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AutowareV2X
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Add is_sender

This commit is contained in:
Yu Asabe 2022-02-27 12:26:11 +09:00
parent 91962c7286
commit 60eea65de3
3 changed files with 11 additions and 18 deletions
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2
launch/v2x.launch.xml
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@ -1,6 +1,8 @@
<launch> <launch>
<arg name="network_interface" default="wlp5s0"/> <arg name="network_interface" default="wlp5s0"/>
<arg name="is_sender" default="true"/>
<node pkg="autoware_v2x" exec="autoware_v2x_node" namespace="v2x" output="screen"> <node pkg="autoware_v2x" exec="autoware_v2x_node" namespace="v2x" output="screen">
<param name="network_interface" value="$(var network_interface)"/> <param name="network_interface" value="$(var network_interface)"/>
<param name="is_sender" value="$(var is_sender)"/>
</node> </node>
</launch> </launch>

16
src/v2x_app.cpp
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@ -61,7 +61,6 @@ namespace v2x
timestamp_sec -= 1072915200; // convert to etsi-epoch timestamp_sec -= 1072915200; // convert to etsi-epoch
long long timestamp_msec = timestamp_sec * 1000 + timestamp_nsec / 1000000; long long timestamp_msec = timestamp_sec * 1000 + timestamp_nsec / 1000000;
int gdt = timestamp_msec % 65536; int gdt = timestamp_msec % 65536;
// RCLCPP_INFO(node_->get_logger(), "[tfCallback] %d,%lld,%lld,%lld", gdt, timestamp_msec, timestamp_sec, timestamp_nsec);
double rot_x = msg->transforms[0].transform.rotation.x; double rot_x = msg->transforms[0].transform.rotation.x;
double rot_y = msg->transforms[0].transform.rotation.y; double rot_y = msg->transforms[0].transform.rotation.y;
@ -74,21 +73,12 @@ namespace v2x
double roll, pitch, yaw; double roll, pitch, yaw;
matrix.getRPY(roll, pitch, yaw); matrix.getRPY(roll, pitch, yaw);
char mgrs[30];
int zone = 54; int zone = 54;
int grid_num_x = 4; int grid_num_x = 4;
int grid_num_y = 39; int grid_num_y = 39;
int grid_size = 100000; int grid_size = 100000;
int prec;
bool northp = true; bool northp = true;
double x_mgrs, y_mgrs;
double lat, lon; double lat, lon;
// sprintf(mgrs, "54SVE%.3f%.3f", x, y);
// RCLCPP_INFO(node_->get_logger(), "%s", mgrs);
// Convert MGRS coordinate to UTM coordinate.
// GeographicLib::MGRS::Reverse(mgrs, zone, northp, x_mgrs, y_mgrs, prec);
// Reverse projection from UTM to geographic. // Reverse projection from UTM to geographic.
GeographicLib::UTMUPS::Reverse( GeographicLib::UTMUPS::Reverse(
@ -100,8 +90,6 @@ namespace v2x
lon lon
); );
RCLCPP_INFO(node_->get_logger(), "%f, %f", lat, lon);
if (cp && cp_started_) { if (cp && cp_started_) {
cp->updateMGRS(&x, &y); cp->updateMGRS(&x, &y);
cp->updateRP(&lat, &lon, &z); cp->updateRP(&lat, &lon, &z);
@ -141,7 +129,9 @@ namespace v2x
context.set_link_layer(link_layer.get()); context.set_link_layer(link_layer.get());
cp = new CpmApplication(node_, trigger.runtime()); bool is_sender;
node_->get_parameter("is_sender", is_sender);
cp = new CpmApplication(node_, trigger.runtime(), is_sender);
context.enable(cp); context.enable(cp);

9
src/v2x_node.cpp
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@ -34,6 +34,7 @@ namespace v2x
publisher_ = create_publisher<autoware_perception_msgs::msg::DynamicObjectArray>("/v2x/cpm/objects", rclcpp::QoS{10}); publisher_ = create_publisher<autoware_perception_msgs::msg::DynamicObjectArray>("/v2x/cpm/objects", rclcpp::QoS{10});
this->declare_parameter<std::string>("network_interface", "vmnet1"); this->declare_parameter<std::string>("network_interface", "vmnet1");
this->declare_parameter<bool>("is_sender", true);
app = new V2XApp(this); app = new V2XApp(this);
boost::thread v2xApp(boost::bind(&V2XApp::start, app)); boost::thread v2xApp(boost::bind(&V2XApp::start, app));
@ -83,7 +84,7 @@ namespace v2x
} }
current_time = this->now(); current_time = this->now();
RCLCPP_INFO(get_logger(), "[V2XNode::publishObjects] [measure] T_obj_r2 %ld", current_time.nanoseconds()); // RCLCPP_INFO(get_logger(), "[V2XNode::publishObjects] [measure] T_obj_r2 %ld", current_time.nanoseconds());
publisher_->publish(output_dynamic_object_msg); publisher_->publish(output_dynamic_object_msg);
} }
@ -91,11 +92,11 @@ namespace v2x
void V2XNode::objectsCallback(const autoware_perception_msgs::msg::DynamicObjectArray::ConstSharedPtr msg) { void V2XNode::objectsCallback(const autoware_perception_msgs::msg::DynamicObjectArray::ConstSharedPtr msg) {
rclcpp::Time current_time = this->now(); rclcpp::Time current_time = this->now();
rclcpp::Time msg_time = msg->header.stamp; // timestamp included in the Autoware Perception Msg. rclcpp::Time msg_time = msg->header.stamp; // timestamp included in the Autoware Perception Msg.
RCLCPP_INFO(get_logger(), "[V2XNode::objectsCallback] %d objects", msg->objects.size()); // RCLCPP_INFO(get_logger(), "[V2XNode::objectsCallback] %d objects", msg->objects.size());
// Measuring T_A1R1 // Measuring T_A1R1
RCLCPP_INFO(get_logger(), "[V2XNode::objectsCallback] [measure] T_obj %ld", msg_time.nanoseconds()); // RCLCPP_INFO(get_logger(), "[V2XNode::objectsCallback] [measure] T_obj %ld", msg_time.nanoseconds());
RCLCPP_INFO(get_logger(), "[V2XNode::objectsCallback] [measure] T_obj_receive %ld", current_time.nanoseconds()); // RCLCPP_INFO(get_logger(), "[V2XNode::objectsCallback] [measure] T_obj_receive %ld", current_time.nanoseconds());
app->objectsCallback(msg); app->objectsCallback(msg);
} }