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tlab-wide / AutowareV2X

AutowareV2X is an open-source module that can be added onto the newest Autoware.universe to enable V2X communication.
https://tlab-wide.github.io/AutowareV2X/main/
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Multi-channel Operation, CPAM Integration #19

Open yuasabe opened 1 year ago

yuasabe commented 1 year ago

Currently, we launch the AutowareV2X node with a specified network interface to send the CPM out from.

ros2 launch autoware_v2x v2x.launch.xml network_interface:=eth0

CPM Summaries (CPAMs) are still yet to be integrated into AutowareV2X, so that information gathered from CPAM can be utilized/visualized in Autoware.

We want to support a UC where there can be multiple network interfaces with different priority settings attached to them. For example, use eth0 (802.11g) for main CPM dissemination/reception, and use eth1 (LTE) for CPM Assistive Messages. A config file example is as below:

network_interfaces:
  eth0: cpm
  eth1: cpam