Hello,
Thank you for your detailed explanation! We will start working on the small controller following the proposed guidelines. We will keep update you on the project !!
Regarding the bug with "network_visualization": "on", we have documented and solved it in this topic:
Custom level not loading in BeamNG.tech (started with terminal)
As for the LiDAR issue, based on our tests, it does not cause the integration or the simulation to crash, but it does create problems with topics. Specifically, when using LiDAR along with other sensors, the standard command:
ros2 topic echo "topic name"
Unfortunately, it stops working for any sensor present. We saw in the GitHub repository that LiDAR can cause crashes, so we assumed this might be one of the issues. We managed to solve the problem simply by removing the LiDAR from the scenario.
These issues should not represent obstacles for our project, but let us know if you need more details.
Thanks again for the support!