ROS1 Protocol

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This section explains the message types, message topics, and message structures exchanged over ROS 1. Note that any mention of ROS in this page refers to ROS 1.

Intro

Before we start

ROS communicates between different nodes using rostopics that are structured according to standard ROS messages. These standard messages can be extended with custom messages, but these extensions must be compiled and built separately.

MORAI SIM also requires a large extended custom message set – this can be downloaded from a public GitHub repository here: ROS Message File Github

How ROS works

ROS communications are conducted by either topics, services, or actions. Topics are one-way, continuous data streams, suitable for data that needs to be constantly updated, such as sensor states, user input streams, and general telemetry. Topics are composed of message files that have the .msg extension.

Services are an event-triggered one-to-one exchange where a request is processed and a corresponding response is returned to the requester. Typically useful for queries and one-time requests. Services are defined by service messages and have the .srv extension.

The protocols listed in this page will follow either a single .msg format or the request/response structure of a .srv file. Look for each message in their respective msg or srv folders in /morai_msgs.

Ego Network

The Ego Network is a collection of signals and data that relate directly to the egovehicle within the simulation. All network settings categorized under the Ego Network are located in the Ego Network tab of the Network Settings window.

Ego Network is further divided into Cmd Control messages and Publisher/Subscriber/Service type messages.

Ego Ctrl Cmd

Ego Ctrl Cmd (also MoraiCmdController) messages (shorthand for ego control commands) are used to send control command signals to the egovehicle. These messages typically contain command inputs for steering, moving, and stopping the ego.

Message Type: morai_msgs/CtrlCmd
Default Topic: /ctrl_cmd

No	Name	Type	Unit	Remarks
1	longlCmdType	int32		Index to determine the control method. 1: Throttle control, 2: Velocity control, 3: Acceleration control
2	accel	float64	-	Refers the vehicle’s accelerator, and the range value is 0:1.
3	brake	float64	-	Refers the brake of the vehicle, and the range value is 0:1.
4	steer angle	float64	rad	Refers to the front steer angle of the vehicle, measured in radians.
5	velocity	float64	km/h	(Only active if CmdType == 2)
6	acceleration	float64	m/s²	(Only active if CmdType == 3)

EXTRA Alternatives to EgoCtrlCmd

Some alternative message types are offered for non-automotive users (e.g. robotics, defense). If not otherwise instructed by your account manager or solutions partner, these messages will not be used. The following messages are typically used mutually exclusively.

WeBOTCmdController

For users of the WeBOT series of robots

Message Type: geometry_msgs/Twist
Default Topic: /commands/vel

Ground Vehicle Direct Ctrl Cmd

For direct control of skid-steer enabled vehicles

Message Type: morai_msgs/GVDirectCmd
Default Topic: /gv_direct_cmd

No	Name	Type	Len [byte]	Description
1	steer_type	uint32_t	4	Refer to the Table 1.
2	throttle	float	4	Range is -1:1
3	skid_steering	float	4	Range is -1:1
4	steer_angle	float[10]	40	Range is -1:1

Ground Vehicle State Ctrl Cmd

For state control of skid-steer enabled vehicles

Message Type: morai_msgs/GVStateCmd
Default Topic: /gv_state_cmd

No	Name	Type	Len [byte]	Description
1	TargetLongitudinalVelocity	float	4	m/s
2	TargetAngularVelocity	float	4	rad/s

Ghost Ctrl Cmd

Ghost Mode refers to a feature in MORAI SIM where instead of providing live command inputs to the ego, you can read a recorded data file (maybe in a rosbag file) and use the data log to control the ego vehicle. This is similar to re-simulation features of other simulation products.

Activate GhostCtrlCmd by using the drop-down menu to switch from the default MoraiCmdController

Message Type: morai_msgs/GhostMessage
Default Topic: /ghost_ctrl_cmd

No	Name	Type	Unit	Remarks
1	position	Vector3	m	Specify the egovehicle’s position (X, Y, Z).
2	rotation	Vector3	deg	Specify the egovehicle’s rotation (Roll, Pitch, Yaw).
3	velocity	float64	km/h	Speed of the egovehicle.
4	steering_angle	float64	deg	Steer angle of the egovehicle’s front wheel.

NPC Ghost Cmd

Control commands for NPC/traffic vehicles that controlled externally using Ghost Mode.

Message Type: morai_msgs/NpcGhostCmd
Default Topic: /NpcGhost_Topic

No	Name	Type	Unit	Remarks
1	header	Header	-
2	npc_list	NpcGhostInfo[]	-	NPC Ghost Vehicle information

NPC Ghost Info

Message Type: morai_msgs/NpcGhostInfo
Default Topic: N/A (is a subtype)

No	Name	Type	Unit	Remarks
1	unique_id	int32	-	unique_id value of the NPC Ghost Vehicle (Example: 2,3,4..)
2	name	string	-	Model name of the NPC Ghost Vehicle (Example: 2016_Kia_Niro(HEV))
3	position	Vector3	m	Position of the NPC Ghost Vehicle (X, Y, Z) in ENU coordinates (X: east, Y: north, Z: up)
4	rpy	Vector3	deg	Rotation of the NPC Ghost Vehicle (Roll, Pitch, Yaw)
5	steering_angle	float32	deg	Steering angle in degrees
6	vehicle_speed	float32	km/h	Vehicle velocity in kph
7	turn_signal	uint32	-	Indicates the current state of the turn signal (0: off, 1: left, 2: right, 3: both (hazard lights))
8	brake_light	bool	-	Indicates brake lights (false: off, true: on)

Ego Vehicle Status

Ego Vehicle Status (also MoraiInfoPublisher) streams status telemetry of the egovehicle. Most vehicle dynamics data and control status data are provided and typically used for closed-loop control.

Message Type: morai_msgs/EgoVehicleStatus
Default Topic: /Ego_topic

No	Name	Type	Unit	Remarks
1	header	Header	-	Message header.
2	unique_id	int32	-	unique id value of the object.
3	acceleration	Vector3	m/s²	Current acceleration vector value of the egovehicle.
4	position	Vector3	m	Current position of the egovehicle.
5	velocity	Vector3	m/s	Current velocity vector value of the egovehicle.
6	heading	float64	deg	Indicates the vehicle’s heading (deg).
7	accel	float32	-	Refers to the vehicle’s acceleration pedal and the range value is 0:1.
8	brake	float32	-	Refers to the vehicle’s brake and the range value is 0:1.
9	front_steer_angle	float32	deg	Refers to the current front wheel angle value of the ego.
10	rear_steer_angle	float32	deg	Rear wheel angle of the ego
11	lateral_offset	float32
12	tire_lateral_force_fl	float32
13	tire_lateral_force_fr	float32
14	tire_lateral_force_rl	float32
15	tire_lateral_force_rr	float32
16	side_slip_angle_fl	float32
17	side_slip_angle_fr	float32
18	side_slip_angle_rl	float32
19	side_slip_angle_rr	float32
20	tire_cornering_stiffness_fl	float32
21	tire_cornering_stiffness_fr	float32
22	tire_cornering_stiffness_rl	float32
23	tire_cornering_stiffness_rr	float32
24	distance_left_lane_boundary	float32	m	Distance of the egovehicle’s center from the nearest left lane boundary marking
25	distance_right_lane_boundary	float32	m	Distance of the egovehicle’s center from the nearest left lane boundary marking
26	cross_track_error	float32	m	Distance from the center of the lane (right is positive)

Object Status List

Object Status List (also MoraiObjectInfoPublisher) lists and contains details of the 20 closest objects around the egovehicle. Objects are NPC vehicles, pedestrians, or placed static obstacles. This list is updated as the egovehicle moves around the scene and is ordered from closest object to the furthest.

Message Type: morai_msgs/ObjectStatusList
Default Topic: /Object_topic

No	Name	Type	Unit	Remarks
1	header	Header	-
2	num_of_npcs	int32	-	Number of NPC vehicles which the user spawned.
3	num_of_pedestrian	int32	-	Number of pedestrians the user spawned.
4	num_of_obstacle	int32	-	Number of obstacles (static objects) the user spawned.
5	npc_list	ObjectStatus	-	NPC Vehicle information ( Refer to the below ObjectStatus type.)
6	pedestrian_list	ObjectStatus	-	Pedestrian information ( Refer to the below ObjectStatus type.)
7	obstacle_list	ObjectStatus	-	Obstacle information (Refer to the below ObjectStatus type.)

Object Status

Message Type: morai_msgs/ObjectStatus
Default Topic: N/A (is a subtype)

No	Name	Type	Unit	Remarks
1	unique_id	int32	-	Object’s unique id value.
2	type	int32	-	0: Pedestrian, 1: NPC vehicle, 2: Static object (obstacle), -1: egovehicle.
3	name	string	-	Object name.
4	heading	float64	deg	Indicates the object’s heading (deg).
5	velocity	Vector3	km/h	Current velocity vector value of the object.
6	acceleration	Vector3	m/s²	Current acceleration vector value of the object.
7	size	Vector3	m	Object’s size (width, length, height)
8	position	Vector3	m	Object’s current position (in ENU coordinates)

Collision Data

CollisionData records the most recent collision between the egovehicle and any placed object (vehicles/pedestrians/obstacles). Does not register collisions with the environment.

Message Type: morai_msgs/CollisionData
Default Topic: /CollisionData

No	Name	Type	Unit	Remarks
1	header	Header	-
2	global_offset_x	float64		The x-axis position of the collided object w.r.t the map coordinate system
3	global_offset_y	float64		The y-axis position of the collided object w.r.t the map coordinate system
4	global_offset_z	float64		The z-axis position of the collided object w.r.t the map coordinate system
5	collision_object	ObjectStatus[]	-	An object’s collision data with the egovehicle.

Get Traffic Light Status

Get Traffic Light Status (also TLStatusPublisher) queries the closest traffic light to the egovehicle and returns the type of traffic light and what the current lit state is. Useful as a ground truth reference for any vision detectors for traffic lights. Only works when using a scene with traffic lights enabled.

Message Type: morai_msgs/GetTrafficLightStatus
Default Topic: /GetTrafficLightStatus

No	Name	Type	Unit	Remarks
1	header	Header	-
2	trafficLightIndex	string	-	Unique index value of the traffic light.
3	trafficLightType	int16	-	Returns the type of the traffic light. 0: Red/Yellow/Green 1: Red/Yellow/Green_with_left_arrow 2: Red/Yellow/Green_with_left_arrow/Green 100: Yellow/Yellow/Yellow
4	trafficLightStatus	int16	-	Current state value of the traffic light. 1: Red 4: Yellow 16: Green 32: Green_with_left_arrow -1: default (not lit) Combined lights (multiple lights on simultaneously) can be applied using standard bitwise operations

Set Traffic Light Control

Set Traffic Light Control (also TLCtrlSubscriber) is the control command that instead instructs a specific traffic light to change to the user’s desired state. A user may generate multiple topics to set more than one traffic light in the scene. Like Get Traffic Light Status, only works when the loaded scene has traffic lights enabled.

Message Type: morai_msgs/SetTrafficLight
Default Topic: /SetTrafficLight

No

Name

Type

Unit

Remarks

1

trafficLightIndex

string

-

Unique index value of the traffic light.

2

trafficLightStatus

int16

-

Desired state value of the traffic light.

1: Red
4: Yellow
16: Green
32: Green_with_left_arrow
-1: default (not lit)

Get Intersection Status

IntersectionStatusPublisher (Sim → User)

Message Type: morai_msgs/IntersectionStatus
Default Topic: /InsnStatus

No	Name	Type	Unit	Remarks
1	header	Header	-
2	intersection_index	int32	-	Intersection index.
3	intersection_status	int16	-	Intersection status.
4	intersection_status_time	float32	s	Elapsed time(s) in the current intersection status.

Set Intersection Control

IntersectionControlSubscriber (User → Sim)

Message Type: morai_msgs/IntersectionControl
Default Topic: /InsnControl

No	Name	Type	Unit	Remarks
1	header	Header	-
2	intersection_index	int32	-	Intersection index.
3	intersection_status	int16	-	Intersection Status.
4	intersection_status_time	float32	-	Elapsed time (s) in the current intersection status.

Scenario Load

MORAISLSubscriber (User → Sim)

Message Type: morai_msgs/ScenarioLoad
Default Topic: /ScenarioLoad

No	Name	Type	Unit	Remarks
1	file_name	string	-	Scenario_file_name to load.
2	delete_all	bool	-	True : Delete and load Scenario Data excluding the egovehicle. False : Load all the Scenario Data.
3	load_network_connection_data	bool	-	True : Load network connection. False : Not loading the network connection.
4	load_ego_vehicle_data	bool	-	True : Load Ego Scenario Data. False : Not loading the Ego Scenario Data.
5	load_surrounding_vehicle_data	bool	-	True : Load NPC Vehicle Scenario Data. False : Not loading the NPC Vehicle Scenario Data.
6	load_pedestrian_data	bool	-	True : Load pedestrian Scenario Data. False : Not loading the pedestrian Scenario Data.
7	load_object_data	bool	-	True : Load Object Scenario Data. False : Not loading the Object Scenario Data.
8	set_pause	bool	-	True : Keep it in pause mode after loading the scenario (Press the ESC key to switch to the Play mode). False : Immediately switch to Play mode after loading the scenario.

SaveSensorData

SensorSyncDataSubscriber (User → Sim)

Message Type: morai_msgs/SaveSensorData
Default Topic: /SaveSensorData

No	Name	Type	Unit	Remarks
1	is_custom_file_name	bool	-	Determines if the save file name is custom input by the user
2	custom_file_name	string	-	The custom save file name input by the user
3	file_dir	string	-	The full path string of the save file

Turn Signal Lamp Control

Lamps

Message Type: morai_msgs/Lamps
Default Topic: /lamps

No	Name	Type	Unit	Remarks
1	header	Header	-
2	turnSignal	int8	-	0: No signal, 1: Left turn signal, 2: Right turn signal
3	emergencySignal	int8	-	0: No signal, 1: Emergency lamps on

Replay Info

MoraiReplayInfoPublisher (Sim → User)

Message Type: morai_msgs/ReplayInfo
Default Topic: /ReplayInfo_topic

No	Name	Type	Unit	Remarks
1	header	Header	-
2	ego_acc	float64	-	Refers to the vehicle’s acceleration pedal value, and the range value is 0~1.
3	ego_brake	float64	-	Refers to the vehicle’s brake pedal value, and the range value is 0~1.
4	ego_steer	float64	deg	Refers to the front wheel angle of the vehicle, measured in degrees.
5	orientation	Quaternion	-	Current orientation.
6	linear_acceleration	Vector3		Current acceleration.
7	angular_velocity	Vector3		Current angular velocity.
8	num_of_npcs	int32	-	Number of NPC vehicles user spawned.
9	num_of_pedestrian	int32	-	Number of pedestrians user spawned.
10	num_of_obstacle	int32	-	Number of objects (static objects) user spawned.
11	npc_list	ObjectStatus	-	NPC vehicle information.
12	pedestrian_list	ObjectStatus	-	Pedestrian information.
13	obstacle_list	ObjectStatus	-	Obstacle information.

SensorPoseSubscriber

Message Type: morai_msgs/SensorPosControl
Default Topic: /SensorPosControl

No	Name	Type	Unit	Remarks
1	sensor_index	int16	-	Sensor index for identifying each sensor Index number follows the numbers shown in the sensor UI
2	pose_x	float32	m
3	pose_y	float32	m
4	pose_z	float32	m
5	roll	float32	rad	Sensor Roll angle.
6	pitch	float32	rad	Sensor Pitch angle.
7	yaw	float32	rad	Sensor Yaw angle.

rosbag Playback

Used with its corresponding service message (MoraiSimProcServiceProvider), the rosbag Playback command (also MoraiSimProcHandle) contains the specific playback commands and conditions that are sent to the simulator.

Message Type : morai_msgs/MoraiSimProcHandle

No	Name	Type	Unit	Remarks
1	sim_process_status	uint8	-	Current playback state 1: Playing, 2: Paused, 32: Stopped
2	replay_option	int16	-	Defines the specific type of command 0x0001: load file 0x0010: designate target 0x0100: set start time 0x1000: set playback speed Which options are chosen determine which of the following fields (replay_speed, start_time, etc) are read. Note that multiple options can be chosen simultaneously with bitwise AND.
3	rosbag_file_name	string	-	The filename of the rosbag file to load
4	replay_target_option	int16	-	Designates the target of the playback command 0x0001: egovehicle 0x0010: NPC vehicle 0x0100: pedestrian actor
5	replay_speed	int32	-	Playback speed value multiplier (e.g., 1x, 2x, …)
6	start_time	int32	ms	Start time in milliseconds

Event Control Request

Event Control Request (also MoraiEventCmdServiceProvider) sends external commands to start single events that change the state of the vehicle. Differs from the Ego Ctrl Cmd message as Event Control Request is a one-time message and not a continuous command message.

Service Type: morai_msgs/MoraiEventCmdSrv
Service Name: /Service_MoraiEventCmd

CODE

EventInfo request
---
EventInfo response

Event Info

Event Info packs state info that is sent and later received from the simulator. Acts as both the request and response message format.

Message Type: morai_msgs/EventInfo
Default Topic:

No	Name	Type	Unit	Remarks
1	option	int8	-	Defines which of the following commands is to be applied. Multiple commands can be selected simultaneously through bitwise AND 0x0001: ctrl_mode 0x0010: gear 0x0100: lamps 0x1000: set_pause
2	ctrl_mode	int32	-	Sets the vehicle’s control mode 1: Keyboard, 2: Gamepad input, 3: External input, 4: Auto (MORAI internal controller)
3	gear	int32	-	Changes the gear of the vehicle -1: No change, 1: Parking, 2: Reverse, 3: Neutral, 4: Drive No manual gear levels are assigned with this command
4	lamps	Lamps	-	Controls the lights of the vehicle. Refer to the Lamps type
5	set_pause	bool	-	When `true`: pauses the simulation

Map Data Call

Map Specifications Call (also MoraiMapSpecServiceProvider) asks the simulator for the specifications of the currently loaded driving environment. Data is received through the MapSpec message.

Service Type: morai_msgs/MoraiMapSpecSrv
Service Name: /Service_MoraiMapSpec

CODE

MapSpecIndex request
---
MapSpec response

Map Spec Index

Message Type : morai_msgs/MapSpecIndex

No	Name	Type	Unit	Remarks
1	load_map_data	bool	-	Queries whether map data is called

Map Spec Return

Message Type : morai_msgs/MapSpec

No	Name	Type	Unit	Remarks
1	plane_coordinate_system	int32	-	The map’s coordinate reference system 0: Uses UTM CRS, 1: Uses TM CRS
2	utm_num	int32	-	Indicates the numbered UTM zone. Range is 1:60
3	utm_offset	Vector3	-	Sets a local offset in [x, y, z] coordinates
4	ellipse	string	-	Ellipsoid type (e.g.: WGS84, GRS80, etc)
5	central_latitude	float64	-	Central latitude (acts as x-axis origin)
6	central_meridian	float64	-	Central longitude (acts as y-axis origin)
7	scale_factor	float64	-	Scale multiplier, typically set to 1.0
8	false_easting	float64	-	Additional x-axis offset
9	false_northing	float64	-	Additional y-axis offset

Simulator Network

The Simulator Network tab attempts to distinguish signals not directly related to the egovehicle and organizes these signals in a separate tab. Many of these signals are service messages.

Some service messages are defined in the Simulator Network tab, but their request/response signals may be defined in the Ego Network tab. This UI issue is known and inconvenient, but should not affect the underlying function.

Scenario Load Service

Scenario Load Service (also MoraiSLServiceProvider) calls a request to load into a scenario and instructs the simulator to search for requested local files. This feature is used to start scenarios externally using ROS as an API.

Service Type: morai_msgs/MoraiScenarioLoadSrv
Service Name: /Service_MoraiSL

NONE

ScenarioLoad request
---
MoraiSrvResponse response

Scenario Load

Refer to the message contents in the Ego Network section here (link)

Run rosbag Replay Service

Starting a rosbag replay (also MoraiSimProcServiceProvider) starts the process to load a rosbag file and replay its saved data track.

Service Type: morai_msgs/MoraiSimProcSrv
Service Name: /Morai_SimProc

CODE

MoraiSimProcHandle request
---
MoraiSrvResponse response

Morai Sim Proc Handle

Refer to the message contents in the Ego Network section here (link)

Replay System Status

(also MoraiSimProcStatusPublisher)

Message Type: morai_msgs/MoraiSimProcStatus
Default Topic: /sim/process/state/msg/MoraiSimProcStatus

No	Name	Type	Unit	Remarks
1	header	Header	-
2	latest_command_time	Time	-	The timestamp of the last MoraiSimProcHandle value received (using the time in SimProcHandle/header). If it has not been received at all, it will be 0.
3	command_result	uint8	-	0x00: initial, 0x01: success, 0x10: command failed, 0x20: failed rosbag file load, 0x30: loaded rosbag but failed
4	current_mode	uint8	-	0x01: simulation mode, 0x10: replay mode
5	current_status	uint8	-	0x01: running, 0x10: paused, 0x20: paused and reached end of rosbag file

Multi Ego Setting

Multi Ego Settings (also MultiEgoTransformHandler) is used to control multiple vehicles in a scene with external controllers.

Message Type: morai_msgs/MultiEgoSetting
Default Topic: /ego_setting

No	Name	Type	Unit	Remarks
1	number_of_ego_vehicle	int32	-	Number of Multi-Ego vehicles.
2	camera_index	int32	-	Unique index of the vehicle to be viewed when setting up Multi-ego.
3	ego_index	int32[]	-	unique index of the Multi-ego to control.
4	global_position_x	float64[]		Current X-axis position of Multi-ego.
5	global_position_y	float64[]		Current Y-axis position of Multi-ego.
6	global_position_z	float64[]		Current Z-axis position of Multi-ego (elevation).
7	global_roll	float32[]		Current Roll angle of the Multi-ego.
8	global_pitch	float32[]		Current Pitch angle of the Multi-ego.
9	global_yaw	float32[]		Current heading angle of the Multi-ego.
10	velocity	float32[]		Multi-Ego’s velocity
11	gear	int8[]	-	1: Parking, 2: Reverse, 3: Neutral, 4: Drive
12	ctrl_mode	int8[]	-	1: keyboard mode, 16: automode

NPC Vehicle Collision Data

Returns the collisions between different NPC vehicles into VehicleCollisionInfoPublisher. Is distinct from Collision Data, which only logs collisions involving the egovehicle.

Message Type: morai_msgs/VehicleCollisionData
Default Topic: /VehicleCollisionData

No	Name	Type	Unit	Remarks
1	header	Header	-
2	collisions	VehicleCollision[]	-	Collided NPC vehicles list.

Vehicle Collision List

VehicleCollision is a list used in VehicleCollisionInfoPublisher and does not have a separate topic for independent use.

Message Type: morai_msgs/VehicleCollision
Default Topic: N/A (is a subtype)

No	Name	Type	Unit	Remarks
1	crashed_vehicles	ObjectStatus[]	-	Collided NPC vehicle information.

Traffic Light Status

Traffic Light Status (also MoraiSLServiceProvider) asks the simulator for the current state of a specific traffic light in the driving environment. Unlike the Get Traffic Light Status message in the Ego Network section, this service is not limited to just the closest traffic light to the egovehicle, but it can query data from the entire map.

Service Type: morai_msgs/MoraiTLInfoSrv
Service Name: /Morai_TLSrv

CODE

MoraiTLIndex request
---
MoraiTLInfo response

Traffic Light Index

Message Type: morai_msgs/MoraiTLIndex

No	Name	Type	Unit	Remarks
1	idx	string	-	Unique ID of the requested traffic light

Traffic Light Info

Message Type: morai_msgs/MoraiTLInfo

No

Name

Type

Unit

Remarks

1

header

Header

-

2

idx

string

-

Unique index value of the traffic light.

4

status

int16

-

Current state value of the traffic light.

0x0001: Red
0x0100: Yellow
0x0001 0000: Green
0x0010 0000: Green left arrow
-1: default (not lit)

Combined lights (multiple lights on simultaneously) can be applied using standard bitwise operations

Vehicle Specifications Request

Vehicle Specifications Request (also MoraiVehicleSpecServiceProvider) similar to the Map Data Call service, asks the simulator for information on a specific selected vehicle. Is valid as long as the selected vehicle exists in the scene (having a unique ID value). Returns information via the VehicleSpec message. This message pair is useful for querying the simulator for ground truth data of NPC vehicles to compare to sensor model outputs (e.g., bounding box sizes)

Service Type: morai_msgs/MoraiVehicleSpecSrv
Service Name : /Service_MoraiVehicleSpec

CODE

VehicleSpecIndex request
---
VehicleSpec response

Vehicle Spec Index

Message Type: morai_msgs/VehicleSpecIndex

No	Name	Type	Unit	Remarks
1	unique_id	int32	-	Unique ID of the requested vehicle

Vehicle Spec Return

Message Type: morai_msgs/VehicleSpec

No	Name	Type	Unit	Remarks
1	size	Vector3	-	Vehicle’s size in the X, Y, and Z axes
2	wheel_base	float32	m	Length of the vehicle’s wheelbase
3	max_steering	float64	deg	Maximum steering angle
4	overhang	float32	m	Length of the vehicle’s front overhang
5	rear_overhang	float32	m	Length of the vehicle’s rear overhang