ROS Index
|
v2x_ros_driver package from v2x-ros-driver repov2x_ros_driver |
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS driver for V2X (both C-V2X and DSRC) radios |
| Checkout URI | https://github.com/usdot-fhwa-stol/v2x-ros-driver.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-04-04 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- carma
Authors
v2x_ros_driver
This package defines a carma-plaform compatible driver for Cohda OBUs though other models of OBU may work as well. The driver is compatible with DSRC and C-V2X radios. The design documents for this driver can be found here https://usdot-carma.atlassian.net/wiki/spaces/CRMMSG/pages/1319272562/Detailed+Design+-+DSRC+OBU+Driver
This driver is known to work successfully with the Cohda Wireless MK5 and MK6 OBU. It implements the communication interface allowing UPER-encoded SAE J2735 communication to be exposed to a ROS network using [carma_driver_msgs/msg/ByteArray] (https://github.com/usdot-fhwa-stol/carma-msgs/blob/develop/carma_driver_msgs/msg/ByteArray.msg). It has been tested with SAE J2735 2016 but can support later versions as well.
Deployment Instructions
The v2x-ros-driver is a ros2 package currently implemented in [ros2-foxy] (https://docs.ros.org/en/foxy/Installation.html). It creates a UDP client to listen to input from the v2x radio and broadcast the UPER encoded message to ROS. In order to deploy the driver in a ros2-foxy configured environment, the following steps can be used
Deploy using docker (recommended)
- Pull the latest docker image for driver from dockerhub
docker pull usdotfhwastol/v2x-ros-driver:<latest-release-tag>
Latest release tag can be obtained from github tags. Docker images are tagged with the same tag.
Note: The repository was recently renamed and until a new release is available, users may use usdotfhwastol/carma-cohda-dsrc-driver:carma-system-4.5.0 which builds an older versions of this code base but is manufacturer and DSRC/C-V2X agnostic.
- Run the Docker image
docker run -it --network host usdotfhwastol/v2x-ros-driver:<latest_release_tag_from_github>
Build from source
Note: Assumption here is that user is building on a ros2 foxy development environment.
- Clone the repository into workspace
git clone https://github.com/usdot-fhwa-stol/v2x-ros-driver.git
- Clone the dependencies into workspace
chmod +x <path_to_workspace>/docker/checkout.bash
./<path_to_workspace>/docker/checkout.bash -r <path_to_workspace> -b <latest_release_tag_from_github>
- Build the package
source /opt/ros/foxy/setup.bash
colcon build --packages-up-to v2x_ros_driver
- Launch the node
source <path_to_package_install_directory>/install/setup.bash
ros2 launch v2x_ros_driver v2x_ros_driver.launch.py
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| carma_cmake_common | |
| ament_auto_cmake | |
| ament_cmake | |
| launch | |
| launch_ros | |
| ament_lint_auto | |
| ament_cmake_gtest | |
| rclcpp | |
| carma_ros2_utils | |
| rclcpp_components | |
| std_srvs | |
| j2735_v2x_msgs | |
| carma_driver_msgs | |
| carma_msgs | |
| rapidjson |