Add ETSI ITS CAM TS (release2) - Githubissues

ika-rwth-aachen / etsi_its_messages

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

MIT License

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Add ETSI ITS CAM TS (release2) #29

Closed jpbusch closed 2 months ago

jpbusch commented 3 months ago

genarate etsi_its_cam_ts_... packages based on CAM release2
refactor structure of access functions

lreiher commented 2 months ago

Planned implementation for handling different message types in parallel

ROS to UDP

straightforward
subscribe to both cam_msgs and cam_ts_msgs
encode to corresponding type and publish bitstring

UDP to ROS

CAM payload comes in, even with BTP header, there is no way to distinguish between CAM EN and CAM TS (same protocol version)
therefore, a flag is required to decide which ROS message type to publish

Proposed Implementation

ros2udp_etsi_types
- based on entries in this array (e.g, cam, cam_ts), ROS subscribers for the corresponding message types are created
- if has_btp_destination_port == true
- 4-byte destination port (info) is appended; offsets are ignored
- if has_btp_destination_port == false
- nothing is appended
udp2ros_etsi_types
- based on entries in this array (e.g, cam, cam_ts), ROS publishers for the corresponding message types are created
- could also result in decoding the same payload twice and then publishing as CAM and CAM TS
- defaults to all message types if array is empty (except for TS alternatives; CAM and CPM TS, but no CAM TS)
- if has_btp_destination_port == true
- payloads can be identified as specific message type
- if has_btp_destination_port == false
- single entry in array expected, otherwise message type cannot be identified (should already be implemented this way)