Protocol Documentation
Table of Contents
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autoware_control_msgs.proto
Control
Lateral
Longitudinal
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autoware_vehicle_msgs.proto
GearCommand
GearCommand_Constants
Name |
Number |
Description |
NONE |
0 |
|
NEUTRAL |
1 |
|
DRIVE |
2 |
|
DRIVE_2 |
3 |
|
DRIVE_3 |
4 |
|
DRIVE_4 |
5 |
|
DRIVE_5 |
6 |
|
DRIVE_6 |
7 |
|
DRIVE_7 |
8 |
|
DRIVE_8 |
9 |
|
DRIVE_9 |
10 |
|
DRIVE_10 |
11 |
|
DRIVE_11 |
12 |
|
DRIVE_12 |
13 |
|
DRIVE_13 |
14 |
|
DRIVE_14 |
15 |
|
DRIVE_15 |
16 |
|
DRIVE_16 |
17 |
|
DRIVE_17 |
18 |
|
DRIVE_18 |
19 |
|
REVERSE |
20 |
|
REVERSE_2 |
21 |
|
PARK |
22 |
|
LOW |
23 |
|
LOW_2 |
24 |
|
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builtin_interfaces.proto
Duration
Protobuf definition of builtin_interface/msg/Duration type in ROS 2.
Field |
Type |
Label |
Description |
sec |
int32 |
|
The seconds component, valid over all int32 values. |
nanosec |
uint32 |
|
The nanoseconds component, valid in the range [0, 10e9). |
Time
Protobuf definition of builtin_interface/msg/Time type in ROS 2.
Field |
Type |
Label |
Description |
sec |
int32 |
|
The seconds component, valid over all int32 values. |
nanosec |
uint32 |
|
The nanoseconds component, valid in the range [0, 10e9). |
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geometry_msgs.proto
Accel
Protobuf definition of geometry_msgs/msg/Accel type in ROS 2.
Field |
Type |
Label |
Description |
linear |
Vector3 |
|
Linear acceleration |
angular |
Vector3 |
|
Angular acceleration |
Point
Protobuf definition of geometry_msgs/msg/Point type in ROS 2.
Field |
Type |
Label |
Description |
x |
double |
|
X value in a cartesian coordinate. |
y |
double |
|
Y value in a cartesian coordinate. |
z |
double |
|
Z value in a cartesian coordinate. |
Pose
Protobuf definition of geometry_msgs/msg/Pose type in ROS 2.
Field |
Type |
Label |
Description |
position |
Point |
|
Position of the pose. |
orientation |
Quaternion |
|
Orientation of the pose. |
Quaternion
Protobuf definition of geometry_msgs/msg/Quaternion type in ROS 2.
Field |
Type |
Label |
Description |
x |
double |
|
X value in a quaternion. (0 <= x <= 1) |
y |
double |
|
Y value in a quaternion. (0 <= y <= 1) |
z |
double |
|
Z value in a quaternion. (0 <= z <= 1) |
w |
double |
|
W value in a quaternion. (0 <= w <= 1) |
Twist
Protobuf definition of geometry_msgs/msg/Twist type in ROS 2.
Field |
Type |
Label |
Description |
linear |
Vector3 |
|
Linear velocity |
angular |
Vector3 |
|
Angular velocity |
Vector3
Protobuf definition of geometry_msgs/msg/Vector3 type in ROS 2.
Field |
Type |
Label |
Description |
x |
double |
|
First variable in vector |
y |
double |
|
Second variable in vector |
z |
double |
|
Third variable in vector |
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rosgraph_msgs.proto
Clock
Protobuf definition of the rosgraph_msgs/msg/Clock type in ROS 2.
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simulation_api_schema.proto
AttachDetectionSensorRequest
Requests attaching detection sensor to the target entity.
AttachDetectionSensorResponse
Response of attaching detection sensor to the target entity.
AttachImuSensorRequest
Requests attaching a imu sensor to the target entity.
AttachImuSensorResponse
Requests attaching a imu sensor to the target entity.
AttachLidarSensorRequest
Requests attaching a lidar sensor to the target entity.
Field |
Type |
Label |
Description |
configuration |
LidarConfiguration |
|
Configuration of the lidar sensor. |
AttachLidarSensorResponse
Response of attaching a lidar sensor to the target entity.
AttachOccupancyGridSensorRequest
Requests attaching detection sensor to the target entity.
AttachOccupancyGridSensorResponse
Response of attaching occupancy grid sensor to the target entity.
AttachPseudoTrafficLightDetectorRequest
Requests attaching a traffic light detector emulator.
AttachPseudoTrafficLightDetectorResponse
Response of attaching a traffic light detector emulator.
DespawnEntityRequest
Requests despawning entity.
Field |
Type |
Label |
Description |
name |
string |
|
Name of the entity you want to despawn. |
DespawnEntityResponse
Response of despawning entity.
DetectionSensorConfiguration
Parameter configuration of the detection sensor
Field |
Type |
Label |
Description |
entity |
string |
|
Name of the entity which you want to attach detection sensor. |
update_duration |
double |
|
Update duration of the detection sensor. (unit : second) |
range |
double |
|
Sensor detection range. (unit : meter) |
architecture_type |
string |
|
Autoware architecture type. |
detect_all_objects_in_range |
bool |
|
If false, simulator publish detection result only lidar ray was hit. If true, simulator publish detection result of entities in range. |
pos_noise_stddev |
double |
|
standard deviation of position noise. |
random_seed |
int32 |
|
random_seed for noise generation. |
probability_of_lost |
double |
|
probability of lost recognition. (0.0 ~ 1.0) |
object_recognition_delay |
double |
|
object recognition delay. (unit : second) It delays only the position recognition. |
object_recognition_ground_truth_delay |
double |
|
object recognition ground truth delay. (unit : second) It delays only the position recognition. |
EntityStatus
Entity status passed over the protobuf interface
ImuSensorConfiguration
Parameter configuration of the imu sensor
Field |
Type |
Label |
Description |
entity |
string |
|
Name of the entity which you want to attach imu. |
frame_id |
string |
|
Frame ID for the IMU sensor |
add_gravity |
bool |
|
If true, gravity will be added to the acceleration vector |
use_seed |
bool |
|
If true, as seed will be used the passed value, if not it will be random |
seed |
int32 |
|
Seed for random number generator |
noise_standard_deviation_orientation |
double |
|
The standard deviation for orientation noise (normal distribution, mean = 0.0) |
noise_standard_deviation_twist |
double |
|
The standard deviation for angular velocity noise (normal distribution, mean = 0.0) |
noise_standard_deviation_acceleration |
double |
|
The standard deviation for linear acceleration noise (normal distribution, mean = 0.0) |
InitializeRequest
Requests initializing simulation.
Field |
Type |
Label |
Description |
realtime_factor |
double |
|
Realtime factor of the simulation. |
step_time |
double |
|
Step time of the simulation. |
initialize_time |
double |
|
Simulation time at initialization |
initialize_ros_time |
builtin_interfaces.Time |
|
ROS time at initialization |
lanelet2_map_path |
string |
|
Path to lanelet2 map file |
InitializeResponse
Result of initializing simulation.
LidarConfiguration
Parameter configuration of the lidar sensor
Field |
Type |
Label |
Description |
entity |
string |
|
Name of the entity which you want to attach lidar. |
horizontal_resolution |
double |
|
Horizontal resolutions of the lidar. (unit : radian) |
vertical_angles |
double |
repeated |
Vertical resolutions of the lidar. (unit : radian) |
scan_duration |
double |
|
Scan duration of the lidar. (unit: second) |
architecture_type |
string |
|
Autoware architecture type. |
lidar_sensor_delay |
double |
|
lidar sensor delay. (unit : second) It delays publishing timing. |
OccupancyGridSensorConfiguration
Parameter configuration of the occupancy grid sensor
Field |
Type |
Label |
Description |
entity |
string |
|
Name of the entity which you want to attach detection sensor. |
update_duration |
double |
|
Update duration of the detection sensor. (unit : second) |
resolution |
double |
|
Resolution of the occupancy grid. (unit : meter) |
width |
uint32 |
|
Width of the occupancy grid. (unit : pixel) |
height |
uint32 |
|
Height of the occupancy grid. (unit : pixel) |
architecture_type |
string |
|
Autoware architecture type. |
range |
double |
|
Sensor detection range. (unit : meter) |
filter_by_range |
bool |
|
If false, simulator publish detection result only lidar ray was hit. If true, simulator publish detection result of entities in range. |
PseudoTrafficLightDetectorConfiguration
Parameter configuration of the traffic light detector emulator
Field |
Type |
Label |
Description |
architecture_type |
string |
|
Autoware architecture type. |
Result
Result of the request
Field |
Type |
Label |
Description |
success |
bool |
|
If true, the request was succeeded |
description |
string |
|
Description of why the request was failed. |
SimulationRequest
Universal message for Request
SimulationResponse
Universal message for Response
SpawnMiscObjectEntityRequest
Requests spawning misc object entity
SpawnMiscObjectEntityResponse
Response of spawning misc object entity
SpawnPedestrianEntityRequest
Requests spawning pedestrian entity.
SpawnPedestrianEntityResponse
Response of spawning vehicle entity.
SpawnVehicleEntityRequest
Requests spawning vehicle entity.
SpawnVehicleEntityResponse
Response of spawning vehicle entity.
TrafficLight
TrafficSignal
Field |
Type |
Label |
Description |
id |
int32 |
|
|
traffic_light_status |
TrafficLight |
repeated |
|
relation_ids |
int32 |
repeated |
TrafficLightRegulatoryElement ids based on TrafficLight id |
UpdateEntityStatusRequest
Requests updating entity status.
Field |
Type |
Label |
Description |
status |
EntityStatus |
repeated |
List of updated entity status in traffic simulator. |
npc_logic_started |
bool |
|
Npc logic started flag |
overwrite_ego_status |
bool |
|
|
UpdateEntityStatusResponse
Response of updating entity status.
UpdateFrameRequest
Requests updating simulation frame.
UpdateFrameResponse
Response of updating simulation frame.
UpdateStepTimeRequest
Requests updating simulation step time.
Field |
Type |
Label |
Description |
simulation_step_time |
double |
|
|
UpdateStepTimeResponse
Response of updating simulation step time.
UpdateTrafficLightsRequest
Requests updating traffic lights in simulation.
UpdateTrafficLightsResponse
Response of updating traffic lights in simulation.
UpdatedEntityStatus
Updated entity status by the simulator.
TrafficLight.Color
Name |
Number |
Description |
RED |
0 |
|
AMBER |
1 |
|
GREEN |
2 |
|
WHITE |
3 |
|
UNKNOWN_COLOR |
4 |
|
TrafficLight.Shape
Name |
Number |
Description |
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 |
|
TrafficLight.Status
Name |
Number |
Description |
SOLID_OFF |
0 |
|
SOLID_ON |
1 |
|
FLASHING |
2 |
|
UNKNOWN_STATUS |
3 |
|
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std_msgs.proto
Protobuf definition of std_msgs::msgs::Header type in ROS 2.
Field |
Type |
Label |
Description |
stamp |
builtin_interfaces.Time |
|
Two-integer timestamp that is expressed as seconds and nanoseconds. |
frame_id |
string |
|
Transform frame with which this data is associated. |
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traffic_simulator_msgs.proto
ActionStatus
Protobuf definition of traffic_simulator_msgs/msg/ActionStatus type in ROS 2.
Axle
Protobuf definition of traffic_simulator_msgs/msg/Axle type in ROS 2.
Field |
Type |
Label |
Description |
max_steering |
double |
|
Max steering of the entity axle. |
wheel_diameter |
double |
|
Wheel diameter of the entity axle. |
track_width |
double |
|
Track width of the entity axle. |
position_x |
double |
|
Position x of the entity axle.(longitudinal) |
position_z |
double |
|
Position z of the entity axle.(lateral) |
Axles
Protobuf definition of traffic_simulator_msgs/msg/Axles type in ROS 2.
Field |
Type |
Label |
Description |
front_axle |
Axle |
|
Parameters of the front axle of the entity. |
rear_axle |
Axle |
|
Parameters of rear axle of the entity. |
BoundingBox
Protobuf definition of traffic_simulator_msgs/msg/BoundingBox type in ROS 2.
EntityStatus
Protobuf definition of traffic_simulator_msgs/msg/EntityStatus type in ROS 2.
Field |
Type |
Label |
Description |
type |
EntityType |
|
Type of the entity. |
subtype |
EntitySubtype |
|
subtype of the entity. |
time |
double |
|
Current simulation time. |
name |
string |
|
Name of the entity. |
bounding_box |
BoundingBox |
|
Bounding box of the entity. |
action_status |
ActionStatus |
|
Action status of the entity. |
pose |
geometry_msgs.Pose |
|
Pose in map coordinate of the entity. |
lanelet_pose |
LaneletPose |
|
Pose in lane coordinate of the entity. |
lanelet_pose_valid |
bool |
|
If true, the lane matching of the entity is succeeded. |
EntitySubtype
Protobuf definition of traffic_simulator_msgs/msg/EntitySubtype type in ROS 2.
EntityType
LaneletPose
Protobuf definition of traffic_simulator_msgs/msg/LaneletPose type in ROS 2.
Field |
Type |
Label |
Description |
lanelet_id |
int64 |
|
Lanelet id of the entity exists. |
s |
double |
|
S value in the lane coordinate. |
offset |
double |
|
Offset value in the lane coordinate. |
rpy |
geometry_msgs.Vector3 |
|
RPY(roll/pitch/yaw) value in the lane coordinate. |
MiscObjectParameters
Field |
Type |
Label |
Description |
name |
string |
|
Name of the pedestrian entity. |
bounding_box |
BoundingBox |
|
Bounding box of the pedestrian entity. |
PedestrianParameters
Protobuf definition of traffic_simulator_msgs/msg/PedestrianParameters type in ROS 2.
Field |
Type |
Label |
Description |
name |
string |
|
Name of the pedestrian entity. |
bounding_box |
BoundingBox |
|
Bounding box of the pedestrian entity. |
Protobuf definition of traffic_simulator_msgs/msg/Performance type in ROS 2.
Field |
Type |
Label |
Description |
max_speed |
double |
|
Max speed of the entity. |
max_acceleration |
double |
|
Max acceleration of the entity. |
max_acceleration_rate |
double |
|
Max acceleration rate of the entity. |
max_deceleration |
double |
|
Max deceleration of the entity. |
max_deceleration_rate |
double |
|
Max deceleration rate of the entity. |
Polyline
Protobuf definition of traffic_simulator_msgs/msg/Polyline type in ROS 2.
Field |
Type |
Label |
Description |
vertices |
Vertex |
repeated |
|
PolylineTrajectory
Protobuf definition of traffic_simulator_msgs/msg/PolylineTrajectory type in ROS 2.
Property
Protobuf definition of traffic_simulator_msgs/msg/Property type in ROS 2.
VehicleCommand
VehicleParameters
Protobuf definition of traffic_simulator_msgs/msg/VehicleParameters type in ROS 2.
Field |
Type |
Label |
Description |
name |
string |
|
Name of the vehicle entity |
performance |
Performance |
|
Performance parameter of vehicle entity. |
bounding_box |
BoundingBox |
|
Bounding box of the vehicle entity. |
axles |
Axles |
|
Axles of the vehicle entity. |
property |
Property |
|
Other parameters of the vehicle entity. |
Vertex
Protobuf definition of traffic_simulator_msgs/msg/Vertex type in ROS 2.
Waypoints
Protobuf definition of traffic_simulator_msgs/msg/Waypoints type in ROS 2.
EntitySubtype.Enum
Name |
Number |
Description |
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 |
EntityType.Enum
Name |
Number |
Description |
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) |
Scalar Value Types
.proto Type |
Notes |
C++ |
Java |
Python |
Go |
C# |
PHP |
Ruby |
double |
|
double |
double |
float |
float64 |
double |
float |
Float |
float |
|
float |
float |
float |
float32 |
float |
float |
Float |
int32 |
Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint32 instead. |
int32 |
int |
int |
int32 |
int |
integer |
Bignum or Fixnum (as required) |
int64 |
Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint64 instead. |
int64 |
long |
int/long |
int64 |
long |
integer/string |
Bignum |
uint32 |
Uses variable-length encoding. |
uint32 |
int |
int/long |
uint32 |
uint |
integer |
Bignum or Fixnum (as required) |
uint64 |
Uses variable-length encoding. |
uint64 |
long |
int/long |
uint64 |
ulong |
integer/string |
Bignum or Fixnum (as required) |
sint32 |
Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int32s. |
int32 |
int |
int |
int32 |
int |
integer |
Bignum or Fixnum (as required) |
sint64 |
Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int64s. |
int64 |
long |
int/long |
int64 |
long |
integer/string |
Bignum |
fixed32 |
Always four bytes. More efficient than uint32 if values are often greater than 2^28. |
uint32 |
int |
int |
uint32 |
uint |
integer |
Bignum or Fixnum (as required) |
fixed64 |
Always eight bytes. More efficient than uint64 if values are often greater than 2^56. |
uint64 |
long |
int/long |
uint64 |
ulong |
integer/string |
Bignum |
sfixed32 |
Always four bytes. |
int32 |
int |
int |
int32 |
int |
integer |
Bignum or Fixnum (as required) |
sfixed64 |
Always eight bytes. |
int64 |
long |
int/long |
int64 |
long |
integer/string |
Bignum |
bool |
|
bool |
boolean |
boolean |
bool |
bool |
boolean |
TrueClass/FalseClass |
string |
A string must always contain UTF-8 encoded or 7-bit ASCII text. |
string |
String |
str/unicode |
string |
string |
string |
String (UTF-8) |
bytes |
May contain any arbitrary sequence of bytes. |
string |
ByteString |
str |
[]byte |
ByteString |
string |
String (ASCII-8BIT) |