package simulation_api_schema

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* Requests attaching detection sensor to the target entity.

Used in: SimulationRequest

• optional DetectionSensorConfiguration configuration = 1

  Configuration of the detection sensor.

* Response of attaching detection sensor to the target entity.

Used in: SimulationResponse

• optional Result result = 1

  Result of [AttachDetectionSensorRequest](#AttachDetectionSensorRequest)

* Requests attaching a imu sensor to the target entity.

Used in: SimulationRequest

• optional ImuSensorConfiguration configuration = 1

  Configuration of the imu sensor.

* Requests attaching a imu sensor to the target entity.

Used in: SimulationResponse

• optional Result result = 1

  Result of [AttachImuSensorRequest](#AttachImuSensorRequest)

* Requests attaching a lidar sensor to the target entity.

Used in: SimulationRequest

• optional LidarConfiguration configuration = 1

  Configuration of the lidar sensor.

* Response of attaching a lidar sensor to the target entity.

Used in: SimulationResponse

• optional Result result = 1

  Result of [AttachLidarSensorRequest](#AttachLidarSensorRequest)

* Requests attaching detection sensor to the target entity.

Used in: SimulationRequest

• optional OccupancyGridSensorConfiguration configuration = 1

  Configuration of the occupancy grid sensor.

* Response of attaching occupancy grid sensor to the target entity.

Used in: SimulationResponse

• optional Result result = 1

  Result of [AttachOccupancyGridSensorRequest](#AttachOccupancyGridRequest)

* Requests attaching a traffic light detector emulator.

Used in: SimulationRequest

• optional PseudoTrafficLightDetectorConfiguration configuration = 1

  Configuration of the traffic light detector emulator.

* Response of attaching a traffic light detector emulator.

Used in: SimulationResponse

• optional Result result = 1

  Result of [AttachPseudoTrafficLightDetectorRequest](#AttachPseudoTrafficLightDetectorRequest)

* Requests despawning entity.

Used in: SimulationRequest

• string name = 1

  Name of the entity you want to despawn.

* Response of despawning entity.

Used in: SimulationResponse

• optional Result result = 1

  Result of [DespawnEntityRequest](#DespawnEntityRequest)

* Parameter configuration of the detection sensor

Used in: AttachDetectionSensorRequest

• string entity = 1

  Name of the entity which you want to attach detection sensor.

• double update_duration = 2

  Update duration of the detection sensor. (unit : second)

• double range = 3

  Sensor detection range. (unit : meter)

• string architecture_type = 4

  Autoware architecture type.

• bool detect_all_objects_in_range = 5

  If false, simulator publish detection result only lidar ray was hit. If true, simulator publish detection result of entities in range.

• double pos_noise_stddev = 6

  standard deviation of position noise.

• int32 random_seed = 7

  random_seed for noise generation.

• double probability_of_lost = 8

  probability of lost recognition. (0.0 ~ 1.0)

• double object_recognition_delay = 9

  object recognition delay. (unit : second) It delays only the position recognition.

• double object_recognition_ground_truth_delay = 10

  object recognition ground truth delay. (unit : second) It delays only the position recognition.

* Entity status passed over the protobuf interface

Used in: UpdateEntityStatusRequest

• optional traffic_simulator_msgs.EntityType type = 1

  Type of the entity.

• optional traffic_simulator_msgs.EntitySubtype subtype = 2

  subtype of the entity.

• double time = 3

  Current simulation time.

• string name = 4

  Name of the entity.

• optional traffic_simulator_msgs.ActionStatus action_status = 5

  Action status of the entity.

• optional geometry_msgs.Pose pose = 6

  Pose in map coordinate of the entity.

* Parameter configuration of the imu sensor

Used in: AttachImuSensorRequest

• string entity = 1

  Name of the entity which you want to attach imu.

• string frame_id = 2

  Frame ID for the IMU sensor

• bool add_gravity = 3

  If true, gravity will be added to the acceleration vector

• bool use_seed = 4

  If true, as seed will be used the passed value, if not it will be random

• int32 seed = 5

  Seed for random number generator

• double noise_standard_deviation_orientation = 6

  The standard deviation for orientation noise (normal distribution, mean = 0.0)

• double noise_standard_deviation_twist = 7

  The standard deviation for angular velocity noise (normal distribution, mean = 0.0)

• double noise_standard_deviation_acceleration = 8

  The standard deviation for linear acceleration noise (normal distribution, mean = 0.0)

* Requests initializing simulation.

Used in: SimulationRequest

• double realtime_factor = 1

  Realtime factor of the simulation.

• double step_time = 2

  Step time of the simulation.

• double initialize_time = 3

  Simulation time at initialization

• optional builtin_interfaces.Time initialize_ros_time = 4

  ROS time at initialization

• string lanelet2_map_path = 5

  Path to lanelet2 map file

* Result of initializing simulation.

Used in: SimulationResponse

• optional Result result = 1

  Result of [InitializeRequest](#InitializeRequest)

* Parameter configuration of the lidar sensor

Used in: AttachLidarSensorRequest

• string entity = 1

  Name of the entity which you want to attach lidar.

• double horizontal_resolution = 2

  Horizontal resolutions of the lidar. (unit : radian)

• repeated double vertical_angles = 3

  Vertical resolutions of the lidar. (unit : radian)

• double scan_duration = 4

  Scan duration of the lidar. (unit: second)

• string architecture_type = 5

  Autoware architecture type.

• double lidar_sensor_delay = 6

  lidar sensor delay. (unit : second) It delays publishing timing.

* Parameter configuration of the occupancy grid sensor

Used in: AttachOccupancyGridSensorRequest

• string entity = 1

  Name of the entity which you want to attach detection sensor.

• double update_duration = 2

  Update duration of the detection sensor. (unit : second)

• double resolution = 3

  Resolution of the occupancy grid. (unit : meter)

• uint32 width = 4

  Width of the occupancy grid. (unit : pixel)

• uint32 height = 5

  Height of the occupancy grid. (unit : pixel)

• string architecture_type = 6

  Autoware architecture type.

• double range = 7

  Sensor detection range. (unit : meter)

• bool filter_by_range = 8

  If false, simulator publish detection result only lidar ray was hit. If true, simulator publish detection result of entities in range.

* Parameter configuration of the traffic light detector emulator

Used in: AttachPseudoTrafficLightDetectorRequest

• string architecture_type = 1

  Autoware architecture type.

* Result of the request

Used in: AttachDetectionSensorResponse, AttachImuSensorResponse, AttachLidarSensorResponse, AttachOccupancyGridSensorResponse, AttachPseudoTrafficLightDetectorResponse, DespawnEntityResponse, InitializeResponse, SpawnMiscObjectEntityResponse, SpawnPedestrianEntityResponse, SpawnVehicleEntityResponse, UpdateEntityStatusResponse, UpdateFrameResponse, UpdateStepTimeResponse, UpdateTrafficLightsResponse

• bool success = 1

  If true, the request was succeeded

• string description = 2

  Description of why the request was failed.

* Universal message for Request

• oneof request

  • InitializeRequest initialize = 1

  • UpdateFrameRequest update_frame = 2

  • SpawnVehicleEntityRequest spawn_vehicle_entity = 3

  • SpawnPedestrianEntityRequest spawn_pedestrian_entity = 4

  • SpawnMiscObjectEntityRequest spawn_misc_object_entity = 5

  • DespawnEntityRequest despawn_entity = 6

  • UpdateEntityStatusRequest update_entity_status = 7

  • AttachLidarSensorRequest attach_lidar_sensor = 8

  • AttachDetectionSensorRequest attach_detection_sensor = 9

  • AttachOccupancyGridSensorRequest attach_occupancy_grid_sensor = 10

  • UpdateTrafficLightsRequest update_traffic_lights = 11

  • AttachPseudoTrafficLightDetectorRequest attach_pseudo_traffic_light_detector = 13

  • UpdateStepTimeRequest update_step_time = 14

  • AttachImuSensorRequest attach_imu_sensor = 15

* Universal message for Response

• oneof response

  • InitializeResponse initialize = 1

  • UpdateFrameResponse update_frame = 2

  • SpawnVehicleEntityResponse spawn_vehicle_entity = 3

  • SpawnPedestrianEntityResponse spawn_pedestrian_entity = 4

  • SpawnMiscObjectEntityResponse spawn_misc_object_entity = 5

  • DespawnEntityResponse despawn_entity = 6

  • UpdateEntityStatusResponse update_entity_status = 7

  • AttachLidarSensorResponse attach_lidar_sensor = 8

  • AttachDetectionSensorResponse attach_detection_sensor = 9

  • AttachOccupancyGridSensorResponse attach_occupancy_grid_sensor = 10

  • UpdateTrafficLightsResponse update_traffic_lights = 11

  • AttachPseudoTrafficLightDetectorResponse attach_pseudo_traffic_light_detector = 13

  • UpdateStepTimeResponse update_step_time = 14

  • AttachImuSensorResponse attach_imu_sensor = 15

* Requests spawning misc object entity

Used in: SimulationRequest

• optional traffic_simulator_msgs.MiscObjectParameters parameters = 1

  Parameters of misc object entity.

• string asset_key = 2

  Asset key of the entity simulator entity

• optional geometry_msgs.Pose pose = 3

  Entity initial pose

* Response of spawning misc object entity

Used in: SimulationResponse

• optional Result result = 1

  Result of [SpawnPedestrianEntityResponse](#SpawnPedestrianEntityResponse)

* Requests spawning pedestrian entity.

Used in: SimulationRequest

• optional traffic_simulator_msgs.PedestrianParameters parameters = 1

  Parameters of pedestrian entity.

• string asset_key = 2

  Asset key of the entity simulator entity

• optional geometry_msgs.Pose pose = 3

  Entity initial pose

* Response of spawning vehicle entity.

Used in: SimulationResponse

• optional Result result = 1

  Result of [SpawnPedestrianEntityResponse](#SpawnPedestrianEntityResponse)

* Requests spawning vehicle entity.

Used in: SimulationRequest

• optional traffic_simulator_msgs.VehicleParameters parameters = 1

  Parameters of vehicle entity.

• bool is_ego = 2

  If true, the entity is Ego vehicle. (Autoware vehicle.)

• string asset_key = 3

  Asset key of the entity simulator entity

• optional geometry_msgs.Pose pose = 4

  Entity initial pose

• double initial_speed = 5

  Entity initial speed

* Response of spawning vehicle entity.

Used in: SimulationResponse

• optional Result result = 1

  Result of [SpawnVehicleEntityResponse](#SpawnVehicleEntityResponse)

Used in: TrafficSignal

• TrafficLight.Color color = 1

• TrafficLight.Shape shape = 2

• TrafficLight.Status status = 3

• float confidence = 4

Used in: TrafficLight

• RED = 0

• AMBER = 1

• GREEN = 2

• WHITE = 3

• UNKNOWN_COLOR = 4

Used in: TrafficLight

• CIRCLE = 0

• LEFT_ARROW = 1

• RIGHT_ARROW = 2

• UP_ARROW = 3

• UP_LEFT_ARROW = 4

• UP_RIGHT_ARROW = 5

• DOWN_ARROW = 6

• DOWN_LEFT_ARROW = 7

• DOWN_RIGHT_ARROW = 8

• CROSS = 9

• UNKNOWN_SHAPE = 10

Used in: TrafficLight

• SOLID_OFF = 0

• SOLID_ON = 1

• FLASHING = 2

• UNKNOWN_STATUS = 3

Used in: UpdateTrafficLightsRequest

• int32 id = 1

• repeated TrafficLight traffic_light_status = 2

• repeated int32 relation_ids = 3

  TrafficLightRegulatoryElement ids based on TrafficLight id

* Requests updating entity status.

Used in: SimulationRequest

• repeated EntityStatus status = 1

  List of updated entity status in traffic simulator.

• bool npc_logic_started = 2

  Npc logic started flag

• bool overwrite_ego_status = 3

* Response of updating entity status.

Used in: SimulationResponse

• optional Result result = 1

  Result of [UpdateEntityStatusRequest](#UpdateEntityStatusRequest)

• repeated UpdatedEntityStatus status = 2

  List of updated entity status in sensor/dynamics simulator

* Requests updating simulation frame.

Used in: SimulationRequest

• double current_simulation_time = 1

• double current_scenario_time = 2

• optional builtin_interfaces.Time current_ros_time = 3

* Response of updating simulation frame.

Used in: SimulationResponse

• optional Result result = 1

  Result of [UpdateFrameRequest](#UpdateFrameRequest)

* Requests updating simulation step time.

Used in: SimulationRequest

• double simulation_step_time = 1

* Response of updating simulation step time.

Used in: SimulationResponse

• optional Result result = 1

  Result of [UpdateStepTimeRequest](#UpdateStepTimeRequest)

* Requests updating traffic lights in simulation.

Used in: SimulationRequest

• repeated TrafficSignal states = 1

* Response of updating traffic lights in simulation.

Used in: SimulationResponse

• optional Result result = 1

  Result of [DespawnEntityRequest](#DespawnEntityRequest)

* Updated entity status by the simulator.

Used in: UpdateEntityStatusResponse

• string name = 1

  Name of the entity.

• optional traffic_simulator_msgs.ActionStatus action_status = 2

  Action status of the entity.

• optional geometry_msgs.Pose pose = 3

  Pose of the entity in the map coordinate.