy Cano, Esteve Fernandez
+
+1.9.1 (2018-11-06)
+------------------
+
+1.9.0 (2018-10-31)
+------------------
+* Moved CAN mesages to autoware_can_msgs
+* Moved configuration messages to autoware_config_msgs
+* [fix] PascalCase messages (`#1408 <https://github.com/CPFL/Autoware/issues/1408>`_)
+  * Switch message files to pascal case
+  * Switch message names to pascal case in Runtime Manager
+  * Switch message names to pascal case in *.yaml
+  * Rename brake_cmd and steer_cmd to BrakeCmd and SteerCmd in main.yaml
+* Feature/compare map filter (`#1559 <https://github.com/CPFL/Autoware/issues/1559>`_)
+  * add compare map filter
+  * add README
+  * add copyright
+  * change default parameter
+  * fix typo
+  * clang-format
+  * Revert "clang-format"
+  This reverts commit 95869328f35f6ed1e918c26901ad36ab9737e466.
+  * retry clang-format
+* Contributors: Esteve Fernandez, YamatoAndo
+
+1.8.0 (2018-08-31)
+------------------
+* Support old behavior of insert static object for obstacle avoidance testing
+  Only one simulated car available in the runtime manager
+  update for copywrite note
+  insert autoware_build_flags to new nodes
+* Feature/std perception msg (`#1418 <https://github.com/CPFL/Autoware/pull/1418>`_)
+  * New standard message definition for the perception nodes
+  * New Detected Object message applied to:
+  * SSD
+  * Integrated RVIZ viewer
+  * External Viewer
+  * modified yolo2 and yolo3, compiles but cuda issues, trying different PC
+  * Boiler plate for range vision fusion node
+  * Added GenColors for Kinetic
+  Typo fixes for yolo2
+  * testing colors in Yolo3
+  * Completed transformation, projection of 3D boxes
+  * Fixed error on negative assignation
+  * code clean up
+  * removed yolo2 and yolo3, replaced by single darknet node. GUI launches yolo3 for now, to change. Pushing to test code on other PC.
+  * Readme updated, added gitignore for data folder.
+  * *Added Runtime manager UI for yolo2, yolo3.
+  *Support tested for TinyYolo v2 and v3
+  * Fusion Vision Range
+  Icons for viewer
+  * Range Vision Fusion node
+  * Indigo cv im read
+  * Indigo compiation fix
+  * Topic renaming according to new spec
+  * Try to fix arm64 stuff
+  * * Added launch file
+  * Added Runtime manager entry
+  * * Added Publication of non fused objects
+  * Fixed topic names
+* add max_scan_range to ConfigNDTMapping/ConfigApproximateNDTMapping
+* Update OpenPlanner libraries (op_planner, op_utitity, op_ros_helpers)
+  Update ring ground filter with latest implementation
+  Update lidar_kf_contour_track with latest implementation
+  Add op_utilities nodes (op_bag_player, op_data_logger, op_pose2tf)
+  Modify autoware_msgs for OpenPlanner use (CloudCluster, DetectedObject, lane, waypoint)
+  Update UI computing.yaml for the new nodes and modifies parameters
+  Update UI sensing.yaml for updated ring_ground_filter params
+* Modify points_concat_filter to support up to 8 lidars
+* Contributors: Abraham Monrroy, Akihito Ohsato, hatem-darweesh, yukikitsukawa
+
+1.7.0 (2018-05-18)
+------------------
+* update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst
+* [Fix] rename packages (`#1269 <https://github.com/CPFL/Autoware/pull/1269>`_)
+  * rename lidar_tracker
+  * Modify pf_lidar_track's cmake file
+  * Refactor code
+  * Rename from euclidean_lidar_tracker to lidar_euclidean_track
+  * Rename from kf_contour_track to lidar_kf_contour_track
+  * Rename from kf_lidar_track to lidar_kf_track, but need some modification in euclidean cluster(Cluster.h)
+  * Rename from pf_lidar_tarck to lidar_pf_track
+  * Rename range_fusion
+  * Rename obj_reproj
+  * Rename euclidean_cluster to lidar_euclidean_cluster_detect
+  * Rename svm_lidar_detect to lidar_svm_detect
+  * Rename kf_lidar_track to lidar_kf_track
+  * Change version 1.6.3 to 1.7.0 in pacakge.xml
+  * Modify CMake so that extrenal header would be loaded
+  * Remove obj_reproj from cv_tracker
+  * Add interface.yaml
+  * Rename road_wizard to trafficlight_recognizer
+  * create common directory
+  * Add lidar_imm_ukf_pda_track
+  * create vision_detector and moved cv
+  * Modify interface.yaml and package.xml
+  * remove dpm_ocv
+  * moved directory
+  * Delete unnecessary launch file
+  * Delete rcnn related file and code
+  * separated dummy_track from cv_tracker
+  * separated klt_track from cv_tracker
+  * Fix a cmake
+  * Remove unnecessary dependency of lidar_euclidean_cluster_detect package
+  * Rename image_segmenter to vision_segment_enet_detect
+  * Remove unnecessary dependency of lidar_svm_detect package
+  * separated kf_track and fix a some compiling issue
+  * move viewers
+  * merge ndt_localizer and icp_localizer, and rename to lidar_localizer
+  * Remove unnecessary dependency of lidar_euclidean_track
+  * moved image lib
+  * add launch
+  * lib move under lidar_tracker
+  * Rename dpm_ttic to vision_dpm_ttic_detect
+  * rename yolo3detector to vision_yolo3_detect
+  * Modify cmake and package.xml in vision_dpm_ttic_detect
+  * moved sourcefiles into nodes dir
+  * moved sourcefiles into nodes dir
+  * Move cv_tracker/data folder and delete cv_tracker/model folder
+  * fix a package file and cmake
+  * Rename yolo2 -> vision_yolo2_detect
+  * fix a package file and cmake
+  * Fix package name of launch file
+  * Rename ssd to vision_ssd_detect
+  * fixed cmake and package for decerese dependencies
+  * remove top packages dir for detection
+  * fixed cmake for cuda
+  * Rename lane_detector to vision_lane_detect
+  * Modify package.xml in lidar-related packages
+  * Remove unnecessary dependencies in lidar_detector and lidar_tracker
+  * Modify computing.yaml for dpm_ttic
+  * Modify dpm_ttic launch file
+  * Remove/Add dependencies to trafficlight_recognizer
+  * Update data folder in dpm_ttic
+  * Modified CMake and package file in dpm_ttic.
+  * Remove src dir in imm_ukf_pda_track
+  * removed unnecessary comments
+  * rename lidar_tracker
+  * Modify pf_lidar_track's cmake file
+  * Refactor code
+  * Rename from euclidean_lidar_tracker to lidar_euclidean_track
+  * Rename from kf_contour_track to lidar_kf_contour_track
+  * Rename from kf_lidar_track to lidar_kf_track, but need some modification in euclidean cluster(Cluster.h)
+  * Rename from pf_lidar_tarck to lidar_pf_track
+  * Rename range_fusion
+  * Rename obj_reproj
+  * Rename road_wizard to trafficlight_recognizer
+  * Rename euclidean_cluster to lidar_euclidean_cluster_detect
+  * Rename svm_lidar_detect to lidar_svm_detect
+  * Rename kf_lidar_track to lidar_kf_track
+  * Change version 1.6.3 to 1.7.0 in pacakge.xml
+  * Modify CMake so that extrenal header would be loaded
+  * Remove obj_reproj from cv_tracker
+  * Add interface.yaml
+  * create common directory
+  * Add lidar_imm_ukf_pda_track
+  * create vision_detector and moved cv
+  * Modify interface.yaml and package.xml
+  * remove dpm_ocv
+  * moved directory
+  * Delete unnecessary launch file
+  * Delete rcnn related file and code
+  * separated dummy_track from cv_tracker
+  * separated klt_track from cv_tracker
+  * Fix a cmake
+  * Remove unnecessary dependency of lidar_euclidean_cluster_detect package
+  * Rename image_segmenter to vision_segment_enet_detect
+  * Remove unnecessary dependency of lidar_svm_detect package
+  * separated kf_track and fix a some compiling issue
+  * move viewers
+  * merge ndt_localizer and icp_localizer, and rename to lidar_localizer
+  * Remove unnecessary dependency of lidar_euclidean_track
+  * moved image lib
+  * add launch
+  * lib move under lidar_tracker
+  * Rename dpm_ttic to vision_dpm_ttic_detect
+  * rename yolo3detector to vision_yolo3_detect
+  * Modify cmake and package.xml in vision_dpm_ttic_detect
+  * moved sourcefiles into nodes dir
+  * moved sourcefiles into nodes dir
+  * Move cv_tracker/data folder and delete cv_tracker/model folder
+  * fix a package file and cmake
+  * Rename yolo2 -> vision_yolo2_detect
+  * fix a package file and cmake
+  * Fix package name of launch file
+  * Rename ssd to vision_ssd_detect
+  * fixed cmake and package for decerese dependencies
+  * remove top packages dir for detection
+  * fixed cmake for cuda
+  * Rename lane_detector to vision_lane_detect
+  * Modify package.xml in lidar-related packages
+  * Remove unnecessary dependencies in lidar_detector and lidar_tracker
+  * Modify computing.yaml for dpm_ttic
+  * Modify dpm_ttic launch file
+  * Remove/Add dependencies to trafficlight_recognizer
+  * Update data folder in dpm_ttic
+  * Modified CMake and package file in dpm_ttic.
+  * Remove src dir in imm_ukf_pda_track
+  * Fix bug for not starting run time manager
+  * Remove invalid dependency
+* Return disable_decision_maker to rosparam
+* Rename class and functions filter->replan
+* Fix message
+* Fix config message path
+* change can_translator
+  - Support to vehicle_status(can intermediate layer)
+  - Separate the can translator and the odometry.
+  - Support to output vehicle autonomous mode
+* add vehicle_status msg
+* Add end point offset option
+* Fix/cmake cleanup (`#1156 <https://github.com/CPFL/Autoware/pull/1156>`_)
+  * Initial Cleanup
+  * fixed also for indigo
+  * kf cjeck
+  * Fix road wizard
+  * Added travis ci
+  * Trigger CI
+  * Fixes to cv_tracker and lidar_tracker cmake
+  * Fix kitti player dependencies
+  * Removed unnecessary dependencies
+  * messages fixing for can
+  * Update build script travis
+  * Travis Path
+  * Travis Paths fix
+  * Travis test
+  * Eigen checks
+  * removed unnecessary dependencies
+  * Eigen Detection
+  * Job number reduced
+  * Eigen3 more fixes
+  * More Eigen3
+  * Even more Eigen
+  * find package cmake modules included
+  * More fixes to cmake modules
+  * Removed non ros dependency
+  * Enable industrial_ci for indidog and kinetic
+  * Wrong install command
+  * fix rviz_plugin install
+  * FastVirtualScan fix
+  * Fix Qt5 Fastvirtualscan
+  * Fixed qt5 system dependencies for rosdep
+  * NDT TKU Fix catkin not pacakged
+  * Fixes from industrial_ci
+* add ctrl_cmd/cmd/linear_acceletion
+* Correspond to new version of waypoint_csv(for decision_maker)
+* fix runtime_manager layout and description
+* Add config_callback for online waypoint tuning
+* Separate configration for speed planning against obstacle/stopline (Note: no logics changed)
+* parametrize detection area
+* add ratio for stopline target
+* Add a transition to stopstate to re-start only manually
+* add new param for decision_maker
+* Contributors: Abraham Monrroy, Akihito Ohsato, Dejan Pangercic, Kosuke Murakami, Yamato ANDO, Yuma, Yuma Nihei, Yusuke FUJII
+
+1.6.3 (2018-03-06)
+------------------
+
+1.6.2 (2018-02-27)
+------------------
+* Update CHANGELOG
+* Contributors: Yusuke FUJII
+
+1.6.1 (2018-01-20)
+------------------
+* update CHANGELOG
+* Contributors: Yusuke FUJII
+
+1.6.0 (2017-12-11)
+------------------
+* Prepare release for 1.6.0
+* Added support to publish result of multiple traffic signals according to the lane
+  VectorMapServer Support to publish signals on current lane if current_pose and final_waypoints available
+* Initial modifications to feat_proj, tlr, context and vector_map loader, server and client to support different types of traffic signals
+* - Add new Node for object polygon representation and tracking (kf_contour_tracker)
+  - Add launch file and tune tracking parameters
+  - Test with Moriyama rosbag
+* Fixed:
+  - callback
+  - laneshift
+  Added:
+  - publisher for laneid
+  - new lanechange flag
+  - new param for decisionMaker
+* add to insert shift lane
+* Support to lanechange similar to state_machine(old) package
+* Changed path state recognition to the way based on /lane_waypoints_array
+* Fix build error, add msg definition
+* Rename and merge msgs
+* add path velocity smoothing
+* add msg of waypointstate for decision_maker
+* Feature/fusion_filter - fusion multiple lidar (`#842 <https://github.com/cpfl/autoware/issues/842>`_)
+  * Add fusion_filter to merge multiple lidar pointclouds
+  * Refactor fusion_filter
+  * Apply clang-format and rebase develop
+  * Add fusion_filter launch and runtime_manager config
+  * Fix names, fusion_filter -> points_concat_filter
+  * Fix build error in ros-indigo
+  * Fix some default message/frame names
+  * Refactor code and apply clang-format
+  * Add configrations for runtime_manager
+  * Fix CMake
+* refactor code
+* refactor code
+* refactor msg and add blinker to msg
+* Add ground_filter config for runtime_manager (`#828 <https://github.com/cpfl/autoware/issues/828>`_)
+* Ray Ground Filter Initial Commit
+* add approximate_ndt_mapping (`#811 <https://github.com/cpfl/autoware/issues/811>`_)
+* add new msg and rename msg
+* add mqtt sender
+* Contributors: AMC, Akihito Ohsato, Yamato ANDO, Yuki Iida, Yuki Kitsukawa, Yusuke FUJII, hatem-darweesh
+
+1.5.1 (2017-09-25)
+------------------
+* Release/1.5.1 (`#816 <https://github.com/cpfl/autoware/issues/816>`_)
+  * fix a build error by gcc version
+  * fix build error for older indigo version
+  * update changelog for v1.5.1
+  * 1.5.1
+* Contributors: Yusuke FUJII
+
+1.5.0 (2017-09-21)
+------------------
+* Update changelog
+* update decision maker config
+* Add to support dynamical parameter for decision_maker
+* Add decision_maker config
+* add config parameter
+* autoware_msgs does not depend on jsk_rviz_plugin, cmake and package.xml were not correct
+* Contributors: Dejan Pangercic, Yusuke FUJII
+
+1.4.0 (2017-08-04)
+------------------
+* version number must equal current release number so we can start releasing in the future
+* added changelogs
+* Contributors: Dejan Pangercic
+
+1.3.1 (2017-07-16)
+------------------
+
+1.3.0 (2017-07-14)
+------------------
+* convert to autoware_msgs
+* Contributors: YamatoAndo
+
+1.2.0 (2017-06-07)
+------------------
+
+1.1.2 (2017-02-27 23:10)
+------------------------
+
+1.1.1 (2017-02-27 22:25)
+------------------------
+
+1.1.0 (2017-02-24)
+------------------
+
+1.0.1 (2017-01-14)
+------------------
+
+1.0.0 (2016-12-22)
+------------------

src/ros/catkin/src/autoware_msgs/CMakeLists.txt

@@ -0,0 +1,88 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(autoware_msgs)
+
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  jsk_recognition_msgs
+  message_generation
+  sensor_msgs
+  std_msgs
+)
+
+add_message_files(
+  DIRECTORY msg
+  FILES
+    AccelCmd.msg
+    AdjustXY.msg
+    BrakeCmd.msg
+    Centroids.msg
+    CloudCluster.msg
+    CloudClusterArray.msg
+    ColorSet.msg
+    ControlCommand.msg
+    ControlCommandStamped.msg
+    DTLane.msg
+    DetectedObject.msg
+    DetectedObjectArray.msg
+    ExtractedPosition.msg
+    Gear.msg
+    GeometricRectangle.msg
+    ICPStat.msg
+    ImageLaneObjects.msg
+    ImageObj.msg
+    ImageObjRanged.msg
+    ImageObjTracked.msg
+    ImageObjects.msg
+    ImageRect.msg
+    ImageRectRanged.msg
+    IndicatorCmd.msg
+    LampCmd.msg
+    Lane.msg
+    LaneArray.msg
+    NDTStat.msg
+    ObjLabel.msg
+    ObjPose.msg
+    PointsImage.msg
+    ProjectionMatrix.msg
+    RemoteCmd.msg
+    ScanImage.msg
+    Signals.msg
+    State.msg
+    StateCmd.msg
+    SteerCmd.msg
+    SyncTimeDiff.msg
+    SyncTimeMonitor.msg
+    TrafficLight.msg
+    TrafficLightResult.msg
+    TrafficLightResultArray.msg
+    TunedResult.msg
+    ValueSet.msg
+    VehicleCmd.msg
+    VehicleLocation.msg
+    VehicleStatus.msg
+    VscanTracked.msg
+    VscanTrackedArray.msg
+    Waypoint.msg
+    WaypointState.msg
+)
+
+add_service_files(
+  FILES RecognizeLightState.srv
+)
+
+generate_messages(
+  DEPENDENCIES
+    geometry_msgs
+    jsk_recognition_msgs
+    sensor_msgs
+    std_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS
+    geometry_msgs
+    jsk_recognition_msgs
+    message_runtime
+    sensor_msgs
+    std_msgs
+)

src/ros/catkin/src/autoware_msgs/msg/AccelCmd.msg

@@ -0,0 +1,2 @@
+Header header
+int32 accel

src/ros/catkin/src/autoware_msgs/msg/AdjustXY.msg

@@ -0,0 +1,3 @@
+Header header
+int32 x
+int32 y

src/ros/catkin/src/autoware_msgs/msg/BrakeCmd.msg

@@ -0,0 +1,2 @@
+Header header
+int32 brake

src/ros/catkin/src/autoware_msgs/msg/CameraExtrinsic.msg

@@ -0,0 +1,4 @@
+Header header
+uint32 xsize=4
+uint32 ysize=4
+float64[] calibration

src/ros/catkin/src/autoware_msgs/msg/Centroids.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+geometry_msgs/Point[] points

src/ros/catkin/src/autoware_msgs/msg/CloudCluster.msg

@@ -0,0 +1,31 @@
+std_msgs/Header header
+
+uint32 id
+string label
+float64 score
+
+sensor_msgs/PointCloud2 cloud
+
+geometry_msgs/PointStamped min_point
+geometry_msgs/PointStamped max_point
+geometry_msgs/PointStamped avg_point
+geometry_msgs/PointStamped centroid_point
+
+float64 estimated_angle
+
+geometry_msgs/Vector3 dimensions
+geometry_msgs/Vector3 eigen_values
+geometry_msgs/Vector3[] eigen_vectors
+
+#Array of 33 floats containing the FPFH descriptor
+std_msgs/Float32MultiArray fpfh_descriptor 
+
+jsk_recognition_msgs/BoundingBox bounding_box
+geometry_msgs/PolygonStamped convex_hull
+
+# Indicator information
+# INDICATOR_LEFT 0
+# INDICATOR_RIGHT 1
+# INDICATOR_BOTH 2
+# INDICATOR_NONE 3
+uint32 indicator_state

src/ros/catkin/src/autoware_msgs/msg/CloudClusterArray.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+CloudCluster[] clusters

src/ros/catkin/src/autoware_msgs/msg/ColorSet.msg

@@ -0,0 +1,3 @@
+ValueSet Hue
+ValueSet Sat
+ValueSet Val

src/ros/catkin/src/autoware_msgs/msg/ControlCommand.msg

@@ -0,0 +1,3 @@
+float64 linear_velocity
+float64 linear_acceleration #m/s^2
+float64 steering_angle

src/ros/catkin/src/autoware_msgs/msg/ControlCommandStamped.msg

@@ -0,0 +1,2 @@
+Header header
+ControlCommand cmd

src/ros/catkin/src/autoware_msgs/msg/DTLane.msg

@@ -0,0 +1,8 @@
+float64 dist
+float64 dir
+float64 apara
+float64 r
+float64 slope
+float64 cant
+float64 lw
+float64 rw

src/ros/catkin/src/autoware_msgs/msg/DetectedObject.msg

@@ -0,0 +1,43 @@
+std_msgs/Header                 header
+
+uint32                          id
+string                          label
+float32                         score   #Score as defined by the detection, Optional
+std_msgs/ColorRGBA              color   # Define this object specific color
+bool                            valid   # Defines if this object is valid, or invalid as defined by the filtering
+
+################ 3D BB
+string                          space_frame #3D Space coordinate frame of the object, required if pose and dimensions are defines
+geometry_msgs/Pose              pose
+geometry_msgs/Vector3           dimensions
+geometry_msgs/Vector3           variance
+geometry_msgs/Twist             velocity
+geometry_msgs/Twist             acceleration
+
+sensor_msgs/PointCloud2         pointcloud
+
+geometry_msgs/PolygonStamped    convex_hull
+autoware_msgs/LaneArray         candidate_trajectories
+
+bool                            pose_reliable
+bool                            velocity_reliable
+bool                            acceleration_reliable
+
+############### 2D Rect
+string                          image_frame # Image coordinate Frame,        Required if x,y,w,h defined
+int32                           x           # X coord in image space(pixel) of the initial point of the Rect
+int32                           y           # Y coord in image space(pixel) of the initial point of the Rect
+int32                           width       # Width of the Rect in pixels
+int32                           height      # Height of the Rect in pixels
+float32                         angle       # Angle [0 to 2*PI), allow rotated rects
+
+sensor_msgs/Image               roi_image
+
+############### Indicator information
+uint8                          indicator_state # INDICATOR_LEFT = 0, INDICATOR_RIGHT = 1, INDICATOR_BOTH = 2, INDICATOR_NONE = 3
+
+############### Behavior State of the Detected Object
+uint8                           behavior_state # FORWARD_STATE = 0, STOPPING_STATE = 1, BRANCH_LEFT_STATE = 2, BRANCH_RIGHT_STATE = 3, YIELDING_STATE = 4, ACCELERATING_STATE = 5, SLOWDOWN_STATE = 6
+
+#
+string[]                        user_defined_info

src/ros/catkin/src/autoware_msgs/msg/DetectedObjectArray.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+DetectedObject[] objects

src/ros/catkin/src/autoware_msgs/msg/ExtractedPosition.msg

@@ -0,0 +1,15 @@
+# This message defines the information required to describe a lamp (bulb)
+# in a traffic signal, according to the information extracted from the ADAS Map
+# and the extrinsic camera calibration
+
+int32 signalId  # Traffic Signal Lamp ID
+int32 u         # Lamp ROI x in image coords
+int32 v         # Lamp ROI y in image coords
+int32 radius    # Lamp Radius
+float64 x       # X position in map coordinates
+float64 y       # Y position in map coordinates
+float64 z       # Z position in map coordinates
+float64 hang    # Azimuth "Horizontal Angle"
+int8 type       # Lamp Type (red, yellow, green, ...)
+int32 linkId    # Closest LinkID (lane) in VectorMap
+int32 plId      # PoleID to which this Lamp belongs to

src/ros/catkin/src/autoware_msgs/msg/Gear.msg

@@ -0,0 +1,7 @@
+uint8 NONE=0
+uint8 PARK=1
+uint8 REVERSE=2
+uint8 NEUTRAL=3
+uint8 DRIVE=4
+uint8 LOW=5
+uint8 gear

src/ros/catkin/src/autoware_msgs/msg/GeometricRectangle.msg

@@ -0,0 +1,4 @@
+float32 wl
+float32 wr
+float32 lf
+float32 lb

src/ros/catkin/src/autoware_msgs/msg/ICPStat.msg

@@ -0,0 +1,7 @@
+Header header
+float32 exe_time
+#int32 iteration
+float32 score
+float32 velocity
+float32 acceleration
+int32 use_predict_pose

src/ros/catkin/src/autoware_msgs/msg/ImageLaneObjects.msg

@@ -0,0 +1,9 @@
+Header header
+int32 lane_l_x1 # Left Lane
+int32 lane_l_y1
+int32 lane_l_x2
+int32 lane_l_y2
+int32 lane_r_x1 # Right Lane
+int32 lane_r_y1
+int32 lane_r_x2
+int32 lane_r_y2

src/ros/catkin/src/autoware_msgs/msg/ImageObj.msg

@@ -0,0 +1,4 @@
+Header header
+string type
+ImageRect[] obj
+# XXX Should this message have 'score' ?

src/ros/catkin/src/autoware_msgs/msg/ImageObjRanged.msg

@@ -0,0 +1,3 @@
+Header header
+string type
+ImageRectRanged[] obj

src/ros/catkin/src/autoware_msgs/msg/ImageObjTracked.msg

@@ -0,0 +1,7 @@
+Header header
+string type
+uint8 total_num
+int32[] obj_id
+ImageRectRanged[] rect_ranged
+int32[] real_data
+int32[] lifespan

src/ros/catkin/src/autoware_msgs/msg/ImageObjects.msg

@@ -0,0 +1,5 @@
+Header header
+uint8 car_num
+int32[] car_type
+float32[] score
+int32[] corner_point

src/ros/catkin/src/autoware_msgs/msg/ImageRect.msg

@@ -0,0 +1,5 @@
+int32 x
+int32 y
+int32 height
+int32 width
+float32 score

src/ros/catkin/src/autoware_msgs/msg/ImageRectRanged.msg

@@ -0,0 +1,4 @@
+ImageRect rect
+float32 range
+float32 min_height
+float32 max_height

src/ros/catkin/src/autoware_msgs/msg/IndicatorCmd.msg

@@ -0,0 +1,3 @@
+Header header
+int32 l
+int32 r

src/ros/catkin/src/autoware_msgs/msg/LampCmd.msg

@@ -0,0 +1,3 @@
+Header header
+int32 l
+int32 r

src/ros/catkin/src/autoware_msgs/msg/Lane.msg

@@ -0,0 +1,10 @@
+Header header
+int32 increment
+int32 lane_id
+Waypoint[] waypoints
+
+uint32 lane_index
+float32 cost
+float32 closest_object_distance
+float32 closest_object_velocity
+bool is_blocked

src/ros/catkin/src/autoware_msgs/msg/LaneArray.msg

@@ -0,0 +1,2 @@
+int32 id
+Lane[] lanes

src/ros/catkin/src/autoware_msgs/msg/NDTStat.msg

@@ -0,0 +1,7 @@
+Header header
+float32 exe_time
+int32 iteration
+float32 score
+float32 velocity
+float32 acceleration
+int32 use_predict_pose

src/ros/catkin/src/autoware_msgs/msg/ObjLabel.msg

@@ -0,0 +1,4 @@
+Header header
+string type
+int32[] obj_id
+geometry_msgs/Point[] reprojected_pos

src/ros/catkin/src/autoware_msgs/msg/ObjPose.msg

@@ -0,0 +1,4 @@
+Header header
+string type
+int32[] obj_id
+geometry_msgs/PoseArray[] obj

src/ros/catkin/src/autoware_msgs/msg/PointsImage.msg

@@ -0,0 +1,9 @@
+Header header
+float32[] distance
+float32[] intensity
+float32[] min_height
+float32[] max_height
+int32 max_y
+int32 min_y
+int32 image_height
+int32 image_width

src/ros/catkin/src/autoware_msgs/msg/ProjectionMatrix.msg

@@ -0,0 +1,2 @@
+Header header
+float64[16] projection_matrix

src/ros/catkin/src/autoware_msgs/msg/RemoteCmd.msg

@@ -0,0 +1,3 @@
+Header header
+autoware_msgs/VehicleCmd vehicle_cmd
+int32 control_mode

src/ros/catkin/src/autoware_msgs/msg/ScanImage.msg

@@ -0,0 +1,5 @@
+Header header
+float32[] distance
+float32[] intensity
+int32 max_y
+int32 min_y

src/ros/catkin/src/autoware_msgs/msg/Signals.msg

@@ -0,0 +1,2 @@
+Header header
+ExtractedPosition[] Signals

src/ros/catkin/src/autoware_msgs/msg/State.msg

@@ -0,0 +1,5 @@
+Header header
+string vehicle_state
+string mission_state
+string behavior_state
+string motion_state

src/ros/catkin/src/autoware_msgs/msg/StateCmd.msg

@@ -0,0 +1,2 @@
+Header header
+int32 cmd

src/ros/catkin/src/autoware_msgs/msg/SteerCmd.msg

@@ -0,0 +1,2 @@
+Header header
+int32 steer

src/ros/catkin/src/autoware_msgs/msg/SyncTimeDiff.msg

@@ -0,0 +1,4 @@
+Header header
+float64 time_diff
+time camera
+time lidar

src/ros/catkin/src/autoware_msgs/msg/SyncTimeMonitor.msg

@@ -0,0 +1,27 @@
+Header header
+float64 image_raw
+float64 points_raw
+float64 points_image
+float64 vscan_points
+float64 vscan_image
+float64 image_obj
+float64 image_obj_ranged
+float64 image_obj_tracked
+float64 current_pose
+float64 obj_label
+float64 cluster_centroids
+float64 obj_pose
+float64 execution_time
+float64 cycle_time
+float64 time_diff
+
+
+# time image_raw
+# time points_raw
+# time image_obj
+# time image_obj_ranged
+# time image_obj_tracked
+# time current_pose
+# time obj_label
+# time cluster_centroids
+# time obj_pose

src/ros/catkin/src/autoware_msgs/msg/TrafficLight.msg

@@ -0,0 +1,2 @@
+Header header
+int32 traffic_light

src/ros/catkin/src/autoware_msgs/msg/TrafficLightResult.msg

@@ -0,0 +1,22 @@
+# This message defines meta information for a traffic light status
+Header header
+
+# Each bulb is assigned with an Id
+# The TLR node convention is to use the yellow bulb's ID
+int32 light_id
+
+# The result as provided by the tlr nodes
+# Red and Yellow states are both treated as STOP
+# RED       = 0
+# YELLOW    = 0
+# GREEN     = 1
+# UNKNOWN   = 2
+int32 recognition_result
+
+# This string is used by the Audio Player
+string recognition_result_str
+
+# LaneId to which this traffic light result belongs to
+# this Id is defined by the ADAS MAP
+int32 lane_id
+

src/ros/catkin/src/autoware_msgs/msg/TrafficLightResultArray.msg

@@ -0,0 +1,2 @@
+Header header
+TrafficLightResult[] results

src/ros/catkin/src/autoware_msgs/msg/TunedResult.msg

@@ -0,0 +1,4 @@
+Header header
+ColorSet Red
+ColorSet Yellow
+ColorSet Green

src/ros/catkin/src/autoware_msgs/msg/ValueSet.msg

@@ -0,0 +1,2 @@
+int32 center
+int32 range

src/ros/catkin/src/autoware_msgs/msg/VehicleCmd.msg

@@ -0,0 +1,10 @@
+Header header
+autoware_msgs/SteerCmd steer_cmd
+autoware_msgs/AccelCmd accel_cmd
+autoware_msgs/BrakeCmd brake_cmd
+autoware_msgs/LampCmd lamp_cmd
+autoware_msgs/Gear gear_cmd
+int32 mode
+geometry_msgs/TwistStamped twist_cmd
+autoware_msgs/ControlCommand ctrl_cmd
+int32 emergency

src/ros/catkin/src/autoware_msgs/msg/VehicleLocation.msg

@@ -0,0 +1,3 @@
+Header header
+int32 lane_array_id
+int32 waypoint_index

src/ros/catkin/src/autoware_msgs/msg/VehicleStatus.msg

@@ -0,0 +1,24 @@
+Header header
+string tm
+
+# Powertrain
+int32 drivemode
+int32 steeringmode
+int32 MODE_MANUAL=0
+int32 MODE_AUTO=1
+
+autoware_msgs/Gear current_gear
+
+float64 speed # vehicle velocity [km/s]
+int32 drivepedal
+int32 brakepedal
+
+float64 angle # vehicle steering (tire) angle [rad]
+
+# Body
+int32 lamp
+int32 LAMP_LEFT=1
+int32 LAMP_RIGHT=2
+int32 LAMP_HAZARD=3
+
+int32 light

src/ros/catkin/src/autoware_msgs/msg/VscanTracked.msg

@@ -0,0 +1,4 @@
+geometry_msgs/Point position
+float32 orientation
+float32 velocity
+GeometricRectangle geo_rect

src/ros/catkin/src/autoware_msgs/msg/VscanTrackedArray.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+VscanTracked[] obj_tracked

src/ros/catkin/src/autoware_msgs/msg/Waypoint.msg

@@ -0,0 +1,26 @@
+# global id
+int32 gid 
+# local id
+int32 lid
+geometry_msgs/PoseStamped pose
+geometry_msgs/TwistStamped twist
+DTLane dtlane
+int32 change_flag
+WaypointState wpstate
+
+uint32 lane_id
+uint32 left_lane_id
+uint32 right_lane_id
+uint32 stop_line_id
+float32 cost
+float32 time_cost
+
+# Lane Direction
+# FORWARD        = 0
+# FORWARD_LEFT       = 1
+# FORWARD_RIGHT      = 2
+# BACKWARD        = 3 
+# BACKWARD_LEFT      = 4
+# BACKWARD_RIGHT    = 5
+# STANDSTILL       = 6
+uint32 direction

src/ros/catkin/src/autoware_msgs/msg/WaypointState.msg

@@ -0,0 +1,27 @@
+int32 aid
+uint8 NULLSTATE=0
+
+# lanechange
+uint8 lanechange_state
+
+# bilinker
+uint8 steering_state
+uint8 STR_LEFT=1
+uint8 STR_RIGHT=2
+uint8 STR_STRAIGHT=3
+uint8 STR_BACK=4
+
+uint8 accel_state
+
+uint8 stop_state
+# 1 is stopline, 2 is stop which can only be released manually.
+uint8 TYPE_STOPLINE=1
+uint8 TYPE_STOP=2
+
+uint8 event_state
+uint8 TYPE_EVENT_NULL = 0
+uint8 TYPE_EVENT_GOAL = 1
+uint8 TYPE_EVENT_MIDDLE_GOAL = 2
+uint8 TYPE_EVENT_POSITION_STOP = 3
+uint8 TYPE_EVENT_BUS_STOP = 4
+uint8 TYPE_EVENT_PARKING = 5

src/ros/catkin/src/autoware_msgs/package.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>autoware_msgs</name>
+  <version>1.13.0</version>
+  <description>The autoware_msgs package</description>
+  <maintainer email="yusuke.fujii@tier4.jp">Yusuke Fujii</maintainer>
+  <license>Apache 2</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>message_generation</build_depend>
+
+  <depend>geometry_msgs</depend>
+  <depend>jsk_recognition_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+
+  <exec_depend>message_runtime</exec_depend>
+</package>

src/ros/catkin/src/autoware_msgs/srv/RecognizeLightState.srv

@@ -0,0 +1,4 @@
+sensor_msgs/Image roi_image
+---
+uint8 class_id
+float32 confidence

src/ros/catkin/src/lgsvl_simulator_bridge/.gitignore

@@ -0,0 +1,3 @@
+bin/*
+config/default.json
+config/setting.dat

src/ros/catkin/src/lgsvl_simulator_bridge/CHANGELOG.rst

@@ -0,0 +1,41 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package lgsvl_simulator_bridge
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.11.0 (2019-03-21)
+-------------------
+* Change LGSVL simulator dir (`#2023 <https://github.com/CPFL/Autoware/issues/2023>`_)
+* Contributors: Yukihiro Saito
+
+1.10.0 (2019-01-17)
+-------------------
+* [fix] CMake error & warning fixes on develop (`#1808 <https://github.com/CPFL/Autoware/issues/1808>`_)
+  * CMake fixes
+  * CMake updated to remove unnecessary dependencies when the package is not built
+  * added autoware flags
+* Feature/lgsvl sim (`#1795 <https://github.com/CPFL/Autoware/issues/1795>`_)
+  * add bridge package
+  * add setup script
+  * add getPath
+  * add roslib depends
+  * add launch files
+  * add install in CMakeLists.txt
+  * add description
+  * fix .gitignore
+  * remove launcher node and add launch shell script
+  * add nmea2tfpose to the launch file
+  * update simulation.yaml
+  * update runtime manger
+  * enable use runtime manager button
+  * update setup script
+  * add lgsvl_msgs as a submodule
+  * update Dockerfile
+  * update runtime manager
+  * update crossbuild docker image
+  * update git ignore
+  * update .travis.yml
+  * remove unused launch file
+  * update CMakeLists.txt
+  * update README.md
+  * update README.md
+* Contributors: Abraham Monrroy Cano, Masaya Kataoka

src/ros/catkin/src/lgsvl_simulator_bridge/CMakeLists.txt

@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(lgsvl_simulator_bridge)
+
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED COMPONENTS
+  autoware_msgs
+  geometry_msgs
+  roslib
+  rospy
+  rqt_gui
+  rqt_gui_py
+  sensor_msgs
+)
+
+catkin_python_setup()
+
+catkin_package()
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+foreach(programs)
+  install(TARGETS ${programs}
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+endforeach()
+
+foreach(dir launch rviz config media resource)
+  install(DIRECTORY ${dir}/
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}
+  )
+endforeach()
+
+install(PROGRAMS scripts/launch_sim.bash
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+set(PYTHON_SCRIPTS src/lgsvl_simulator_bridge/__init__.py src/lgsvl_simulator_bridge/configurator.py)
+foreach(scripts ${PYTHON_SCRIPTS})
+  catkin_install_python(PROGRAMS ${scripts}
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+endforeach()
+
+install(FILES plugin.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

src/ros/catkin/src/lgsvl_simulator_bridge/README.md

@@ -0,0 +1,6 @@
+# lgsvl_simulator_bridge package
+
+This package provides lgvsl simulator and Autoware.  
+[![No Image](https://img.youtube.com/vi/NgW1P75wiuA/0.jpg)](http://www.youtube.com/watch?v=NgW1P75wiuA)
+
+Quick Start Guide is [here.](https://github.com/CPFL/Autoware/wiki/LGSVL-Simulator-Quick-Start-Guide)

src/ros/catkin/src/lgsvl_simulator_bridge/config/sample.json

@@ -0,0 +1,29 @@
+{
+  "bin_type" : "tier4-develop",
+  "initial_configuration" : {
+    "map" : "SanFrancisco",
+    "time_of_day" : 12.0,
+    "freeze_time_of_day" : true,
+    "fog_intensity" : 0.0,
+    "rain_intensity" : 0.0,
+    "road_wetness" : 0.0,
+    "enable_traffic" : true,
+    "enable_pedestrian" : true,
+    "traffic_density" : 300
+  },
+  "vehicles" : 
+  [
+    {
+      "type" : "XE_Rigged-autoware",
+      "address" : "127.0.0.1",
+      "port" : 9090,
+      "command_type" : "twist",
+      "enable_lidar" : true,
+      "enable_gps" : true,
+      "enable_main_camera" : true,
+      "enable_high_quality_rendering" : true,
+      "position" : {"n" : 4140310.4, "e" : 590681.5, "h" : 10},
+      "orientation" : {"r" : 0.0, "p" : 0.0, "y" : 269.9}
+    }
+  ]
+}

src/ros/catkin/src/lgsvl_simulator_bridge/launch/bridge.launch

@@ -0,0 +1,6 @@
+<launch>
+    <node name="image_decompresser" type="republish" pkg="image_transport" output="screen" args="compressed in:=/simulator/camera_node/image raw out:=/image_raw">
+    </node>
+
+    <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"/>
+</launch>

src/ros/catkin/src/lgsvl_simulator_bridge/launch/lgsvl_simulator.launch

@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+<launch>
+    <node pkg="lgsvl_simulator_bridge" type="launch_sim.bash" name="lgsvl_simulator_launcher">
+    </node>
+
+    <include file="$(find lgsvl_simulator_bridge)/launch/bridge.launch"/>>
+</launch>

src/ros/catkin/src/lgsvl_simulator_bridge/package.xml

@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>lgsvl_simulator_bridge</name>
+  <version>1.12.0</version>
+  <description>The lgsvl_simulator_bridge package</description>
+  <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
+  <license>Apache 2</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>autoware_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>rosbridge_server</depend>
+  <depend>roslib</depend>
+  <depend>rospy</depend>
+  <depend>rqt_gui</depend>
+  <depend>rqt_gui_py</depend>
+  <depend>sensor_msgs</depend>
+
+  <exec_depend version_gte="0.2.19">python_qt_binding</exec_depend>
+  <exec_depend>python-requests</exec_depend>
+  <exec_depend>python-yaml</exec_depend>
+  <exec_depend>python-rospkg</exec_depend>
+  <exec_depend>image_transport_plugins</exec_depend>
+  <export>
+    <rqt_gui plugin="${prefix}/plugin.xml" />
+  </export>
+</package>

src/ros/catkin/src/lgsvl_simulator_bridge/plugin.xml

@@ -0,0 +1,18 @@
+
+<library path="src">
+  <class name="RqtLgsvlSimulatorConfiguratorPlugin" type="lgsvl_simulator_bridge.configurator.RqtLgsvlSimulatorConfiguratorPlugin" base_class_type="rqt_gui_py::Plugin" >
+    <description>
+      rqt Plugin for configureing LGSVL simulator.
+    </description>
+    <qtgui>
+      <group>
+        <label>Autoware</label>
+        <icon type="file">media/autoware.png</icon>
+        <statustip>Plugins for Autoware.</statustip>
+      </group>
+      <label>LGSVL Simulator Configurator</label>
+      <icon type="theme">system-search</icon>
+      <statustip>rqt Plugin for configureing LGSVL simulator.</statustip>
+    </qtgui>
+  </class>
+</library>

src/ros/catkin/src/lgsvl_simulator_bridge/quick_setup_sim.bash

@@ -0,0 +1,6 @@
+wget https://github.com/lgsvl/simulator/releases/download/2018.12-rc1/lgsvlsimulator-linux64-2018.12-rc1.zip -P bin
+cd bin
+unzip lgsvlsimulator-linux64-2018.12-rc1.zip
+cd lgsvlsimulator-linux64-2018.12-rc1
+export LGSVL_SIM_DIR_PATH=$PWD
+echo "export LGSVL_SIM_DIR_PATH=$PWD" >> ~/.bashrc

src/ros/catkin/src/lgsvl_simulator_bridge/resource/LgsvlSimulatorConfigratorPlugin.ui

@@ -0,0 +1,141 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>B3m</class>
+ <widget class="QWidget" name="B3m">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+<widget class="QWidget" name="centralWidget">
+   <widget class="QWidget" name="">
+    <property name="geometry">
+     <rect>
+      <x>20</x>
+      <y>5</y>
+      <width>332</width>
+      <height>259</height>
+     </rect>
+    </property>
+    <layout class="QGridLayout" name="gridLayout_4">
+     <item row="0" column="0">
+      <layout class="QGridLayout" name="gridLayout">
+       <item row="0" column="0">
+        <widget class="QLabel" name="label_2">
+         <property name="text">
+          <string>Simulator Machine IP</string>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="1">
+        <widget class="QLineEdit" name="ip_box"/>
+       </item>
+       <item row="1" column="0">
+        <widget class="QLabel" name="label_3">
+         <property name="text">
+          <string>Simulator Machine Port</string>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="1">
+        <widget class="QLineEdit" name="port_box"/>
+       </item>
+      </layout>
+     </item>
+     <item row="1" column="0">
+      <spacer name="verticalSpacer_3">
+       <property name="orientation">
+        <enum>Qt::Vertical</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>20</width>
+         <height>40</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item row="2" column="0">
+      <layout class="QGridLayout" name="gridLayout_2">
+       <item row="0" column="0">
+        <widget class="QPushButton" name="button_config">
+         <property name="text">
+          <string>Config</string>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="1">
+        <widget class="QLineEdit" name="configpath_box"/>
+       </item>
+       <item row="0" column="2">
+        <widget class="QPushButton" name="button_config_ref">
+         <property name="text">
+          <string>Ref</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item row="3" column="0">
+      <spacer name="verticalSpacer_2">
+       <property name="orientation">
+        <enum>Qt::Vertical</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>20</width>
+         <height>40</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item row="4" column="0">
+      <layout class="QGridLayout" name="gridLayout_3">
+       <item row="0" column="0">
+        <widget class="QPushButton" name="launch_button">
+         <property name="enabled">
+          <bool>true</bool>
+         </property>
+         <property name="layoutDirection">
+          <enum>Qt::LeftToRight</enum>
+         </property>
+         <property name="text">
+          <string>Launch</string>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="0">
+        <widget class="QPushButton" name="terminate_button">
+         <property name="enabled">
+          <bool>true</bool>
+         </property>
+         <property name="layoutDirection">
+          <enum>Qt::LeftToRight</enum>
+         </property>
+         <property name="text">
+          <string>Terminate</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+    </layout>
+   </widget>
+  </widget>
+  <widget class="QToolBar" name="mainToolBar">
+   <attribute name="toolBarArea">
+    <enum>TopToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <widget class="QStatusBar" name="statusBar"/>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>

src/ros/catkin/src/lgsvl_simulator_bridge/rviz/lgsvl_simulator.rviz

@@ -0,0 +1,198 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 396
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: -0.143798828
+        Min Value: -2.16226292
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 253
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.0500000007
+      Style: Flat Squares
+      Topic: /points_raw
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /simulator/camera_node/image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: compressed
+      Unreliable: false
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_link:
+          Value: true
+        velodyne:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_link:
+          velodyne:
+            {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 14.1009302
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.520397961
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 2.63539982
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1056
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000021b000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000249000001750000001600ffffff000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1855
+  X: 1985
+  Y: 24

src/ros/catkin/src/lgsvl_simulator_bridge/scripts/launch_sim.bash

@@ -0,0 +1,3 @@
+#!/bin/bash   
+cd $LGSVL_SIM_DIR_PATH
+./simulator

src/ros/catkin/src/lgsvl_simulator_bridge/scripts/rqt_lgsvl_simulator_configurator

@@ -0,0 +1,8 @@
+#!/usr/bin/env python
+
+import sys
+
+from rqt_gui.main import Main
+
+main = Main()
+sys.exit(main.main(sys.argv, standalone='lgsvl_simulator_bridge.configurator.RqtLgsvlSimulatorConfiguratorPlugin'))

src/ros/catkin/src/lgsvl_simulator_bridge/setup.py

@@ -0,0 +1,10 @@
+# -*- coding: utf-8 -*-
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['lgsvl_simulator_bridge'],
+    package_dir={'': 'src'},
+)
+
+setup(**d)

src/ros/catkin/src/lgsvl_simulator_bridge/src/lgsvl_simulator_bridge/configurator.py

@@ -0,0 +1,148 @@
+import os
+import rospy
+import rospkg
+import requests
+import subprocess
+import json
+
+from qt_gui.plugin import Plugin
+from python_qt_binding import loadUi
+from python_qt_binding.QtWidgets import QHeaderView, QMenu, QTreeWidgetItem, QWidget, QFileDialog
+from python_qt_binding.QtGui import QPalette,QColor
+from python_qt_binding.QtCore import QSettings
+
+class RqtLgsvlSimulatorConfiguratorPlugin(Plugin):
+
+    def __init__(self, context):
+        super(RqtLgsvlSimulatorConfiguratorPlugin, self).__init__(context)
+        rospack = rospkg.RosPack()
+        self.settings = QSettings(rospack.get_path('lgsvl_simulator_bridge')+"/config/setting.dat",QSettings.IniFormat)
+        # Give QObjects reasonable names
+        self.setObjectName('RqtLgsvlSimulatorConfiguratorPlugin')
+
+        # Process standalone plugin command-line arguments
+        from argparse import ArgumentParser
+        parser = ArgumentParser()
+        # Add argument(s) to the parser
+        parser.add_argument("-q", "--quiet", action="store_true",
+                            dest="quiet",
+                            help="Put plugin in silent mode")
+        args, unknowns = parser.parse_known_args(context.argv())
+        if not args.quiet:
+            print 'arguments: ', args
+            print 'unknowns: ', unknowns
+
+        # Create QWidget
+        self._widget = QWidget()
+        # Get path to UI file which should be in the "resource" folder of this package
+        ui_file = os.path.join(rospkg.RosPack().get_path('lgsvl_simulator_bridge'), 'resource', 'LgsvlSimulatorConfigratorPlugin.ui')
+        # Extend the widget with all atrributes and children from UI File
+        loadUi(ui_file, self._widget)
+        # Give QObjects reasonable names
+        self._widget.setObjectName('RqtLgsvlSimulatorConfiguratorPluginUi')
+        # Show _widget.windowTitle on left-top of each plugin(when it's set in _widget).
+        # This is useful when you open multiple plugins aat once. Also if you open multiple
+        # instances of your plugin at once, these lines add number to make it easy to
+        # tell from pane to pane.
+        if context.serial_number() > 1:
+            self._widget.setWindowTitle(self._widget.windowTitle() + (' %d' % context.serial_number()))
+        # Add widget to the user interface
+        self.settings.beginGroup("simulator_params")
+        context.add_widget(self._widget)
+        ip = self.settings.value('ip')
+        if ip != None:
+            self._widget.ip_box.setText(ip)
+        port = self.settings.value('port')
+        if port != None:
+            self._widget.port_box.setText(port)
+        config_path = self.settings.value('config_path')
+        if config_path != None:
+            self._widget.configpath_box.setText(config_path)
+        self.settings.endGroup()
+        self.json_dict = {}
+        self.instance_id = ""
+        self.is_remote = False
+        self._widget.button_config_ref.clicked[bool].connect(self._handle_config_ref_button_clicked)
+        self._widget.button_config.clicked[bool].connect(self._handle_config_button_clicked)
+        self._widget.launch_button.clicked[bool].connect(self._handle_launch_button_clicked)
+        self._widget.terminate_button.clicked[bool].connect(self._handle_terminate_button_clicked)
+
+    def shutdown_plugin(self):
+        # TODO unregister all publishers here
+        pass
+
+    def save_settings(self, plugin_settings, instance_settings):
+        # TODO save intrinsic configuration, usually using:
+        # instance_settings.get_value(k, v)
+        pass
+
+    def restore_settings(self, pluign_settings, instance_settings):
+        # TODO restore intrinsic configuration, usually using:
+        # v = instance_settings.value(k)
+        pass
+
+    def _handle_launch_button_clicked(self):
+        if str(self._widget.ip_box.text()) == "localhost" or str(self._widget.ip_box.text()) == "0.0.0.0" or str(self._widget.ip_box.text()) == "127.0.0.1":
+            cmd = ["roslaunch","lgsvl_simulator_bridge","lgsvl_simulator.launch"]
+            self.proc = subprocess.Popen(cmd, stdout=subprocess.PIPE)
+            self._widget.launch_button.setStyleSheet("background-color: #8fb8e0")
+            self._widget.terminate_button.setStyleSheet("background-color: #FFFFFF")
+            self.is_remote = False
+            return
+        else:
+            cmd = ["roslaunch","lgsvl_simulator_bridge","bridge.launch"]
+            self.proc = subprocess.Popen(cmd, stdout=subprocess.PIPE)            
+        address = "http://" + self._widget.ip_box.text() + ":" + self._widget.port_box.text()+"/simulator/launch"
+        self.settings.beginGroup("simulator_params")
+        self.settings.setValue("ip", self._widget.ip_box.text())
+        self.settings.setValue("port", self._widget.port_box.text())
+        self.settings.endGroup()
+        try:
+            response = requests.post(address,json=self.json_dict)
+            self.instance_id = response.json()[u'instance_id']
+        except:
+            self._widget.launch_button.setStyleSheet("background-color: #F5A9A9")
+            return
+        self.is_remote = False
+        self._widget.launch_button.setStyleSheet("background-color: #8fb8e0")
+        self._widget.terminate_button.setStyleSheet("background-color: #FFFFFF")
+
+    def _handle_config_ref_button_clicked(self):
+        rospack = rospkg.RosPack()
+        fname = QFileDialog.getOpenFileName(self._widget, 'Open file', rospack.get_path('lgsvl_simulator_bridge')+'/config')
+        self._widget.configpath_box.setText(fname[0])
+
+    def _handle_config_button_clicked(self):
+        path = self._widget.configpath_box.text()
+        try:
+            f = open(path, "r+")
+            self.json_dict = json.load(f)
+            self.settings.beginGroup("simulator_params")
+            self.settings.setValue("config_path", path)
+            self.settings.endGroup()
+        except:
+            self._widget.button_config.setStyleSheet("background-color: #F5A9A9")
+            return
+        self._widget.button_config.setStyleSheet("background-color: #8fb8e0")
+
+    def _handle_terminate_button_clicked(self):
+        address = "http://" + self._widget.ip_box.text() + ":" + self._widget.port_box.text()+"/simulator/terminate"
+        self.settings.beginGroup("simulator_params")
+        self.settings.setValue("ip", self._widget.ip_box.text())
+        self.settings.setValue("port", self._widget.port_box.text())
+        self.settings.endGroup()
+        if self.instance_id == "" and self.is_remote == True:
+            return
+        if self.is_remote == True:
+            try:
+                response = requests.post(address,json={u'instance_id':self.instance_id})    
+            except:
+                self._widget.terminate_button.setStyleSheet("background-color: #F5A9A9")
+                return
+        try:
+            self.proc.terminate()
+        except:
+            self._widget.terminate_button.setStyleSheet("background-color: #F5A9A9")
+            return            
+        self._widget.terminate_button.setStyleSheet("background-color: #8fb8e0")
+        self._widget.launch_button.setStyleSheet("background-color: #FFFFFF")