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
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