ROS2 LGSVL Bridge

This is bridge that exposes custom TCP socket for accepting and transmitting ROS2 messages from LGSVL Simulator.

Requirements

• rcutils - https://github.com/ros2/rcutils
• rcl - https://github.com/ros2/rcl
• boost (with asio) - https://www.boost.org/

Building

colcon build --cmake-args '-DCMAKE_BUILD_TYPE=Release'

Running

. ~/ros2-lgsvl-bridge/install/setup.bash
lgsvl_bridge [--port 9090] [--log D]