MORAI SIM interfaces in either UDP or ROS protocols.

For more complex integrations with software stacks such as Autoware.AI or Apollo, please refer to each of their separate manuals located on the Quick Start Guide page.

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

Network Setting window UI changes

Previously, all network settings were tied to a single UI page. Network Settings are now divided into two separate tabs - Ego Network and Simulator Network for enhanced navigation and clarity.

Before

After

Signals moved to Simulator Network

ROS

  • Scenario Setting (Sim←User)
    -MoraiSLServiceProvider

  • Sim Proc Handle (Sim←User)
    -MoraiSimProcHandleSubscriber

  • Sim Proc Handle (Sim←User)
    -MoraiSimProcServiceProvider

  • Sim Proc Status (Sim→User)
    -MoraiSimProcStatusPublisher

  • Get TrafficLight Status (Sim←User)
    -MoraiTLServiceProvider

  • Vehicle Spec Srv (Sim←User)
    -MoraiVehicleSpecServiceProvider

  • Multi Ego Setting (Sim←User)
    -MultiEgoTransformHandler

  • Vehicle Collision Data (Sim→User)
    -VehicleCollisionInfoPublisher

UDP

  • Multi Ego Setting (Sim←User)
    -MultiEgoTransformHandler

  • Vehicle Collision Data (Sim→User)
    -VehicleCollisionInfoPublisher