[refactoring] simulator compatibility test

1. organizing test structure
2. renaming modules

tools/simulator_test/morai_ros2_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(morai_msgs)
+
+
+find_package(ament_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+set(msg_files
+  "msg/CollisionData.msg"
+  "msg/CtrlCmd.msg"
+  "msg/EgoVehicleStatus.msg"
+  "msg/ERP42Info.msg"
+  "msg/EventInfo.msg"
+  "msg/GetTrafficLightStatus.msg"
+  "msg/GhostMessage.msg"
+  "msg/GPSMessage.msg"
+  "msg/IntersectionControl.msg"
+  "msg/IntersectionStatus.msg"
+  "msg/IntscnTL.msg"
+  "msg/Lamps.msg"
+  "msg/MapSpec.msg"
+  "msg/MapSpecIndex.msg"
+  "msg/MoraiSimProcHandle.msg"
+  "msg/MoraiSimProcStatus.msg"
+  "msg/MoraiSrvResponse.msg"
+  "msg/MoraiTLIndex.msg"
+  "msg/MoraiTLInfo.msg"
+  "msg/MultiEgoSetting.msg"
+  "msg/NpcGhostCmd.msg"
+  "msg/NpcGhostInfo.msg"
+  "msg/ObjectStatus.msg"
+  "msg/ObjectStatusList.msg"
+  "msg/PRCtrlCmd.msg"
+  "msg/PREvent.msg"
+  "msg/PRStatus.msg"
+  "msg/RadarTrack.msg"
+  "msg/RadarTracks.msg"
+  "msg/ReplayInfo.msg"
+  "msg/SaveSensorData.msg"
+  "msg/ScenarioLoad.msg"
+  "msg/SensorPosControl.msg"
+  "msg/SetTrafficLight.msg"
+  "msg/SyncModeAddObj.msg"
+  "msg/SyncModeCmd.msg"
+  "msg/SyncModeCmdResponse.msg"
+  "msg/SyncModeCtrlCmd.msg"
+  "msg/SyncModeInfo.msg"
+  "msg/SyncModeRemoveObj.msg"
+  "msg/SyncModeResultResponse.msg"
+  "msg/SyncModeScenarioLoad.msg"
+  "msg/SyncModeSetGear.msg"
+  "msg/TrafficLight.msg"
+  "msg/VehicleCollision.msg"
+  "msg/VehicleCollisionData.msg"
+  "msg/VehicleSpec.msg"
+  "msg/VehicleSpecIndex.msg"
+  "msg/WaitForTick.msg"
+  "msg/WaitForTickResponse.msg"
+)
+
+set(srv_files
+  "srv/MoraiEventCmdSrv.srv"
+  "srv/MoraiMapSpecSrv.srv"
+  "srv/MoraiScenarioLoadSrv.srv"
+  "srv/MoraiSimProcSrv.srv"
+  "srv/MoraiSyncModeCmdSrv.srv"
+  "srv/MoraiSyncModeCtrlCmdSrv.srv"
+  "srv/MoraiSyncModeSetGearSrv.srv"
+  "srv/MoraiSyncModeSLSrv.srv"
+  "srv/MoraiTLInfoSrv.srv"
+  "srv/MoraiVehicleSpecSrv.srv"
+  "srv/MoraiWaitForTickSrv.srv"
+  "srv/PREventSrv.srv"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  ${srv_files}
+  DEPENDENCIES std_msgs geometry_msgs builtin_interfaces
+)
+
+ament_package()

tools/simulator_test/morai_ros2_msgs/msg/CollisionData.msg

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+std_msgs/Header header
+
+float64 global_offset_x
+float64 global_offset_y
+float64 global_offset_z
+
+ObjectStatus[] collision_object

tools/simulator_test/morai_ros2_msgs/msg/CtrlCmd.msg

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+int32 longl_cmd_type
+
+float64 accel
+float64 brake
+float64 steering
+
+float64 velocity
+float64 acceleration
+

tools/simulator_test/morai_ros2_msgs/msg/ERP42Info.msg

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+int32 longl_cmd_type
+
+float32 position_x
+float32 position_y
+float32 position_z
+
+float32 roll
+float32 pitch
+float32 yaw
+
+float32 velocity
+float32 steering
+

tools/simulator_test/morai_ros2_msgs/msg/EgoVehicleStatus.msg

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+std_msgs/Header header
+int32 unique_id
+geometry_msgs/Vector3 acceleration
+geometry_msgs/Vector3 position
+geometry_msgs/Vector3 velocity
+
+float64 heading
+float64 accel
+float64 brake
+float64 wheel_angle

tools/simulator_test/morai_ros2_msgs/msg/EventInfo.msg

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+int8 option
+int32 ctrl_mode
+int32 gear
+Lamps lamps
+bool set_pause

tools/simulator_test/morai_ros2_msgs/msg/GPSMessage.msg

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+std_msgs/Header header
+
+float64 latitude
+float64 longitude
+float64 altitude
+
+float64 east_offset
+float64 north_offset
+int16 status

tools/simulator_test/morai_ros2_msgs/msg/GetTrafficLightStatus.msg

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+std_msgs/Header header
+
+string traffic_light_index
+int16 traffic_light_type
+int16 traffic_light_status

tools/simulator_test/morai_ros2_msgs/msg/GhostMessage.msg

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+geometry_msgs/Vector3 position
+geometry_msgs/Vector3 rotation
+float64 velocity
+float64 steering_angle

tools/simulator_test/morai_ros2_msgs/msg/IntersectionControl.msg

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+std_msgs/Header header
+int32 intersection_index
+int16 intersection_status
+float32 intersection_status_time

tools/simulator_test/morai_ros2_msgs/msg/IntersectionStatus.msg

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+std_msgs/Header header
+int32 intersection_index
+int16 intersection_status
+float32 intersection_status_time

tools/simulator_test/morai_ros2_msgs/msg/IntscnTL.msg

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+std_msgs/Header header
+
+string[] idx
+int32[] state
+float32[] delta_time

tools/simulator_test/morai_ros2_msgs/msg/Lamps.msg

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+std_msgs/Header header
+
+int8 turn_signal
+int8 emergency_signal

tools/simulator_test/morai_ros2_msgs/msg/MapSpec.msg

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+int32 plane_coordinate_system
+int32 utm_num
+
+geometry_msgs/Vector3 utm_offset
+
+string ellipse
+float64 central_latitude
+float64 central_meridian
+float64 scale_factor
+float64 false_easting
+float64 false_northing

tools/simulator_test/morai_ros2_msgs/msg/MapSpecIndex.msg

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+bool load_map_data

tools/simulator_test/morai_ros2_msgs/msg/MoraiSimProcHandle.msg

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+uint8 sim_process_status
+
+int16 replay_option
+string rosbag_file_name
+int16 replay_target_option
+
+int32 replay_speed
+int32 start_time

tools/simulator_test/morai_ros2_msgs/msg/MoraiSimProcStatus.msg

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+std_msgs/Header header
+
+builtin_interfaces/Time latest_command_time
+uint8 command_result
+uint8 current_mode
+uint8 current_status
+

tools/simulator_test/morai_ros2_msgs/msg/MoraiSrvResponse.msg

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+bool result

tools/simulator_test/morai_ros2_msgs/msg/MoraiTLIndex.msg

@@ -0,0 +1 @@
+string idx

tools/simulator_test/morai_ros2_msgs/msg/MoraiTLInfo.msg

@@ -0,0 +1,3 @@
+std_msgs/Header header
+string idx
+int16 status

tools/simulator_test/morai_ros2_msgs/msg/MultiEgoSetting.msg

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+int32 number_of_ego_vehicle
+int32 camera_index
+int32[] ego_index
+float64[] global_position_x
+float64[] global_position_y
+float64[] global_position_z
+float32[] global_roll
+float32[] global_pitch
+float32[] global_yaw
+float32[] velocity
+int8[] gear
+int8[] ctrl_mode

tools/simulator_test/morai_ros2_msgs/msg/NpcGhostCmd.msg

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+std_msgs/Header header
+
+NpcGhostInfo[] npc_list

tools/simulator_test/morai_ros2_msgs/msg/NpcGhostInfo.msg

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+int32 unique_id
+string name
+
+geometry_msgs/Vector3 position
+geometry_msgs/Vector3 rpy

tools/simulator_test/morai_ros2_msgs/msg/ObjectStatus.msg

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+int32 unique_id
+int32 type
+string name
+float64 heading
+
+geometry_msgs/Vector3 velocity
+geometry_msgs/Vector3 acceleration
+geometry_msgs/Vector3 size
+geometry_msgs/Vector3 position

tools/simulator_test/morai_ros2_msgs/msg/ObjectStatusList.msg

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+std_msgs/Header header
+
+int32 num_of_npcs
+int32 num_of_pedestrian
+int32 num_of_obstacle
+
+ObjectStatus[] npc_list
+ObjectStatus[] pedestrian_list
+ObjectStatus[] obstacle_list
+
+

tools/simulator_test/morai_ros2_msgs/msg/PRCtrlCmd.msg

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+float64 longitudinal_velocity
+float64 latitudinal_velocity
+float64 angular_velocity

tools/simulator_test/morai_ros2_msgs/msg/PREvent.msg

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+bool mount_vehicle

tools/simulator_test/morai_ros2_msgs/msg/PRStatus.msg

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+std_msgs/Header header
+
+float32 position_x
+float32 position_y
+float32 position_z
+float64 heading
+bool mount_status

tools/simulator_test/morai_ros2_msgs/msg/RadarTrack.msg

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+# This message relates only to FMCW radar.  
+# All variables below are relative to the radar's frame of reference.
+# This message is not meant to be used alone but as part of a stamped or array message.
+
+# Object classifications (Additional vendor-specific classifications are permitted starting from 32000 eg. Car)
+
+int8 uuid
+
+                                            # Note: The z component of these fields is ignored for 2D tracking.
+geometry_msgs/Point position                # x, y, z coordinates of the centroid of the object being tracked.
+geometry_msgs/Vector3 velocity              # The velocity of the object in each spatial dimension.
+geometry_msgs/Vector3 acceleration          # The acceleration of the object in each spatial dimension.
+geometry_msgs/Vector3 size                  # The object size as represented by the radar sensor eg. length, width, height OR the diameter of an ellipsoid in the x, y, z, dimensions
+                                            # and is from the sensor frame's view.
+uint16 classification                       # An optional classification of the object (see above)
+
+float32[] position_covariance              # Upper-triangle covariance about the x, y, z axes
+float32[] velocity_covariance              # Upper-triangle covariance about the x, y, z axes
+float32[] acceleration_covariance          # Upper-triangle covariance about the x, y, z axes
+float32[] size_covariance                  # Upper-triangle covariance about the x, y, z axes
+
+float32 amplitude
+

tools/simulator_test/morai_ros2_msgs/msg/RadarTracks.msg

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+std_msgs/Header header
+
+RadarTrack[] tracks

tools/simulator_test/morai_ros2_msgs/msg/ReplayInfo.msg

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+std_msgs/Header header
+
+float64 ego_acc
+float64 ego_brake
+float64 ego_steer
+
+geometry_msgs/Quaternion orientation
+
+geometry_msgs/Vector3 linear_acceleration
+
+geometry_msgs/Vector3 angular_velocity
+
+int32 num_of_npcs
+int32 num_of_pedestrian
+int32 num_of_obstacle
+
+ObjectStatus[] npc_list 
+
+ObjectStatus[] pedestrian_list
+
+ObjectStatus[] obstacle_list 

tools/simulator_test/morai_ros2_msgs/msg/SaveSensorData.msg

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+bool is_custom_file_name
+string custom_file_name
+string file_dir

tools/simulator_test/morai_ros2_msgs/msg/ScenarioLoad.msg

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+string file_name
+bool load_network_connection_data
+bool delete_all
+bool load_ego_vehicle_data
+bool load_surrounding_vehicle_data
+bool load_pedestrian_data
+bool load_obstacle_data
+bool set_pause

tools/simulator_test/morai_ros2_msgs/msg/SensorPosControl.msg

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+int16[] sensor_index
+
+float32[] pose_x
+float32[] pose_y
+float32[] pose_z
+float32[] roll
+float32[] pitch
+float32[] yaw
+

tools/simulator_test/morai_ros2_msgs/msg/SetTrafficLight.msg

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+string traffic_light_index
+int16 traffic_light_status

tools/simulator_test/morai_ros2_msgs/msg/SyncModeAddObj.msg

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+string name
+geometry_msgs/Vector3 position
+float64 heading
+uint64 frame

tools/simulator_test/morai_ros2_msgs/msg/SyncModeCmd.msg

@@ -0,0 +1,3 @@
+string user_id
+bool start_sync_mode
+uint32 time_step

tools/simulator_test/morai_ros2_msgs/msg/SyncModeCmdResponse.msg

@@ -0,0 +1,4 @@
+string user_id
+uint64 frame
+bool result
+uint32 time_step

tools/simulator_test/morai_ros2_msgs/msg/SyncModeCtrlCmd.msg

@@ -0,0 +1,5 @@
+uint64 frame
+
+CtrlCmd command
+
+bool sensor_capture

tools/simulator_test/morai_ros2_msgs/msg/SyncModeInfo.msg

@@ -0,0 +1,5 @@
+string master_id
+bool status
+uint64 frame
+
+bool can_send_tick

tools/simulator_test/morai_ros2_msgs/msg/SyncModeRemoveObj.msg

@@ -0,0 +1,2 @@
+int32 unique_id
+uint64 frame

tools/simulator_test/morai_ros2_msgs/msg/SyncModeResultResponse.msg

@@ -0,0 +1 @@
+bool result

tools/simulator_test/morai_ros2_msgs/msg/SyncModeScenarioLoad.msg

@@ -0,0 +1,10 @@
+uint64 frame
+
+string file_name
+bool load_network_connection_data
+bool delete_all
+bool load_ego_vehicle_data
+bool load_surrounding_vehicle_data
+bool load_pedestrian_data
+bool load_obstacle_data
+bool set_pause