Synchronous Mode ROS Message Specifications
Overview
As the name suggests, Synchronous Mode synchronizes MORAI SIM’s internal clock to the connected SUT. This feature is currently only available for ROS systems. As the simulator must be connected to a SUT, controlling the ego-vehicle with the keyboard or a steering wheel peripheral is disabled in Synchronous Mode.
ROS Message specifications
NOTE Many of the messages in this section contain the frame variable, which acts differently depending on whether it is part of a request message or a status response message. When part of a request message, frame is the time step count the SUT wants to sync at. When it is included in the status response, frame is the current frame count reported by the simulation.
Synchronous Mode Call Service
SyncModeCmd Service Provider establishes the base time step between the simulator and SUT (User → Sim)
Service Name: /SyncModeCmd
srv: morai_msgs/srv/MoraiSyncModeCmdSrv
Request Message Type: morai_msgs/msg/SyncModeCmd
No | Name | Type | Unit | Remarks |
|---|---|---|---|---|
1 | user_id | string | - | Unique identifier when sending a tick to SIM |
2 | start_sync_mode | bool | - | True when synchronous mode is active |
3 | time_step | uint32 | ms | Time step value for each tick. Is always a multiple of 20ms. |
Response Message Type: morai_msgs/msg/SyncModeCmdResponse
No | Name | Type | Unit | Remarks |
|---|---|---|---|---|
1 | user_id | string | - | Unique identifier when receiving a tick from User |
2 | frame | uint64 | - | Current frame count. Is calculated using frame = time_step/20 |
3 | result | bool | - | True if the request was acknowledged |
4 | time_step | unit32 | ms | Time step value set by the request message |
Synchronous Mode Tick Transmission Service
SyncModeWaitForTick Service Provider (User → Sim)
Service Name: /SyncModeWaitForTick
srv: morai_msgs/srv/MoraiWaitForTickSrv
Request Message Type: morai_msgs/msg/WaitForTick
No | Name | Type | Unit | Remarks |
|---|---|---|---|---|
1 | user_id | string | - | Unique identifier when sending a tick to SIM |
2 | frame | uint64 | - | The requested frame value |
Response Message Type: morai_msgs/msg/WaitForTickResponse
No | Name | Type | Unit | Remarks |
|---|---|---|---|---|
1 | tick_status | bool | - | True if the WaitForTick request is acknowledged |
2 | pause_status | bool | - | True when synchronous mode is active |
3 | frame | uint64 | - | Current frame count |
4 | vehicle_status | - | Vehicle state information for the current simulation frame | |
5 | time | string | - | Current system time |
Synchronous Mode Vehicle Control Service
SyncModeCtrlCmd Service Provider (User → Sim)
Service Name: /SyncModeCtrlCmd
srv: morai_msgs/srv/MoraiSyncModeCtrlCmdSrv
Request Message Type: morai_msgs/msg/SyncModeCtrlCmd
No | Name | Type | Unit | Remarks |
|---|---|---|---|---|
1 | frame | uint64 | - | The requested frame value |
2 | command | - | Ego-vehicle control commands for the current simulation frame | |
3 | sensor_capture | bool | - | True if sensor capture mode is enabled |
Response Message Type : morai_msgs/msg/SyncModeResultResponse
No | Name | Type | Unit | Remarks |
|---|---|---|---|---|
1 | result | bool | - | True if /SyncModeCtrlCmd request is acknowledged |
Synchronous Mode Gear Control Service
SyncModeSetGear Service Provider (User → Sim)
Service Name: /SyncModeSetGear
srv: morai_msgs/srv/MoraiSyncModeSetGearSrv
Request Message Type: morai_msgs/msg/SyncModeSetGear
No | Name | Type | Unit | Remarks |
|---|---|---|---|---|
1 | gear | int32 | - | Gear change command to the ego-vehicle |
2 | frame | uint64 | - | The requested frame value |
Response Message Type: morai_msgs/msg/SyncModeResultResponse
No | Name | Type | Unit | Remarks |
|---|---|---|---|---|
1 | result | bool | - | True if /SyncModeSetGear request is acknowledged |
Synchronous Mode Scenario Load Service
SyncModeScenarioLoad Service Provider (User → Sim)
Service Name: /SyncModeScenarioLoad
srv: morai_msgs/srv/SyncModeSLSrv
Request Message Type: morai_msgs/msg/SyncModeScenarioLoad
No | Name | Type | Unit | Remarks |
|---|---|---|---|---|
1 | frame | uint64 | - | The requested frame value |
2 | file_name | string | - | The scenario file name |
3 | delete_all | bool | - | True if the scenario initializes by overwriting all current scenario settings |
4 | load_network_connection | bool | - | True if network settings data exists |
5 | load_ego_vehicle_data | bool | - | True if ego-vehicle settings change will change upon loading scenario data |
6 | load_surrounding_vehicle_data | bool | - | True if NPC vehicle data exists |
7 | load_pedestrian_data | bool | - | True if pedestrian scenario data exists |
8 | load_obstacle_data | bool | - | True if obstacle placement data exists |
9 | set_pause | bool | - | True if the simulator is set to pause upon loading scenario data |
Response Message Type: morai_msgs/msg/SyncModeResultResponse
No | Name | Type | Unit | Remarks |
|---|---|---|---|---|
1 | result | bool | - | True if /SyncModeScenarioLoad request is acknowledged |
Synchronous Mode Status Information Publisher
SyncMode Info Publisher returns the current state of the Synchronous Mode module to the SUT (Sim → User)
Topic Name: /SyncModeInfo
Message Type: morai_msgs/msg/SyncModeInfo
No | Name | Type | Unit | Remarks |
|---|---|---|---|---|
1 | master_id | string | - | Valid user_id that can send /SyncModeWaitForTick |
2 | status | bool | - | True if Synchronous Mode is enabled |
3 | frame | uint64 | - | The current simulation frame value |
4 | can_send_tick | bool | - | True if /SyncModeWaitForTick can be received by the simulator |
Synchronous Mode Object Addition Subscriber
SyncMode Add Object Subscriber (User → Sim)
Topic Name: /SyncModeAddObj
Message Type: morai_msgs/msg/SyncModeAddObj
No | Name | Type | Unit | Remarks |
|---|---|---|---|---|
1 | name | string | - | Name of the added object |
2 | position | - | Position of the added object | |
3 | heading | float64 | - | Heading angle of the added object |
4 | frame | uint64 | - | The requested frame value |
Synchronous Mode Object Removal Subscriber
SyncMode Remove Object Subscriber (User → Sim)
Topic Name: /SyncModeRemoveObj
Message Type: morai_msgs/msg/SyncModeRemoveObj
No | Name | Type | Unit | Remarks |
|---|---|---|---|---|
1 | unique_id | int32 | - | Unique identifier number of the object |
2 | frame | uint64 | - | The requested frame value |