Switch to rust-based generation and add additional message types

ika-rwth-aachen / etsi_its_messages

ROS / ROS 2 Support for ETSI ITS Messages for V2X Communication

MIT License

43 stars 8 forks source link

Switch to rust-based generation and add additional message types #20

Closed jpbusch closed 3 months ago

jpbusch commented 4 months ago

Change default code-generation from py to rust

py code-generation is replaced by rust-based one (CI, vscode launch config and README)
py code-generation files are still located in codegen-py

Updates CAM and DENM

CAM and DENM c-code, msgs and conversion headers are regenerated using the rust-codegen
this leads to small changes in these generated files, including license updates, line breaks and some small naming changes, because of camel-case / snake-case conversion (example diff)

CPM v2.1.1

generate c-code / msgs / conversion headers for CPM as a new message type
add publish_cpm.py to generate a dummy CPM ROS message
currently there are no access functions implemented for the CPM

jpbusch commented 3 months ago

We were able to generate and compile the ROS msgs and conversion headers for the CPM. The conversion node is now also able to convert CPMs. Feel free to try out this branch with your use cases. This would help us to validate.

@riebl, @v0-e, @foxei, @lheg

joaomiguelpereiradealmeida commented 3 months ago

We were able to generate and compile the ROS msgs and conversion headers for the CPM. The conversion node is now also able to convert CPMs. Feel free to try out this branch with your use cases. This would help us to validate.

@riebl, @v0-e, @Foxei, @lheg

Dear @jpbusch , thank you very much for the CPM integration. Since CPMs use CDD Release 2, it would be great if we can also have the CAM and DENM Release 2 available to test the 3 types of messages together. Do you think they could be integrated in this PR?

jpbusch commented 3 months ago

Hi @joaomiguelpereiradealmeida! We have decided to only add the CPM with this PR for now. We then want to add a second branch in this repo, on which we will also upgrade CAM and DENM to release2. Outcome after first tests: The CAM release2 should work quite straight forward, but there will still be a few problems with the DENM release2.

joaomiguelpereiradealmeida commented 3 months ago

Hi @joaomiguelpereiradealmeida! We have decided to only add the CPM with this PR for now. We then want to add a second branch in this repo, on which we will also upgrade CAM and DENM to release2. Outcome after first tests: The CAM release2 should work quite straight forward, but there will still be a few problems with the DENM release2.

Great, thank you @jpbusch. Just a note, I would say that maybe it could be useful to have message conversion from both releases available simultaneously, since in a real-world scenario we are going to have co-existence of vehicles transmitting messages from different releases. So, maybe having different folders on the same branch, e.g. for CAM_r1 and CAM_r2, could work?