This PR includes new ROS message definitions for the SensorDataSharingMessage (SDSM) and its nested data frames and data elements according to the 2020 SAE J3224 specification.
Since the SDSM message is defined by SAE J3224, it (and most of its nested messages) are contained within a new ROS2 package called j3224_v2x_msgs. Since the SDSM contains some nested messages from the SAE J2735, the j2735_v2x_msgs package has been updated as well. The carma_v2x_msgs package contains messages that use base SI units (meters, seconds, etc.) in most cases.
Since CARMA is still operating with a mixture of both ROS1 and ROS2 nodes, all updates to ROS2 packages (j3224_v2x_msgs, j2735_v2x_msgs, and carma_v2x_msgs) have been carried over to their appropriate ROS1 packages (j3224_msgs, j2735_msgs, and cav_msgs) as well.
PR Details
Description
This PR includes new ROS message definitions for the SensorDataSharingMessage (SDSM) and its nested data frames and data elements according to the 2020 SAE J3224 specification.
Since the SDSM message is defined by SAE J3224, it (and most of its nested messages) are contained within a new ROS2 package called j3224_v2x_msgs. Since the SDSM contains some nested messages from the SAE J2735, the j2735_v2x_msgs package has been updated as well. The carma_v2x_msgs package contains messages that use base SI units (meters, seconds, etc.) in most cases.
Since CARMA is still operating with a mixture of both ROS1 and ROS2 nodes, all updates to ROS2 packages (j3224_v2x_msgs, j2735_v2x_msgs, and carma_v2x_msgs) have been carried over to their appropriate ROS1 packages (j3224_msgs, j2735_msgs, and cav_msgs) as well.
Related GitHub Issue
Supports CARMA Platform Issue #2123
Related Jira Key
CDAR-175
Motivation and Context
This PR enables SDSM messages to be passed between ROS nodes in the CARMA System.
How Has This Been Tested?
The carma-msgs docker image builds successfully.
Types of changes
Checklist: