From 9c257a0e1e257f971677ec092316eccab152df65 Mon Sep 17 00:00:00 2001 From: Yu Asabe Date: Mon, 31 Oct 2022 18:50:50 +0900 Subject: [PATCH] Update docs --- docs/design/index.md | 35 +++++++++++++++++++-- docs/stylesheets/extra.css | 3 ++ docs/tutorials/planning-simulation/index.md | 2 +- mkdocs.yml | 1 + 4 files changed, 38 insertions(+), 3 deletions(-) create mode 100644 docs/stylesheets/extra.css diff --git a/docs/design/index.md b/docs/design/index.md index a4a6f6d..a245db8 100644 --- a/docs/design/index.md +++ b/docs/design/index.md @@ -7,6 +7,37 @@ A V2X communication software stack called [Vanetza](https://github.com/riebl/van ![AutowareV2X Architecture](../architecture.png) -Autoware is responsible for the perception task, while Autoware\_V2X manages the transmission and reception of messages over the V2X channel. Services that are necessary for the integration of Vanetza into Autoware were newly developed. +Autoware is responsible for the perception task, while AutowareV2X manages the transmission and reception of messages over the V2X channel. Services that are necessary for the integration of Vanetza into Autoware were newly developed. -The V2XApp is responsible for managing the various facilities such as DENM, CAM, CPM, while the V2XNode handles the conversion of information between the V2X messages and ROS2 messages. \ No newline at end of file +The V2XApp is responsible for managing the various facilities such as DENM, CAM, CPM, while the V2XNode handles the conversion of information between the V2X messages and ROS2 messages. + +## V2XNode + +The V2XNode launches a ROS2 Node for AutowareV2X. Its main purpose is to act as the bridge interface between Autoware and AutowareV2X. Information that is to be utilized in V2X Applications are retreived from Autoware in the form of ROS2 topics. Similarily, information that is received by AutowareV2X through V2X communications is published as ROS2 topics in order to feed it back into Autoware. + +### Input + +| Name | Type | Description | +| -------------------- | ------------------------------- | ---------------- | +| `/perception/object_recognition/objects` | `autoware_auto_perception_msgs::msg::PredictedObjects` | Perceived Objects by Autoware | +| `/tf` | `tf2_msgs::msg::TFMessage` | Pose of Ego Vehicle | + +### Output + +| Name | Type | Description | +| -------------------- | ------------------------------- | ---------------- | +| `/v2x/cpm/objects` | `autoware_auto_perception_msgs::msg::PredictedObjects` | Objects received by CPMs | + +### Functions + +| Name | Description | +| -------------------- | ---------------- | +| `objectsCallback(const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr msg)` | Call `V2XApp::objectsCallback` | +| `tfCallback` | Call `V2XApp::tfCallback` | +| `publishObjects(std::vector *objectsStack, int cpm_num)` | | +| `publishCpmSenderObject` | Not used now | + + +## V2XApp + +## CPM Facility \ No newline at end of file diff --git a/docs/stylesheets/extra.css b/docs/stylesheets/extra.css new file mode 100644 index 0000000..8081ac1 --- /dev/null +++ b/docs/stylesheets/extra.css @@ -0,0 +1,3 @@ +.md-grid { + max-width: 1920px; +} \ No newline at end of file diff --git a/docs/tutorials/planning-simulation/index.md b/docs/tutorials/planning-simulation/index.md index 7d27df2..8a43208 100644 --- a/docs/tutorials/planning-simulation/index.md +++ b/docs/tutorials/planning-simulation/index.md @@ -102,7 +102,7 @@ When both the sender and receiver is launched, you should see that the receiver ## Show CPM-shared objects in RViz -1. Press "Add" from the Displays Panel +1. Press "Add" from the Displays Panel
![](./add-v2x-rviz-1.png) 2. Choose "By topic", then select PredictedObjects from /v2x/cpm/objects ![](./add-v2x-rviz-2.png) diff --git a/mkdocs.yml b/mkdocs.yml index be4f1a9..e3a19be 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -31,6 +31,7 @@ extra: extra_css: - https://use.fontawesome.com/releases/v5.15.4/css/all.css + - stylesheets/extra.css extra_javascript: - https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js?config=TeX-AMS-MML_HTMLorMML