Synchronous Mode ROS Message Specifications

This section describes about the Synchronous Mode ROS Message Specifications.

Synchronous Mode Call Service

Start/Stop the Synchronous Mode is only available in ROS.

When the Synchronous Mode is ON, keyboard and Game-wheel control are not available.

• 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 the string is empty, the user_id is automatically generated in the response message.)

  • bool start_sync_mode : Start Synchronous Mode (True) / Stop Synchronous Mode (False)

  • uint32 time_step : This is the time step (ms) being processed when sending a Tick, and it must be specified as a multiple of the fixed time step of 20ms. When Tick is sent, the number of frames are calculated as time_step / 20 at once.

• Response Message Type : morai_msgs/SyncModeCmdResponse

  • string user_id : Returns user_id that can send Ticks in Synchronous Mode (if start_sync_mode is true and user_id is an empty string, a user_id is automatically generated and returned).

  • uint64 frame : Counts the current frame.

  • bool result : The success or failure of the request.

  • uint32 time_step : set 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 Tick of Synchronous Mode.

  • uint64 frame : Requested frame value.

• Response Message Type : morai_msgs/WaitForTickResponse

  • bool tick_status : Whether the command for the received Tick has been processed.

  • bool pause_status : Access Scenario Editor / Scenario Save & Load / Pause or not the simulator based on the Pause mode status.

    • If pause_status is True, the tick_status is False since the the command of received Tick is not processed.

  • uint64 frame : Counts the current frame.

  • morai_msgs/EgoVehicleStatus vehicle_status : Vehicle status information after the requested Tick computation.

  • string time : The current real-world date and time in string format.

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 : Requested frame value.

  • bool sensor_capture : Sensor Capture Mode (Save Sensor Data) is running.

    • The sensor data is saved in the following path: [Simulator Launcher Path]\MoraiLauncher_Win\MoraiLauncher_Win_Data\SaveFile\SensorData\SynchronousMode. [SyncMode start date].

• Response Message Type : morai_msgs/SyncModeResultResponse

  • bool result : The success or failure of the request.

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 change gear control.

  • uint64 frame : Requested frame value.

• Response Message Type : morai_msgs/SyncModeResultResponse

  • bool result : The success or failure of the request.

Synchronous Mode Scenario Load Service

• SyncModeScenarioLoad Service Provider (User → Sim)

• Service Name : /SyncModeScenarioLoad

• srv : morai_msgs/SyncModeSLSrv

• Request Message Type : morai_msgs/SyncModeScenarioLoad

  • uint64 frame : Requested frame value.

  • string file_name : The Scenario file name to load.

  • bool delete_all : Whether the Scenario data is loaded after deleted. (Ego-vehicle is excluded)

  • bool load_network_connection : Whether the network is connected.

  • bool load_ego_vehicle_data : Whether the scenario of the Ego-vehicle is loaded.

  • bool load_surrounding_vehicle_data : Whether the scenario of the Sur-vehicle is loaded.

  • bool load_pedestrian_data : Whether the scenario of pedestrian is loaded.

  • bool load_obstacle_data : Whether the obstacle scenario is loaded.

  • bool set_pause : Whether the simulator is paused after the scenario is loaded.

• Response Message Type : morai_msgs/SyncModeResultResponse

  • bool result : The success or failure of the request.

Synchronous Mode Status Information Publisher

• SyncMode Info Publisher (Sim → User)

• Topic Name : /SyncModeInfo

• msg : morai_msgs/SyncModeInfo

• Type description : Synchronous Mode Status Message.

  • bool can_send_tick : Whether the /SyncModeWaitForTick service can be requested.

  • uint64 frame : Counts the current frame.

  • bool status : Synchronous Mode status.

  • string master_id : user_id that /SyncModeWaitForTick service can be requested.

Synchronous Mode Object Addition Subscriber

• SyncMode Add Object ServiceProvider (User → Sim)

• Topic Name : /SyncModeAddObject

• msg : morai_msgs/SyncModeAddObject

• Type description : Object add message in Synchronous Mode.

  • string name : Object name to be spawn.

  • geometry/Vector3 position : Vector position of object to spawn.

  • float64 heading : Object heading value to spawn.

  • uint64 frame : Requested frame value.

Synchronous Mode Object Removal Subscriber

• SyncMode Remove Object ServiceProvider (User → Sim)

• Topic Name : /SyncModeRemoveObject

• msg : morai_msgs/SyncModeRemoveObject

• Type description : Object delete message in Synchronous Mode.

  • int32 unique_id : unique id value of the object to delete.

  • uint64 frame : Requested frame value.