Merge pull request #31 from tlab-wide/cpm-tr

Sync changes to cpm-tr with main

docs/installation/docker-installation.md

@@ -47,12 +47,12 @@ cd ~/workspace/autoware_docker
 ```
 v2x/autowarev2x:
   type: git
-  url: git@github.com:tlab-wide/AutowareV2X.git
+  url: https://github.com/tlab-wide/AutowareV2X.git
-  version: main
+  version: cpm-tr
 v2x/vanetza:
   type: git
-  url: git@github.com:tlab-wide/vanetza.git
+  url: https://github.com/yuasabe/vanetza.git
-  version: socktap-cpm-tr103562
+  version: master
 
 ```
 

docs/installation/source-installation.md

@@ -37,14 +37,14 @@ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
 
 1. Edit the `autoware.repos` file and add the following two repositories to the end.
 ```
-v2x/autoware_v2x:
+v2x/autowarev2x:
   type: git
-  url: git@github.com:tlab-wide/autoware_v2x.git
+  url: https://github.com/tlab-wide/AutowareV2X.git
-  version: main
+  version: cpm-tr
 v2x/vanetza:
   type: git
-  url: git@github.com:tlab-wide/vanetza.git
+  url: https://github.com/yuasabe/vanetza.git
-  version: socktap-cpm-tr103562
+  version: master
 
 ```
 

docs/tutorials/planning-simulation/index.md

@@ -24,6 +24,13 @@ docker network create --driver=bridge --subnet=10.0.0.0/24 v2x_net -o com.docker
 
 ### Launch two ITS-S containers
 
+!!! Note
+    Here, we will use a Rocker extension called [off-your-rocker](https://github.com/sloretz/off-your-rocker).
+    Install `off-your-rocker` by running the below:
+    ```bash
+    python3 -m pip install off-your-rocker
+    ```
+
 In one terminal, use rocker to launch container `autoware_1`:
 ```bash
 rocker --nvidia --x11 --user --privileged --volume $HOME/workspace/autoware_docker --volume $HOME/data --network=v2x_net --name autoware_1 --oyr-run-arg "--ip 10.0.0.2 --hostname autoware_1" -- ghcr.io/autowarefoundation/autoware-universe:latest-cuda
@@ -42,7 +49,7 @@ In `autoware_1`:
 
 ```
 cd ~/workspace/autoware_docker
-source ~/autoware_docker/install/setup.bash
+source install/setup.bash
 export AWID=1 # autoware_1
 source ~/workspace/autoware_docker/src/v2x/autowarev2x/setup.sh
 ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/data/maps/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
@@ -55,11 +62,13 @@ Note that you can make the dummy cars to be static by changing its `Velocity` to
 
 ![](./tools-properties.png)
 
+![](./autoware_1_rviz.png)
+
 In `autoware_2`:
 
 ```
 cd ~/workspace/autoware_docker
-source ~/autoware_docker/install/setup.bash
+source install/setup.bash
 export AWID=2 # autoware_2
 source ~/workspace/autoware_docker/src/v2x/autowarev2x/setup.sh
 ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/data/maps/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
@@ -74,8 +83,8 @@ In `autoware_1`:
 ```
 docker exec -it autoware_1 bash
 sudo su
-cd ~/workspace/autoware_docker
+cd workspace/autoware_docker
-source ~/workspace/autoware_docker/install/setup.bash
+source install/setup.bash
 export AWID=1
 source ./src/v2x/autowarev2x/setup.sh
 ros2 launch autoware_v2x v2x.launch.xml network_interface:=eth0
@@ -89,8 +98,8 @@ In `autoware_2`:
 ```
 docker exec -it autoware_2 bash
 sudo su
-cd ~/workspace/autoware_docker
+cd workspace/autoware_docker
-source ~/workspace/autoware_docker/install/setup.bash
+source install/setup.bash
 export AWID=2
 source ./src/v2x/autowarev2x/setup.sh
 ros2 launch autoware_v2x v2x.launch.xml network_interface:=eth0 is_sender:=false
@@ -104,9 +113,9 @@ When both the sender and receiver is launched, you should see that the receiver
 
 1. Press "Add" from the Displays Panel <br>
 ![](./add-v2x-rviz-1.png)
-2. Choose "By topic", then select PredictedObjects from /v2x/cpm/objects
+2. Choose "By topic", then select PredictedObjects from /v2x/cpm/objects <br>
 ![](./add-v2x-rviz-2.png)
-3. The CPM-shared objects are shown in Rviz!
+3. The CPM-shared objects are shown in Rviz for `autoware_2`! <br>
 ![](./add-v2x-rviz-3.png)
 
 ## Run scenarios

docs/tutorials/planning-simulation/rosbag-and-analysis.md

@@ -4,18 +4,30 @@
 
 In `autoware_1`:
 ```
+docker exec -it autoware_1 bash
 cd ~/workspace/autoware_docker
 ros2 bag record -o test_sender_rosbag /perception/object_recognition/objects /tf
-tcpdump -i eth0 -w test_sender_tcpdump
+
+sudo apt update
+sudo apt install tcpdump
+sudo tcpdump -i eth0 -w test_sender_tcpdump.pcap
 ```
 
 In `autoware_2`:
 ```
+docker exec -it autoware_2 bash
 cd ~/workspace/autoware_docker
 ros2 bag record -o test_receiver_rosbag /v2x/cpm/objects /tf
-tcpdump -i eth0 -w test_receiver_tcpdump
+
+sudo apt update
+sudo apt install tcpdump
+sudo tcpdump -i eth0 -w test_receiver_tcpdump.pcap
 ```
 
+## Open PCAP file in Wireshark
+
+![](./wireshark_awv2x.png)
+
 ## Analyze in JupyteLab
 
 ### Plot the x,y coordinates of objects in test_sender_rosbag

package.xml

@@ -10,7 +10,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>autoware_auto_perception_msgs</depend>
-  <depend>tf2_msgs</depend>
+  <depend>tf2_msgs</depend> 
+  <depend>tf2</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>

src/cpm_application.cpp

@@ -46,7 +46,7 @@ namespace v2x {
     cpm_num_(0),
     received_cpm_num_(0),
     cpm_object_id_(0),
-    use_dynamic_generation_rules_(true)
+    use_dynamic_generation_rules_(false)
   {
     RCLCPP_INFO(node_->get_logger(), "CpmApplication started. is_sender: %d", is_sender_);
     set_interval(milliseconds(100));