ROS Index
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Repository Summary
| Description | V2X Interface for ROS2 |
| Checkout URI | https://github.com/libv2x/v2x.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2020-01-06 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| libv2x | 0.1.0 |
| libv2x_msgs | 0.1.0 |
| v2x | 0.1.0 |
README
Library for V2X based on ROS2
Concept
ROS2 -> libv2x -> libv2x_msgs -> v2x
Prerequisites
| Item | Version | |
|---|---|---|
| Linux | Ubuntu 18.04 LTS | |
| ROS2 | Dashing Diademata | |
| asn1c | https://github.com/vlm/asn1c | |
| asn1 file | SAE J2735 May-2016, J2735_201603DA.asn |
Build Instruction
Install ROS2 on Linux
Install asn1c
https://github.com/vlm/asn1c
Create ROS2 workspace directory and change directory
mkdir -p ws/src
cd ws
Clone source codes
git clone https://github.com/libv2x/v2x src
Build ASN1 codec
cp J2735_201603DA.asn libv2x/asn1/J2735_201603DA.asn
cd libv2x && ./codec.sh && cd ..
Build
colcon build --symlink-install
Run Example
Terminal 1
source install/local_setup.bash
ros2 run v2x v2x_ieee1609dot3_devemu __log_level:=debug
Terminal 2
source install/local_setup.bash
ros2 run v2x v2x_ieee1609dot3 __log_level:=debug
[DEBUG] [rcl]: Subscription in wait set is ready
[DEBUG] [rcl]: Subscription taking message
[DEBUG] [rcl]: Subscription take succeeded: true
[DEBUG] [ieee1609dot3]: 1568364003.396481301
[DEBUG] [ieee1609dot3]: 3 32 510
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [rcl]: Guard condition in wait set is ready
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [rcl]: Subscription in wait set is ready
[DEBUG] [rcl]: Subscription taking message
[DEBUG] [rcl]: Subscription take succeeded: true
[DEBUG] [ieee1609dot3]: 1568364004.396473876
[DEBUG] [ieee1609dot3]: 3 32 510
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Contributors must sign-off each commit by adding a Signed-off-by: ...
line to commit messages to certify that they have the right to submit
the code they are contributing to the project according to the
Developer Certificate of Origin (DCO).
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