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DRIVERS.md

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ROS Drivers for common V2X OBU/RSU Hardware

The etsi_its_conversion package converts etsi_its_msgs ROS messages to and from UPER-encoded udp_msgs/msg/UdpPacket payloads. This allows to build simple ROS drivers for common V2X OBUs and RSUs. This page contains instructions to connect common V2X hardware to ROS.

Tested V2X Hardware

Cohda Wireless MK5/MK6

Approach

  • Run an application on the MK5/MK6 that forwards raw V2X message payloads to a UDP port on a host computer.
  • Bridge the UDP packets to ROS messages.
  • Run the etsi_its_conversion node to convert the UDP packets to and from etsi_its_msgs ROS messages.

Prerequisites

  • To follow the documentation links, access to the Cohda Wireless support portal is required.
  • The MK5/MK6 is connected to a host computer and IP addresses of both devices are known.
  • The following was tested successfully with MK5 firmware mk5-19.Release.139237-RSUETSI-typical and a stock MK6 firmware.
  • The following only describes the setup for bridging received V2X messages to ROS. The other way, sending V2X messages from ROS via ITS-G5, should work similarly.

On the Cohda Wireless MK5/MK6

  1. Install the exampleETSI application to /mnt/rw. [Documentation] You may also install and configure any other (custom) application that supports forwarding V2X messages via UDP.
  2. Configure forwarding of BTP packets to the host computer via UDP in /mnt/rw/exampleETSI/obu.conf or /mnt/rw/exampleETSI/rsu.conf. [Documentation] 
    ItsFacilitiesShellEnabled   = 1;     0, 1         # Enables / Disables support Facilities Shell interface
ItsUdpBtpIfHostName     = 192.168.140.12          # hostname for sending BTP Data Ind to Shell
ItsUdpBtpIfIndPort      = 4400;  1,65535          # port number for sending BTP Data Ind to Shell
ItsUdpBtpIfReqPort      = 4401;  1,65535          # port number for receiving BTP Data Req from Shell
ItsBtpShellDestPort     = 65535; 0,65535
  3. (optional) Reduce GeoNetworking security strictness in the same file. 
    ItsGnSnDecapResultHandling = 1; 0,1               # GN security strictness - STRICT (0), NON-STRICT (1)
  4. Start the application or enable auto-start. [Documentation] 
    # root@MK5:/mnt/rw/exampleETSI#
rc.exampleETSI start obu # or rsu

On the host computer

  1. Install the udp_driver and etsi_its_conversion ROS packages. 
    sudo apt install \
    ros-$ROS_DISTRO-transport-drivers \
    ros-$ROS_DISTRO-etsi-its-conversion
  2. Configure the udp_driver node responsible for bridging the UDP packets received from the MK5/MK6 to udp_msgs/msg/UdpPacket ROS messages. 
    # config.udp_driver.yml
/**/*:
  ros__parameters:
    ip: "192.168.140.12"    # same as ItsUdpBtpIfIndHostName
    port: 4400              # same as ItsUdpBtpIfIndPort
  3. Configure the etsi_its_conversion node responsible for converting the UPER-encoded udp_msgs/msg/UdpPacket payloads to etsi_its_msgs. 
    # config.etsi_its_conversion.yml
/**/*:
  ros__parameters:
    has_btp_destination_port: true
    btp_destination_port_offset: 8
    etsi_message_payload_offset: 78
    ros2udp_etsi_types:
      - cam
      - cam_ts
      - cpm_ts
      - denm
      - mapem_ts
      - spatem_ts
      - vam_ts
    udp2ros_etsi_types:
      - cam
      - cpm_ts
      - denm
      - mapem_ts
      - spatem_ts
      - vam_ts
  4. Launch the udp_driver node. 
    ros2 run udp_driver udp_receiver_node_exe --ros-args --params-file ./config.udp_driver.yml -r /udp_read:=/converter/udp/in
ros2 lifecycle set /udp_receiver_node 1
ros2 lifecycle set /udp_receiver_node 3
  5. Receive, e.g., encoded CAMs on /converter/udp/in. 
    ros2 topic echo /converter/udp/in
  6. Launch the etsi_its_conversion node. 
    ros2 run etsi_its_conversion etsi_its_conversion_node --ros-args --params-file ./config.etsi_its_conversion.yml
  7. Receive, e.g., CAMs on /converter/cam/out. 
    ros2 topic echo /converter/cam/out

cubesys cube:evk

Approach

  • The cube:evk natively supports etsi_its_msgs ROS 2 messages.
  • Launch the cube-its ROS 2 framework on the cube:evk to directly receive and send messages from ROS.

Prequisites

  • The cube:evk is connected to a host computer and IP addresses of both devices are known.

On the cube:evk

  1. Launch the cube-its ROS 2 framework. 
    start-its --remote

On the host computer

  1. Install the etsi_its_msgs ROS packages. 
    sudo apt install \
    ros-$ROS_DISTRO-etsi-its-msgs
  2. Configure the ROS 2 domain to receive ROS messages remotely from the cube:evk. 
    export ROS_DOMAIN_ID=42
export ROS_LOCALHOST_ONLY=0
  3. Receive, e.g., CAMs on /its/cam_received. 
    ros2 topic echo /its/cam_received
  4. Send, e.g., CAMs by publishing to /its/cam_provided 
    ros2 topic pub /its/cam_provided etsi_its_cam_msgs/msg/CAM "{}"