avlite-bridge-ROS2

ROS 2 world bridge for AVLite. Registers ROS2WorldBridge — connects AVLite to an external ROS stack (e.g. Autoware) as the world interface only.

Subscribes to localization and perception topics; publishes control commands.

Plugin name: avlite-bridge-ROS2

Install

git clone https://github.com/AV-Lab/avlite-bridge-ROS2 \
  ~/.local/share/avlite/plugins/avlite-bridge-ROS2

Requires AVLite and ROS 2 (Humble+ recommended).

Monorepo path: related-repos/avlite-bridge-ROS2

Configuration

c40_community_plugins:
  avlite-bridge-ROS2: avlite-bridge-ROS2   # or related-repos/avlite-bridge-ROS2
c40_bridge: ROS2WorldBridge

Topic names are configured in plugin_avlite-bridge-ROS2.yaml (defaults in config/default.yaml).

Requirements

Source ROS 2, optionally install autoware_auto_msgs, then:

pip install -r requirements.txt

Use when an external Autoware or custom ROS stack provides the world — distinct from avlite-executer-ROS2, which runs AVLite workers in subprocesses.