: This page is for ROS Msgs using Synchronous Mode.

Synchronous Mode Call Service

The onset and halt of Synchronous Mode can only be done with ROS. Keyboard and game wheel control are not possible at Synchronous Mode onset.

  • SyncModeCmd Service Provider(User → Sim)

  • Service Name : /SyncModeCmd

  • srv : morai_msgs/MoraiSyncModeCmdSrv

  • Request Message Type : morai_msgs/SyncModeCmd

    • string user_id : specify user_id to send tick of Synchronous Mode. (If it is an empty string, user_id is auto-generated from the response message.)

    • bool start_sync_mode : returns true when Synchronous Mode starts, and returns false when Synchronous Mode aborts its control.

    • uint32 time_step: it is a time step processed during tick transmission and must be a multiple of 20ms, and is calculated by time_step / 20 at a time.

  • Response Message Type : morai_msgs/SyncModeCmdResponse

    • string user_id : user_id that can send tick of Synchronous Mode is returned (if start_sync_mode is true and user_id is an empty string, user_id is auto-generated and returned) under Synchronous Mode.

    • uint64 frame: current frame count

    • bool result : return true if the following request was successful. Returns false otherwise.

    • uint32 time_step: default time step (ms)

Synchronous Mode Tick Transmission Service

  • SyncModeWaitForTick Service Provider(User → Sim)

  • Service Name : /SyncModeWaitForTick

  • srv : morai_msgs/MoraiWaitForTickSrv

  • Request Message Type : morai_msgs/WaitForTick

    • string user_id : specify user_id to send the tick in Synchronous Mode.

    • uint64 frame : required frame value.

  • Response Message Type : morai_msgs/WaitForTickResponse

    • bool tick_status : return true if the commands for the tick sent gets processed. Returns false otherwise.

    • bool pause_status : Scenario Editor Sign in/ Scenario Save & Load / returns true if the current simulator is paused due to the Pause Mode, returns false otherwise. ( If true, then tick_status is false)

    • bool frame : returns the current frame count

    • morai_msgs/EgoVehicleStatus vehicle_status : shows vehicle status information after processing the requested tick operation.

Synchronous Mode

Vehicle Control Service

  • SyncModeCtrlCmd Service Provider(User → Sim)

  • Service Name :/SyncModeCtrlCmd

  • srv : morai_msgs/MoraiSyncModeCtrlCmdSrv

  • Request Message Type : morai_msgs/SyncModeCtrlCmd

    • morai_msgs/CtrlCmd command : ego vehicle control command

    • uint64 frame : required frame value

    • bool sensor_capture : whether to enable sensor capture mode (sensor data storage)

      • The sensor data is saved here: [Simulator Launcher Path]\MoraiLauncher_Win\MoraiLauncher_Win_Data\SaveFile\SensorData\SynchronousMode\[SyncMode execution start day’s timeline]

  • Response Message Type : morai_msgs/SyncModeResultResponse

    • bool result : whether the request was successful or unsuccessful.

Synchronous Mode Gear Control Service

  • SyncModeSetGear Service Provider(User → Sim)

  • Service Name : /SyncModeSetGear

  • srv : morai_msgs/MoraiSyncModeSetGearSrv

  • Request Message Type : morai_msgs/SyncModeSetGear

    • int32 gear : ego vehicle gear change command

    • uint64 frame : required frame value

  • Response Message Type : morai_msgs/SyncModeResultResponse

    • bool result : whether the request was successful or unsuccessful.

Synchronous Mode Scenario Road Service

  • SyncModeScenarioLoad Service Provider(User → Sim)

  • Service Name : /SyncModeScenarioLoad

  • srv : morai_msgs/SyncModeSLSrv

  • Request Message Type : morai_msgs/SyncModeScenarioLoad

    • uint64 frame : required frame value

    • string file_name : name of scenario file to be loaded

    • bool delete_all : whether to load scenario data after deletion except for Ego .

    • bool load_network_connection : whether to connect to a network

    • bool load_ego_vehicle_data : whether to load ego vehicle’s scenario

    • bool load_surrounding_vehicle_data : whether to load the surrounding NPC vehicle’s scenario

    • bool load_pedestrian_data : whether to load pedestrian scenario

    • bool load_obstacle_data : whether to load obstacle scenario

    • bool set_pause : whether the simulator stops after loading the scenario

  • Response Message Type : morai_msgs/SyncModeResultResponse

    • bool result : whether the request was successful or unsuccessful

Synchronous Mode Status Information Publisher

  • SyncMode Info Publisher (Sim → User)

  • Topic Name : /SyncModeInfo

  • msg : morai_msgs/SyncModeInfo

  • type description : refers to the status message describing Synchronous Mode

  • bool can_send_tick

  • SyncModeWaitForTick: whether to be able to request the service

  • uint64 frame : returns current frame count

  • bool status

  • Synchronous mode on/off

  • string master_id :

  • SyncModeWaitForTick: user_id, which is able to request the service

Synchronous Mode Object Addition

  • SyncMode Add Object Subscriber Subscriber(User → Sim)

  • Topic Name : /SyncModeAddObj

  • msg : morai_msgs/SyncModeAddObj

  • Type description : refers to Object Addition Message in Synchronous Mode.

  • string name : refers to the name of the object to be placed.

  • geometry/Vector3 position : Location vector of the object to be placed

  • float64 heading : Heading value of the object to be placed

  • uint64 frame: required frame value.

Synchronous Mode Object Deletion

Subscriber

  • SyncMode Remove Object Subscriber(User → Sim)

  • Topic Name : /SyncModeRemoveObj

  • msg : morai_msgs/SyncModeRemoveObj

  • Type description : refers to Object Deletion Message in Synchronous Mode.

    • int32 unique_id : refers to the unique id value of object to be deleted.

    • uint64 frame : refers to the required frame value (currently not supported)