Integration of ROS 1-based Autoware.

[Leviathan321]

I wanted to integrate autoware mini into AWSIM labs. However, autoware mini is a ROS 1-based system, while the sim here is ROS 2-based.

My questions are: Are there any trials or suggestions of integrating ROS 1 based autoware into the simulator? As I understand, previous versions of Autoware was ROS 1 based. Did someone already tried the ROS bridge and can provide some steps? Also, which latency do I have to expect when using the ROS bridge?