package traffic_simulator_msgs

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* Protobuf definition of traffic_simulator_msgs/msg/ActionStatus type in ROS 2.

Used in: simulation_api_schema.EntityStatus, simulation_api_schema.UpdatedEntityStatus, EntityStatus

• string current_action = 1

  Current action of the entity.

• optional geometry_msgs.Twist twist = 2

  Velocity of the entity.

• optional geometry_msgs.Accel accel = 3

  Acceleration of the entity.

• double linear_jerk = 4

  Linear jerk of the entity.

* Protobuf definition of traffic_simulator_msgs/msg/Axle type in ROS 2.

Used in: Axles

• double max_steering = 1

  Max steering of the entity axle.

• double wheel_diameter = 2

  Wheel diameter of the entity axle.

• double track_width = 3

  Track width of the entity axle.

• double position_x = 4

  Position x of the entity axle.(longitudinal)

• double position_z = 5

  Position z of the entity axle.(lateral)

* Protobuf definition of traffic_simulator_msgs/msg/Axles type in ROS 2.

Used in: VehicleParameters

• optional Axle front_axle = 1

  Parameters of the front axle of the entity.

• optional Axle rear_axle = 2

  Parameters of rear axle of the entity.

* Protobuf definition of traffic_simulator_msgs/msg/BoundingBox type in ROS 2.

Used in: EntityStatus, MiscObjectParameters, PedestrianParameters, VehicleParameters

• optional geometry_msgs.Point center = 1

  Center point of the bounding box.

• optional geometry_msgs.Vector3 dimensions = 2

  Size of the bounding box.

* Protobuf definition of traffic_simulator_msgs/msg/EntityStatus type in ROS 2.

• optional EntityType type = 1

  Type of the entity.

• optional EntitySubtype subtype = 2

  subtype of the entity.

• double time = 3

  Current simulation time.

• string name = 4

  Name of the entity.

• optional BoundingBox bounding_box = 5

  Bounding box of the entity.

• optional ActionStatus action_status = 6

  Action status of the entity.

• optional geometry_msgs.Pose pose = 7

  Pose in map coordinate of the entity.

• optional LaneletPose lanelet_pose = 8

  Pose in lane coordinate of the entity.

• bool lanelet_pose_valid = 9

  If true, the lane matching of the entity is succeeded.

* Protobuf definition of traffic_simulator_msgs/msg/EntitySubtype type in ROS 2.

Used in: simulation_api_schema.EntityStatus, EntityStatus

• EntitySubtype.Enum value = 1

Used in: EntitySubtype

• UNKNOWN = 0

  The entity is unknown object

• CAR = 1

  The entity is car like a passenger vehicle

• TRUCK = 2

  The entity is truck

• BUS = 3

  The entity is bus

• TRAILER = 4

  The entity is trailer

• MOTORCYCLE = 5

  The entity is motorcycle

• BICYCLE = 6

  THe entity is bicycle

• PEDESTRIAN = 7

  The entity is pedestrian

Used in: simulation_api_schema.EntityStatus, EntityStatus

• EntityType.Enum type = 1

Used in: EntityType

• EGO = 0

  Ego Vehicle (Autoware Vehicle)

• VEHICLE = 1

  Vehicle Entity (NPC Vehicle)

• PEDESTRIAN = 2

  Pedestrian Entity (NPC Pedestrian)

• MISC_OBJECT = 3

  Misc Object Entity (Static Objects in environment like cones)

* Protobuf definition of traffic_simulator_msgs/msg/LaneletPose type in ROS 2.

Used in: EntityStatus

• int64 lanelet_id = 1

  Lanelet id of the entity exists.

• double s = 2

  S value in the lane coordinate.

• double offset = 3

  Offset value in the lane coordinate.

• optional geometry_msgs.Vector3 rpy = 4

  RPY(roll/pitch/yaw) value in the lane coordinate.

Used in: simulation_api_schema.SpawnMiscObjectEntityRequest

• string name = 1

  Name of the pedestrian entity.

• optional BoundingBox bounding_box = 2

  Bounding box of the pedestrian entity.

* Protobuf definition of traffic_simulator_msgs/msg/PedestrianParameters type in ROS 2.

Used in: simulation_api_schema.SpawnPedestrianEntityRequest

• string name = 1

  Name of the pedestrian entity.

• optional BoundingBox bounding_box = 2

  Bounding box of the pedestrian entity.

* Protobuf definition of traffic_simulator_msgs/msg/Performance type in ROS 2.

Used in: VehicleParameters

• double max_speed = 1

  Max speed of the entity.

• double max_acceleration = 2

  Max acceleration of the entity.

• double max_acceleration_rate = 3

  Max acceleration rate of the entity.

• double max_deceleration = 4

  Max deceleration of the entity.

• double max_deceleration_rate = 5

  Max deceleration rate of the entity.

* Protobuf definition of traffic_simulator_msgs/msg/Polyline type in ROS 2.

Used in: PolylineTrajectory

• repeated Vertex vertices = 1

* Protobuf definition of traffic_simulator_msgs/msg/PolylineTrajectory type in ROS 2.

• double initial_distance_offset = 1

• bool dynamic_constraints_ignorable = 2

• double base_time = 3

• bool closed = 4

• optional Polyline shape = 5

* Protobuf definition of traffic_simulator_msgs/msg/Property type in ROS 2.

Used in: VehicleParameters

(message has no fields)

• optional autoware_control_msgs.Control control = 1

• optional autoware_vehicle_msgs.GearCommand gear_command = 2

* Protobuf definition of traffic_simulator_msgs/msg/VehicleParameters type in ROS 2.

Used in: simulation_api_schema.SpawnVehicleEntityRequest

• string name = 1

  Name of the vehicle entity

• optional Performance performance = 2

  Performance parameter of vehicle entity.

• optional BoundingBox bounding_box = 3

  Bounding box of the vehicle entity.

• optional Axles axles = 4

  Axles of the vehicle entity.

• optional Property property = 5

  Other parameters of the vehicle entity.

* Protobuf definition of traffic_simulator_msgs/msg/Vertex type in ROS 2.

Used in: Polyline

• double time = 1

• optional geometry_msgs.Pose position = 2

* Protobuf definition of traffic_simulator_msgs/msg/Waypoints type in ROS 2.

• repeated geometry_msgs.Point waypoints = 1

  Waypoints of the entity.