This repository provides examples demonstrating how to develop and run your own V2X (Vehicle-to-Everything) application on the cube-its within a ROS 2 (Robot Operating System) environment.
The cube-its framework, as shown in figure 1, is designed for intelligent transportation systems (ITS) and vehicular networks within a ROS 2 environment. It consists of several nodes and components that work together to manage GNSS data, vehicle kinematics, I/O operations, ITS facilities, and V2X communication using the Vanetza library. Additionally, cube-its can serve as a platform for development, deployment and operation of ITS applications and beyond.
The GNSS component provides accurate global positioning data for the system. It reads data from GNSS receiver and provides the position, velocity, and time information.
The Kinematics computes the kinematic state of the system based on GNSS data and other sensors. It calculates the system's pose, velocity, and acceleration.
The I/O components handle sensor inputs and actuator outputs. It processes data from various sensors or interfaces such as CAN (Controller Area Network).
The ITS Facilities provides services and functionalities for intelligent transportation systems, including communication with traffic infrastructure and managing V2X communication.
The Vanetza node facilitates V2X communication by implementing the ETSI (European Telecommunications Standards Institute) ITS-G5 protocol for vehicle and infrastructure communication.
The cube-its framework incorporates the etsi_its_messages package to facilitate the use of standardized ETSI ITS messages for V2X communication within ROS and ROS 2 environments. This integration enables developers to implement and manage V2X communication protocols, adhering to the ETSI specifications, within robotic and autonomous vehicle systems.
| Status | Acronym | Name | EN Specification | TS Specification | TR Specification |
|---|---|---|---|---|---|
| ✅ | CAM | Cooperative Awareness Message | EN 302 637-2 V1.4.1 (ASN.1) | - | ETSI TR 103 099 V1.5.1 |
| ✅ | DENM | Decentralized Environmental Notification Message | EN 302 637-3 V1.3.1 (ASN.1) | - | ETSI TR 103 099 V1.5.1 |
| 🔜 | CPM | Collective Perception Message | - | TS 103 324 V2.1.1 (ASN.1) | - |
ROS 2 is known as an advanced middleware for creating software for self-driving robots and even autonomous vehicles. It has a decentralized setup with nodes handling specific tasks, such as processing data from a single sensor etc. Since we will be working with ROS, it makes sense to get familiar with the environment and features of ROS.
In order to run ROS 2 nodes in the same ROS 2 environment, ROS 2 introduces a domain mechanism. By default ROS_LOCALHOST_ONLY is set to 1, which means that cube-its, its topics, services, and actions will not be visible to other ROS 2 environments on the local network. By setting ROS_LOCALHOST_ONLY=0 enables ROS 2 nodes from v2x_apps and cube_its to discover each other, if they share the same domain (default: ROS_DOMAIN_ID=42). You can simply disable the localhost only setting by typing in a terminal:
export ROS_LOCALHOST_ONLY=0
In other words, they are part of the same ROS 2 environment, and the ROS 2 nodes from v2x_apps can now access to all services and topics of the cube-its.
In the same way, it's possible to set the domain to a different value:
export ROS_DOMAIN_ID=45
More information about domain ID can be found here: https://docs.ros.org/en/humble/Concepts/Intermediate/About-Domain-ID.html
- cube:evk or cube:micro OBU running the cube-its framework
- You likely already have worked with devcontainer projects in VSCode (Visual Studio Code). If you are not familiar with developing inside a container, check the following link https://code.visualstudio.com/docs/devcontainers/containers before you start.
The cam_listener, as shown in figure 2, listens for received CAMs transmitted through the designated published topic "/its/cam_received" by cube-its. The cube-its framework handles the publication of received CAM data, while the cam_listener node is configured to subscribe to this specific topic. This configuration enables the cam_listener node to efficiently receive and process the CAM data, showcasing a fundamental aspect of the project's functionality.
The cam_listener node operates within a Docker container, similar to the cube-its. Both are functioning within a ROS 2 environment and share the same domain, facilitating the ability of ROS 2 nodes to discover each other.
Navigate to the root of the workspace, dev_ws:
cd dev_ws
Build application by:
colcon build --packages-select v2x_apps
Still in the same terminal, source the setup files:
source install/setup.bash
Now run the cam_listener node:
ros2 run v2x_apps cam_listener
The node is running correctly when you see the following terminal output:
[INFO] [1706013094.349399714] [cam_listener]: Node "cam_listener" started
The cam_listener is now waiting for a received CAM message by cube-its. When cube-its starts receiving CAMs, cam_listener will output on terminal:
[INFO] [1706013095.341824275] [cam_listener]: Received CAM from Station Id: 84281098
[INFO] [1706013096.345854233] [cam_listener]: Received CAM from Station Id: 84281098
[INFO] [1706013097.345731609] [cam_listener]: Received CAM from Station Id: 84281098
[INFO] [1706013098.345113236] [cam_listener]: Received CAM from Station Id: 84281098
[INFO] [1706013099.344528362] [cam_listener]: Received CAM from Station Id: 84281098
The denm_node, shown in figure 3, is responsible for transmitting and receiving DENMs over cube-its. The denm_node subscribes to topics to get position updates and received DENMs and uses a service call to request the transmission of DENMs. Additionally, it periodically generates and transmits DENMs based on the current position.
Subscriptions:
- /its/position_vector: The denm_node subscribes to this topic to receive regular updates about the current position.
- /its/denm_received: This subscription allows the denm_node to receive incoming DENMs from other V2X capable stations. By processing these messages, the node can react to various environmental events and updates.
Services:
- /its/den_request: The denm_node can use this service to request the transmission of a DENM. This is likely an on-demand feature, where a specific condition or event triggers the need to send a DENM immediately. Here, in this example the transmission is called periodically.
Navigate to the root of the workspace, dev_ws:
cd dev_ws
Build application by:
colcon build --packages-select v2x_apps
Still in the same terminal, source the setup files:
source install/setup.bash
Now run the denm_node:
ros2 run v2x_apps denm_node
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