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# Autoware_v2x
# AutowareV2X
Using Autoware_v2x with Autoware.iv.
AutowareV2X is an open-source module that can be added onto the newest Autoware.universe to enable V2X communication.
## Installation
It utilizes Vanetza as the protocol suite for ETSI C-ITS standards.
Basically, you should be able to install Autoware.iv by following the Installation Steps in the [Autoware.proj Repository README](https://github.com/tlab-wide/autoware.proj-v1.0.0).
We have also provided a working example of a CPM application, where Collective Perception Messages can be used to exchange perception information in Autoware.
Otherwise, follow the steps here.
1. Set up Autoware Repository
```
mkdir -p ~/workspace
cd ~/workspace
git clone git@github.com:tlab-wide/autoware.proj-v1.0.0.git
cd autoware.proj-v1.0.0
```
2. Run the set up script
```
./setup_ubuntu20.04.sh
```
3. Build source code
```
source /opt/ros/foxy/setup.bash
colcon build
```
## Running
1. Start Autoware.iv (for example planning_simulator)
```
. install/setup.bash
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=[ADD PATH TO MAP HERE] vehicle_model:=lexus sensor_model:=aip_xx1
```
2. Start Autoware_V2X as root
```
sudo su
. install/setup.bash
ros2 launch autoware_v2x v2x.launch.xml
```
### Contact
Yu Asabe (yuasabe[at]hongo.wide.ad.jp)
See the [official documentation](https://tlab-wide.github.io/autoware_v2x/)