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Ego Ghost Mode

How to use Ego Ghost Mode

From the Network Settings window (access through Edit >> Network Settings), navigate to the Cmd Control tab within the Ego Network tab. A drop-down menu contains numerous options for the ego-vehicle controller - select MoraiGhostCmdController to enable Ego Ghost Mode.

Finish configuring the remaining network settings according to your development environment.

For users of ROS systems, you can check over rqt if the /ghost_ctrl_cmd topic is publishing.

Enable Auto mode for the ego-vehicle by pressing the Q key on the keyboard. If the simulator has successfully connected to a third-party using Ego Ghost Mode, the ego-vehicle should start moving around the 3D scene.

Using Ego Ghost Mode with ROS

Download the ROS message from the MORAI Github page here.

Ghost Ctrl Cmd

  • Ego Ghost Mode command messages move the ego-vehicle in the 3D scene irrespective of MORAI SIM’s physics models. Usually, an external source (such as connected co-simulation environments or scenario orchestrators) will move the ego-vehicle according to their data.

  • ROS message details:

    • Message Type: morai_msgs/GhostMessage

    • Default Topic: /ghost_ctrl_cmd

No

Name

Type

Unit

Remarks

1

position

Vector3

m

Current ego-vehicle position

2

rotation

Vector3

deg

Current ego-vehicle orientation

3

velocity

float64

km/h

Current ego-vehicle velocity

4

steering_angle

float64

deg

Current wheel angle of the front wheels

Using Ego Ghost Mode with UDP

Ghost Ctrl Cmd

  • Ghost Ctrl Cmd enables Ghost Mode for the ego-vehicle.

  • Protocol details

    • Total packet size: 32 Bytes

No

Name

Size

Type

Unit

Remarks

1

x_pos_ego

4

float

m

Current ego-vehicle position (x-axis)

2

y_pos_ego

4

float

m

Current ego-vehicle position (y-axis)

3

z_pos_ego

4

float

m

Current ego-vehicle position (z-axis)

4

roll_ego

4

float

deg

Current roll angle of the ego-vehicle

5

pitch_ego

4

float

deg

Current pitch angle of the ego-vehicle

6

yaw_ego

4

float

deg

Current yaw angle of the ego-vehicle

7

speed_ego

4

float

km/h

Current ego-vehicle velocity

8

steering_ego

4

float

deg

Current wheel angle of the front wheels

Some additional references

For more on connecting to MORAI SIM over UDP, refer to the MSC UDP Unit Test example code here.

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