The V2X-ROS-Conversion package contains two ROS nodes that converts a ROS message to a binary message that can be forwarded to a OBU/RSU to broadcast the message. This package uses ROS2 Humble.
The core components in CARMA Messenger contains two ROS nodes: Message node and J2735 Convertor Node. The Message node takes in a ROS message and uses asn1c lib generated code to convert it to a binary blob and forwards it to the DSRC driver, such that any OBU/RSU can broadcast the message directly. The J2735 Converter converts the data from a ROS message based on the J2735 standard units to another message using more usable SI units and vice-versa.
# Clone repo
git clone https://github.com/usdot-fhwa-stol/v2x-ros-conversion.git
# Build development config
cd v2x-ros-conversion/docker
./build-image.sh
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