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| cmake-build-debug/ | ||
| .idea | ||
| /cmake-build-debug/ |
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| cmake_minimum_required(VERSION 3.5.1) | ||
| project(v2x_gw) | ||
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| # Default to C99 | ||
| if(NOT CMAKE_C_STANDARD) | ||
| set(CMAKE_C_STANDARD 99) | ||
| endif() | ||
|
|
||
| # Default to C++14 | ||
| if(NOT CMAKE_CXX_STANDARD) | ||
| set(CMAKE_CXX_STANDARD 14) | ||
| endif() | ||
|
|
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| # compile options | ||
| # - activation will lead to a shitload of warnings of unused variables in autogenerated vcits lib | ||
| #if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") | ||
| # add_compile_options(-Wall -Wextra -Wpedantic) | ||
| #endif() | ||
|
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| # ZeroMQ configuration | ||
| # - activate relative paths for libraries (use that for deployment; WARNING: don't use with --symlink-install -> lib won't be found by file) | ||
| # - set lib location for building and linking | ||
| # - copy the lib files | ||
| #set(CMAKE_INSTALL_RPATH "$ORIGIN") | ||
| #set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE) | ||
| set(ZEROMQ_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/ext/libzmq/include") | ||
| set(ZEROMQ_LIBRARIES "${CMAKE_CURRENT_SOURCE_DIR}/ext/libzmq/libzmq.so") | ||
| install(FILES | ||
| "${CMAKE_CURRENT_SOURCE_DIR}/ext/libzmq/libzmq.so" | ||
| "${CMAKE_CURRENT_SOURCE_DIR}/ext/libzmq/libzmq.so.5" | ||
| "${CMAKE_CURRENT_SOURCE_DIR}/ext/libzmq/libzmq.so.5.2.4" | ||
| DESTINATION lib/${PROJECT_NAME}/ | ||
| ) | ||
|
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| # find dependencies | ||
| find_package(ament_cmake REQUIRED) | ||
| find_package(ament_cmake_auto REQUIRED) | ||
| find_package(ament_index_cpp REQUIRED) | ||
| find_package(rclcpp REQUIRED) | ||
| find_package(eigen3_cmake_module) | ||
| find_package(geometry_msgs REQUIRED) | ||
| find_package(nav_msgs REQUIRED) | ||
| find_package(visualization_msgs REQUIRED) | ||
| find_package(diagnostic_msgs REQUIRED) | ||
| find_package(tf2 REQUIRED) | ||
| find_package(tf2_ros REQUIRED) | ||
| find_package(std_msgs REQUIRED) | ||
| find_package(dbw_ford_msgs REQUIRED) | ||
| find_package(v2x_msgs REQUIRED) | ||
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| #pkg_check_modules(vcits REQUIRED) | ||
| add_subdirectory(vcits) | ||
|
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| # add executable and sources | ||
| ament_auto_add_executable(v2x_gw src/V2XGateway.cpp | ||
| src/server/V2XServer.cpp | ||
| src/server/V2XZMQServer.cpp | ||
| src/handler/V2XMHandler.cpp | ||
| src/handler/CAMHandler.cpp | ||
| src/handler/CPMHandler.cpp | ||
| src/handler/DENMHandler.cpp | ||
| src/handler/ExampleMHandler.cpp | ||
| ) | ||
|
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||
| # reference headers | ||
| target_include_directories(v2x_gw PUBLIC ${CMAKE_INSTALL_PREFIX}/include/ | ||
| include | ||
| include/server | ||
| include/handler | ||
| ${ZEROMQ_INCLUDE_DIR} | ||
| vcits/asn1c | ||
| . | ||
| ) | ||
|
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||
| # link libraries | ||
| ament_target_dependencies(v2x_gw rclcpp std_msgs geometry_msgs nav_msgs visualization_msgs diagnostic_msgs dbw_ford_msgs v2x_msgs tf2 tf2_ros) | ||
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| target_link_libraries(v2x_gw | ||
| ${ZEROMQ_LIBRARIES} | ||
| vcits) | ||
|
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| # install ros package dependencies | ||
| ament_auto_package( | ||
| INSTALL_TO_SHARE | ||
| launch | ||
| config | ||
| ) |
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| # ZeroMQ.cmake from http://lists.gforge.inria.fr/pipermail/simgrid-devel/2012-July/001513.html | ||
|
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| SET (ZEROMQ_FIND_QUIETLY TRUE) | ||
| SET (ZEROMQ_FIND_REQUIRED FALSE) | ||
|
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| IF (NOT ZEROMQ_FOUND) | ||
| # Search user environment for headers, then default paths | ||
| FIND_PATH (ZEROMQ_INCLUDE_DIR zmq.hpp | ||
| PATHS ${ZEROMQROOT}/include $ENV{ZEROMQROOT}/include /usr/local/include | ||
| NO_DEFAULT_PATH) | ||
| FIND_PATH (ZEROMQ_INCLUDE_DIR zmq.hpp) | ||
| GET_FILENAME_COMPONENT (ZEROMQROOT ${ZEROMQ_INCLUDE_DIR} PATH) | ||
|
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| # Search user environment for libraries, then default paths | ||
| FIND_LIBRARY (ZEROMQ_LIBRARIES zmq | ||
| PATHS ${ZEROMQROOT}/lib $ENV{ZEROMQROOT}/lib /usr/local/lib | ||
| NO_DEFAULT_PATH) | ||
| FIND_LIBRARY (ZEROMQ_LIBRARIES zmq) | ||
|
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| # Set ZEROMQ_FOUND and error out if zmq is not found | ||
| INCLUDE (FindPackageHandleStandardArgs) | ||
| FIND_PACKAGE_HANDLE_STANDARD_ARGS (ZEROMQ | ||
| DEFAULT_MSG ZEROMQ_LIBRARIES ZEROMQ_INCLUDE_DIR) | ||
|
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||
| IF (ZEROMQ_FOUND) | ||
| MESSAGE (STATUS "ZeroMQ found: zmq library and zmq.hpp ") | ||
| MESSAGE (STATUS " * includes: ${ZEROMQ_INCLUDE_DIR}") | ||
| MESSAGE (STATUS " * libs: ${ZEROMQ_LIBRARIES}") | ||
| ELSE (ZEROMQ_FOUND) | ||
| IF(${ZEROMQ_LIBRARIES} STREQUAL "ZEROMQ_LIBRARIES-NOTFOUND") | ||
| MESSAGE (STATUS "ZeroMQ library does not exist") | ||
| ELSEIF(${ZEROMQ_INCLUDE_DIR} STREQUAL "ZEROMQ_INCLUDE_DIR-NOTFOUND") | ||
| MESSAGE (STATUS "ZeroMQ has a problem: zmq.hpp does not exist, try to download it from https://github.com/zeromq/cppzmq/blob/master/zmq.hpp") | ||
| ENDIF() | ||
| ENDIF (ZEROMQ_FOUND) | ||
| ENDIF (NOT ZEROMQ_FOUND) |
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| BSD 3-Clause License | ||
|
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||
| Copyright (c) 2022, Virtual Vehicle | ||
| All rights reserved. | ||
|
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| Redistribution and use in source and binary forms, with or without | ||
| modification, are permitted provided that the following conditions are met: | ||
|
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| 1. Redistributions of source code must retain the above copyright notice, this | ||
| list of conditions and the following disclaimer. | ||
|
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||
| 2. Redistributions in binary form must reproduce the above copyright notice, | ||
| this list of conditions and the following disclaimer in the documentation | ||
| and/or other materials provided with the distribution. | ||
|
|
||
| 3. Neither the name of the copyright holder nor the names of its | ||
| contributors may be used to endorse or promote products derived from | ||
| this software without specific prior written permission. | ||
|
|
||
| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE | ||
| FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | ||
| DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR | ||
| SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | ||
| OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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| # V2X Gateway | ||
| The *v2x_gw* is part of the [vehicleCAPTAIN](https://github.com/virtual-vehicle/vehicle_captain) toolbox. | ||
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| The *v2x_gw* is a central ROS2 node that (i) connects to the vehicleCAPTAIN routing core (ii) converts V2X messages to ROS messages (iii) converts ROS messages to V2X messages. | ||
|
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| The vehicleCAPTAIN routing core may be replaced by your implementation for rx/tx of V2X messages. | ||
|
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| Version Support: | ||
| * v1.x | ||
| * v2x_msgs v1.1.0 | ||
| * vcits 1.0 | ||
|
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| ## Copyright | ||
| Please cite the [vehicleCAPTAIN paper](https://TODO_link_to_paper_when_it_is_published) if you used any part of this library for your work. | ||
|
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| ## Contribution Guidelines | ||
| Feel free to add fixes and new features! | ||
|
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| ## Authors | ||
| Main Author: [Christoph Pilz](https://github.com/MrMushroom) | ||
|
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| ## Acknowledgement | ||
| The majority of this work is part of my ([Christoph Pilz](https://www.researchgate.net/profile/Christoph-Pilz)) PhD studies at [Graz University of Technology](https://www.tugraz.at/home) in cooperation with the [Virtual Vehicle Research GmbH](https://www.v2c2.at/). | ||
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| Features are also integrated across various funded projects (see [vehicleCAPTAIN](https://github.com/virtual-vehicle/vehicle_captain)). |
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| # Usage Guide | ||
| Check out the Requirements below! | ||
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| Afterwards simply check out the repo and integrate it into your ROS2 environment. | ||
|
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| ## Requirements | ||
| This node requires the [v2x_msgs](https://github.com/virtual-vehicle/v2x_msgs) library from the [vehicleCAPTAIN](https://github.com/virtual-vehicle/vehicle_captain) toolbox. | ||
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| This node is designed for the [v2x_routing_core](https://github.com/virtual-vehicle/vehicle_captain_routing_core) from the [vehicleCAPTAIN](https://github.com/virtual-vehicle/vehicle_captain) toolbox. | ||
| However, you may introduce your own V2XServer connection. | ||
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| Also, check out the ROS2 dependencies (package.xml)! | ||
|
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| ## In case you want to install ZMQ locally | ||
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| You may use zmq_setup.sh for setup | ||
|
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| In top level "CMakeLists.txt" replace setting of ZMQ libs with "FindZeroMQ.cmake" | ||
|
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| ### LibZMQ v4.3.4 | ||
| ```shell | ||
| cd /opt | ||
| git clone https://github.com/zeromq/libzmq.git | ||
| cd /opt/libzmq | ||
| git checkout v4.3.4 | ||
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| apt-get update -qq | ||
| apt-get install -qq --yes --no-install-recommends \ | ||
| libkrb5-dev \ | ||
| libsodium23 | ||
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| ./autogen.sh | ||
| ./configure --prefix=/usr/local --with-libgssapi_krb5 | ||
| make | ||
| make check | ||
| make install | ||
|
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| ldconfig && ldconfig -p | grep libzmq | ||
| ``` | ||
|
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| ### CPPZMQ v4.8.0 | ||
| WARNING: v4.8.0 recommended, but Ubuntu 18.04 has wrong cmake version! | ||
| WARNING: also for that reason, the -DCPPZMQ_BUILD_TESTS=OFF is required | ||
| ```shell | ||
| cd /opt | ||
| git clone https://github.com/zeromq/cppzmq.git | ||
| cd /opt/cppzmq | ||
| git checkout v4.7.1 | ||
|
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| mkdir build | ||
| cd /opt/cppzmq/build | ||
|
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| cmake -DCPPZMQ_BUILD_TESTS=OFF .. | ||
| make install | ||
| ``` |
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| # config/v2x_gw.param.yaml | ||
| --- | ||
|
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| # Node-specific parameters | ||
| /**: | ||
| ros__parameters: | ||
| server: | ||
| type: "zmq" # type of the V2X server (supported: "zmq") | ||
| address: "vcaptain001.local" # hostname or ipv4 of the vehicleCAPTAIN routing core | ||
| receive_port: 5556 # 5556 is default for receiving from the vehicleCAPTAIN routing core | ||
| send_port: 5555 # 5555 is default for sending to the vehicleCAPTAIN routing core | ||
| topic_filter: "v2x." # supported: "v2x." ... get v2x messages (see vehicleCAPTAIN routing core docs) | ||
| cycle_time_ms: 1 # cycle time leads to communication update interval | ||
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| header: | ||
| station_id: 1337 # this value is pseudonymized and should be unique in a GN communication | ||
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| cam: | ||
| active: true # activate processing of CAM module | ||
| handler_debug_msg_throttle_ms: 5000 # throttle for debug msgs in milliseconds (throttles <=WARN) | ||
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| cpm: | ||
| active: true # activate processing of CPM module | ||
| handler_debug_msg_throttle_ms: 5000 # throttle for debug msgs in milliseconds (throttles <=WARN) | ||
|
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| denm: | ||
| active: true # activate processing of DENM module | ||
| handler_debug_msg_throttle_ms: 5000 # throttle for debug msgs in milliseconds (throttles <=WARN) | ||
|
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| examplem: | ||
| active: false # activate processing of ExampleM module | ||
| handler_debug_msg_throttle_ms: 5000 # throttle for debug msgs in milliseconds (throttles <=WARN) |
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