From 1fb35c3af5f33eff38d037e7cbc560926887bc02 Mon Sep 17 00:00:00 2001
From: Yu Asabe <yuasabe@g.ecc.u-tokyo.ac.jp>
Date: Sat, 26 Nov 2022 10:17:30 +0900
Subject: [PATCH] Add config file

Signed-off-by: Yu Asabe <yuasabe@g.ecc.u-tokyo.ac.jp>
---
 CMakeLists.txt                 | 1 +
 config/autoware_v2x.param.yaml | 4 ++++
 launch/v2x.launch.xml          | 3 +--
 src/v2x_app.cpp                | 2 ++
 4 files changed, 8 insertions(+), 2 deletions(-)
 create mode 100644 config/autoware_v2x.param.yaml

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f80c7f4..646cb6b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -59,4 +59,5 @@ endif()
 
 ament_auto_package(INSTALL_TO_SHARE
   launch
+  config
 )
\ No newline at end of file
diff --git a/config/autoware_v2x.param.yaml b/config/autoware_v2x.param.yaml
new file mode 100644
index 0000000..5b1bce5
--- /dev/null
+++ b/config/autoware_v2x.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    network_interface: "wlp4s0"
+    is_sender: true
\ No newline at end of file
diff --git a/launch/v2x.launch.xml b/launch/v2x.launch.xml
index 30124ae..3e20eb1 100644
--- a/launch/v2x.launch.xml
+++ b/launch/v2x.launch.xml
@@ -2,7 +2,6 @@
   <arg name="network_interface" default="wlp5s0"/>
   <arg name="is_sender" default="true"/>
   <node pkg="autoware_v2x" exec="autoware_v2x_node" namespace="v2x" output="screen">
-    <param name="network_interface" value="$(var network_interface)"/>
-    <param name="is_sender" value="$(var is_sender)"/>
+    <param from="$(find-pkg-share autoware_v2x)/config/autoware_v2x.param.yaml"/>
   </node>
 </launch>
\ No newline at end of file
diff --git a/src/v2x_app.cpp b/src/v2x_app.cpp
index c687bc7..18aa60d 100644
--- a/src/v2x_app.cpp
+++ b/src/v2x_app.cpp
@@ -113,6 +113,7 @@ namespace v2x
     sout << mac_address;
     RCLCPP_INFO(node_->get_logger(), "MAC Address: '%s'", sout.str().c_str());
 
+    // Geonetworking Management Infirmation Base (MIB) defines the GN protocol constants.
     gn::MIB mib;
     mib.itsGnLocalGnAddr.mid(mac_address);
     mib.itsGnLocalGnAddr.is_manually_configured(true);
@@ -120,6 +121,7 @@ namespace v2x
     mib.itsGnSecurity = false;
     mib.itsGnProtocolVersion = 1;
 
+    // Create raw socket on device and LinkLayer object
     auto link_layer =  create_link_layer(io_service, device, "ethernet");
     auto positioning = create_position_provider(io_service, trigger.runtime());
     auto security = create_security_entity(trigger.runtime(), *positioning);