ROS Network Settings

Setting up a ROS Network

To support custom ROS messages, the message source code must be built within the Linux development environment. MORAI SIM specific messages are distributed at the following link:

https://github.com/morai-developergroup/morai_msgs

For more detailed instructions in setting up the ROS environment, please refer to the ROS manual and the ROS quickstart guide.

Within the simulator, go to the Network Settings panel, select ROS from the drop-down menu for both Cmd Control and Publisher/Subscriber/Service tabs, then configure the rosbridge IP, topic names, and signal frequency.

Interface Details and Message Structure

ROS messages follow a Publish-Subscribe model, or a Service model, and are organized as such in this interface sheet.

Certain message components follow the common_msgs types maintained by ROS and are noted as such in each table’s type field.

Ego Ctrl Cmd

MoraiCmdController sends command messages to the ego-vehicle.
ROS message details
- Message Type: morai_msg/CtrlCmd
- Default Topic: /ctrl_cmd

No	Name	Type	Unit	Remarks
1	longCmdType	int32		Determines the control type. 1: Throttle control, 2: Velocity control, 3: Acceleration control
2	accel	float64	-	Accelerator pedal input ranges from 0 to 1
3	brake	float64	-	Brake pedal input ranges from 0 to 1
4	steering	float64	rad	Front wheel angle input in radians
5	velocity	float64	km/h	(Only active if CmdType == 2)
6	acceleration	float64	m/s²	(Only active if CmdType == 3)

Ego Vehicle Status

MoraiInfoPublisher returns the current state values of the ego-vehicle (simulator → user).
ROS message details
- Message Type: morai_msgs/EgoVehicleStatus
- Default Topic: /Ego_topic
- NOTE Vehicle position is expressed in the geographic reference frame, following the ENU coordinate system (x: east, y: north, z: up)

No	Name	Type	Unit	Remarks
1	header	Header	-	Message header
2	unique_id	int32	-	Unique identifier number of the object
3	acceleration	Vector3		Current ego-vehicle acceleration
4	position	Vector3	m	Current ego-vehicle position
5	velocity	Vector3		Current ego-vehicle velocity
6	heading	float64	deg	Current heading angle value
7	accel	float32	-	Accelerator pedal input ranges from 0 to 1
8	brake	float32	-	Brake pedal input ranges from 0 to 1
9	wheel_angle	float32	rad	Current wheel angle of the front wheels

Object Info

MoraiObjectInfoPublisher contains information about each object placed in the scene (simulator → user).
ROS message details
- Message Type: morai_msgs/ObjectStatusList
- Default Topic: /Object_topic

No	Name	Type	Unit	Remarks
1	header	Header	-
2	num_of_npcs	int32	-	Total number of NPC vehicles placed in the scene
3	num_of_pedestrian	int32	-	Total number of pedestrians placed in the scene
4	num_of_obstacle	int32	-	Total number of obstacles (static objects) placed in the scene
5	npc_list	ObjectStatus	-	Full list of NPC vehicles
6	pedestrian_list	ObjectStatus	-	Full list of pedestrians
7	obstacle_list	ObjectStatus	-	Full list of obstacles (static objects)

Object Status

The ObjectStatus type is a message type for the object lists used in MoraiObjectInfoPublisher and does not have its own ROS topic.

ROS message details
- Message Type: morai_msgs/ObjectStatus
- NOTE Vehicle position is expressed in the geographic reference frame, following the ENU coordinate system (x: east, y: north, z: up)

No	Name	Type	Unit	Remarks
1	unique_id	int32	-	Unique identifier number of the object
2	type	int32	-	0: Pedestrian, 1: NPC vehicle, 2: Static object (obstacle), -1: Ego-vehicle
3	name	string	-	The given name of the object
4	heading	float64	-	Heading angle of the object
5	velocity	Vector3		Current object velocity
6	acceleration	Vector3		Current object acceleration
7	size	Vector3	m	Object size (width, length, height)
8	position	Vector3	m	Current object position

Multi Ego Setting

MultiEgoTransformHandler enables the simulator to set multiple egovehicles in the same scene, outputting all egovehicle-related variables for each unique ego-vehicle (user → simulator).
ROS message details
- Message Type: morai_msgs/MultiEgoSetting
- Default Topic: /ego_setting

No	Name	Type	Unit	Remarks
1	number_of_ego_vehicle	int32	-	The number of egovehicles to be controlled through MutliEgoSetting
2	camera_index	int32	-	The ID of the vehicle the camera is currently centered on
3	ego_index	int32[]	-	Unique identifier number of the ego-vehicle
4	global_position_x	float64[]		X-axis coordinate value of the current position
5	global_position_y	float64[]		Y-axis value of the current position
6	global_position_z	float64[]		Z-axis value of the current position (elevation)
7	global_roll	float32[]		Current roll angle value
8	global_pitch	float32[]		Current pitch angle value
9	global_yaw	float32[]		Current heading angle value
10	velocity	float32[]		Current vehicle speed
11	gear	int8[]	-	1: Parking, 2: Reverse, 3: Neutral, 4: Drive
12	ctrl_mode	int8[]	-	1: keyboard mode, 16: automode

Collision Data

CollisionData alerts and logs any data on ego-vehicle collision events that occur in the scene.
ROS message details
- Message Type: morai_msgs/CollisionData
- Default Topic: /CollisionData

No	Name	Type	Unit	Remarks
1	header	Header	-
2	global_offset_x	float32		The x-axis position of the collided object w.r.t the map coordinate syste
3	global_offset_y	float32		The y-axis position of the collided object w.r.t the map coordinate system
4	global_offset_z	float32		The z-axis position of the collided object w.r.t the map coordinate system
5	collision_object	ObjectStatus[]	-	Details of the collided object

NPC Vehicle Collision Data

VehicleCollisionInfoPublisher returns collision information between NPC vehicles.
ROS message details
- Message Type: morai_msgs/VehicleCollisionData
- Default Topic: /VehicleCollisionData

No	Name	Type	Unit	Remarks
1	header	Header	-
2	collisions	VehicleCollision[]	-	Contains a list of NPC vehicles involved in a collision

Vehicle Collision List

The VehicleCollision type is a message type for the collisions lists used in VehicleCollisionInfoPublisher and does not have its own ROS topic.

ROS message details
- Message Type: morai_msgs/VehicleCollision

No	Name	Type	Unit	Remarks
1	crashed_vehicles	ObjectStatus[]	-	Full list of crashed NPC vehicles

Get Traffic Light Status

TLCtrlPublisher reports the current state of a traffic light.
ROS message details
- Message Type: morai_msgs/GetTrafficLightStatus
- Default Topic: /GetTrafficLightStatus

No	Name	Type	Unit	Remarks
1	header	Header	-
2	trafficLightIndex	string	-	Unique identifier string for each traffic light
3	trafficLightType	int16	-	Defines the traffic light type and configuration 0: Red/Yellow/Green 1: Red/Yellow/Green_with_left_arrow 2: Red/Yellow/Green_with_left_arrow/Green 100: Yellow/Yellow/Yellow
4	trafficLightStatus	int16	-	Defines which light is currently lit 1: Red 4: Yellow 16: Green 32: Green_with_left_arrow -1: default (not lit) Combined lights (multiple lights on simultaneously) can be applied using standard bitwise operations

Set Traffic Light Control

TLCtrlSubscriber transmits traffic light control commands.
ROS message details
- Message Type: morai_msgs/SetTrafficLight
- Default Topic: /SetTrafficLight

No

Name

Type

Unit

Remarks

1

trafficLightIndex

string

-

Unique identifier string for each traffic light

2

trafficLightStatus

int16

-

Defines which light is currently lit

1: Red
4: Yellow
16: Green
32: Green_with_left_arrow
-1: default (not lit)

Get Intersection Status

IntersectionStatusPublisher reports the current status of any custom intersections.
ROS message details
- Message Type: morai_msgs/IntersectionStatus
- Default Topic: /InsnStatus

No	Name	Type	Unit	Remarks
1	header	Header	-
2	intersection_index	string	-	Unique identifier string for each intersection
3	intersection_status	int16	-	Current intersection status
4	intersection_status_time	float32	-	The amount of time the intersection has maintained its current state

Set Intersection Control

IntersectionControlSubscriber sends control commands to the intersections for V2X applications.
ROS message details
- Message Type: morai_msgs/IntersectionControl
- Default Topic: /InsnControl

No	Name	Type	Unit	Remarks
1	header	Header	-
2	intersection_index	string	-	Unique identifier string for each intersection
3	intersection_status	int16	-	Current intersection status
4	intersection_status_time	float32	-	The amount of time the intersection has maintained its current state

Scenario Load

MORAISLSubscriber instructs the simulator to load specific pre-built scenarios. Users may set options to load only desired features.
ROS message details
- Message Type: morai_msgs/ScenarioLoad
- Default Topic: /ScenarioLoad

No	Name	Type	Unit	Remarks
1	file_name	string	-	The scenario file to be loaded
2	delete_all	bool	-	If True, deletes all agents in the scene before loading
3	load_network_connection_data	bool	-	If True, loads network connection settings
4	load_ego_vehicle_data	bool	-	If True, loads ego-vehicle settings data
5	load_surrounding_vehicle_data	bool	-	If True, loads NPC vehicle scenario settings data
6	load_pedestrian_data	bool	-	If True, loads pedestiran scenario settings data
7	load_object_data	bool	-	If True, loads object scenario data
8	set_pause	bool	-	Determines whether to immediately pause the simulation after the scenario loads

Save Sensor Data

SensorSyncDataSubscriber saves sensor data for the current simulation frame.
ROS message details
- Message Type: morai_msgs/SaveSensorData
- Default Topic: /SaveSensorData

No	Name	Type	Unit	Remarks
1	is_custom_file_name	bool	-	Determines if the save file name is custom input by the user
2	custom_file_name	string	-	The custom save file name input by the user
3	file_dir	string	-	The full path string of the save file

Turn Signal Lamp Control

Lamps controls the turn signal lights of the vehicle.
ROS message details
- Message Type: morai_msgs/Lamps
- Default Topic: /lamps

No	Name	Type	Unit	Remarks
1	header	Header	-
2	turnSignal	int8	-	0: No signal, 1: Left turn signal, 2: Right turn signal
3	emergencySignal	int8	-	0: No signal, 1: Emergency lamps on

Replay Info Publisher

MoraiReplayInfoPublisher publishes all vehicle movements when the Replay feature is used. Data is published to the user from the simulator.
ROS message details
- Message Type: morai_msgs/ReplayInfo
- Default Topic: /ReplayInfo_topic

No	Name	Type	Unit	Remarks
1	header	Header	-
2	ego_acc	float64	-	Accelerator pedal input ranges from 0 to 1
3	ego_brake	float64	-	Brake pedal input ranges from 0 to 1
4	ego_steer	float64	deg	Current wheel angle of the front wheels
5	orientation	Quaternion	-	Current orientation
6	linear_acceleration	Vector3		Current acceleration
7	angular_velocity	Vector3		Current angular velocity
8	num_of_npcs	int32	-	Total number of NPC vehicles placed in the scene
9	num_of_pedestrian	int32	-	Total number of pedestrians placed in the scene
10	num_of_obstacle	int32	-	Total number of obstacles (static objects) placed in the scene
11	npc_list	ObjectStatus	-	Full list of NPC vehicles
12	pedestrian_list	ObjectStatus	-	Full list of pedestrians
13	obstacle_list	ObjectStatus	-	Full list of obstacles (static objects)

Simulation Process Status Publisher

MoraiSimProcStatusPublisher
ROS message details
- Message Type: morai_msgs/MoraiSimProcStatus
- Default Topic: /sim/process/state/msg/MoraiSimProcStatus

No	Name	Type	Unit	Remarks
1	header	Header	-
2	latest_command_time	Time	-	Latest time measurement to be received by the simulation process handler
3	command_result	int8	-	0x00: initial, 0x01: success, 0x10: command failed, 0x20: failed rosbag file load, 0x30: loaded rosbag but failed
4	current_mode	int8	-	0x01: simulation mode, 0x10: replay mode
5	current_status	int8	-	0x01: running, 0x10: paused, 0x20: paused and reached end of rosbag file

Sensor Pose Subscriber

SensorPoseSubscriber controls the position and orientation of a designated sensor according to input commands.
ROS message details
- Message Type: morai_msgs/SensorPosControl
- Default Topic: /SensorPosControl

No	Name	Type	Unit	Remarks
1	sensor_index	int16	-	Unique identifer number of the sensor
2	pose_x	float32	m
3	pose_y	float32	m
4	pose_z	float32	m
5	roll	float32	rad	Sensor roll angle
6	pitch	float32	rad	Sensor pitch angle
7	yaw	float32	rad	Sensor yaw angle

Service Response

MoraiServiceResponse
ROS message details
- Message Type: morai_msgs/MoraiSrvResponse

No	Name	Type	Unit	Remarks
1	result	bool	-

Simulator Network

Simulator Network configurations are as above. Refer to all the attributes shown in the picture before connecting to the server. This includes the type of Publisher, Subscriber, Service, Frame Rate Setting, Bridge Setting, and Scenario Setting.

ROS Service Types

MORAI SIM can also use Service Types within ROS to control the simulation.

Data Replay Service

MoraiSimProcServiceProvider
ROS service details
- Service: morai_msgs/srv/MoraiSimProcSrv
- Service Name: /Morai_SimProc

No	Name	Type	Unit	Remarks
1	request	MoraiSimProcHandle	-
2	response	MoraiSrvResponse	-	Contains a simple boolean with the resposne

Scenario Load

MoraiSLServiceProvider
ROS service details
- Service: morai_msgs/srv/MoraiScenarioLoadSrv
- Service Name; /Service_MoraiSL

No	Name	Type	Unit	Remarks
1	request	ScenarioLoad	-
2	response	MoraiSrvResponse	-

Traffic Light Call

MoraiSLServiceProvider
ROS service details
- Service: morai_msgs/srv/MoraiTLInfoSrv
- Service Name: /Morai_TLSrv

No	Name	Type	Unit	Remarks
1	request	MoraiTLIndex	-
2	response	MoraiTLInfo	-

Event Control Request

MoraiEventCmdServiceProvider
ROS service details
- Service: morai_msgs/srv/MoraiEventCmdSrv
- Service Name: /Service_MoraiEventCmd

No	Name	Type	Unit	Remarks
1	request	EventInfo	-
2	response	MoraiEventCmdSrv	-

Vehicle Specification Request

Morai Vehicle Spec Service Provider
ROS service details
- Service: morai_msgs/srv/MoraiVehicleSpecSrv
- Service Name: /Service_MoraiVehicleSpec

No	Name	Type	Unit	Remarks
1	request	VehicleSpecIndex	-
2	response	VehicleSpec	-

Map Data Request

Morai Map Spec Service Provider
ROS service details
- Service morai_msgs/srv/MoraiMapSpecSrv
- Service Name: /Service_MoraiMapSpec

No	Name	Type	Unit	Remarks
1	request	MapSpecIndex	-
2	response	MapSpec	-