This page introduces Ego Ghost Mode, a mode in which the user can create Ego Vehicle at the desired location.

This function is available through ROS.

How to use Ego Ghost Mode function

  • Ego Ghost Mode can be set by selecting MoraiGhostCmdController from Edit > Network Setting’s Cmd Control.

  • Press Connect according to the usage environment after writing down the IP.

  • Publich /ghost_ctrl_cmd_Topic on ROS

  • When the keyboard Q is pressed, it can be confirmed that the Ego Ghost Vehicle is generated according to the published information.

Ego Ghost Cmd

  • geometry_msgs/Vector3 position : Position value of Ego Ghost Vehicle to be generated.

    • float64 x

    • float64 y

    • float64 z

  • float64 heading : The heading(deg) value of the Ego Ghost Vehicle to be created

예시1)
rostopic pub /ghost_ctrl_cmd morai_msgs/GhostMesge "position:
  x: 13.0
  y: 1100.0
  z: 0.0
heading: -60.0" ^g

The x,y,z / heading values above indicate the origin information of the K-City map and the direction of vehicle progress when entering the map.