MORAI SIM: Drive User Manual (EN 22.R2)

Release Notes

• Release Notes 22.R2.0
• Release Notes 22.R1.3
• Release Notes 22.R1.2
• Release Notes 22.R1.1
• Previous Versions

Quick Start Manuals

• UDP quick start manual
• ROS quick start manual
• Autoware.AI quick start manual
• Apollo quick start guide

Basic Tutorial

• Using an external steering wheel peripheral
• Ego-vehicle Cruise Mode

Conventions

• Coordinate systems
• Map Specifications
• Vehicle Specifications

Maps and 3D Environments

• MGeo Viewer
• Custom Map Creation
• Customizing map initial conditions

Network Settings

• ROS Network Settings
• UDP Network Settings
• CAN Network Settings
• Save and Load
• Network List

Sensors

• Sensor list
• Capture sensor data
• Sensor data formats
• Custom lidar sensor models
• Sensor noise settings

Building Scenarios

• Using the built-in scenario editor
• Setting up multiple ego-vehicles
• Recording and re-doing scenarios with Re-Sim
• Loading default scenarios
• Euro NCAP obstacles
• Active objects list
• Create custom obstacles

Advanced Features

• Replay Mode
• Ego Ghost Mode
• NPC Ghost Mode
• Occupancy Grid Map
• Synchronous Mode
• V2X Communications

MORAI Simulator Control API

• MSC ROS Unit Test Quick Start Manual
• MSC UDP Unit Test Quick Start Manual

gRPC API

• gRPC API Docs

MORAI SIM Example Code & Tutorials

• MORAI SIM UDP Examples
• MORAI SIM ROS Examples