libv2x / v2x

V2X Interface for ROS2

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

v2x's Issues

colcon build error

Hello, I am a student studying v2x in ros2.

I am writing an inquiry because the following error occurred while following the summary.

Could you tell me the solution?

Codecs have been created well.