From cc7df79e28c21efa8f0e1af95cd583f17e72cff3 Mon Sep 17 00:00:00 2001
From: Yu Asabe <yuasabe@g.ecc.u-tokyo.ac.jp>
Date: Wed, 8 Dec 2021 20:32:39 +0900
Subject: [PATCH 1/3] Add network_interface parameter

---
 launch/v2x.launch.xml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/launch/v2x.launch.xml b/launch/v2x.launch.xml
index 07a5bcc..f306eb4 100644
--- a/launch/v2x.launch.xml
+++ b/launch/v2x.launch.xml
@@ -1,3 +1,5 @@
 <launch>
-  <node pkg="autoware_v2x" exec="autoware_v2x_node" namespace="v2x" output="screen" emulate_tty="true" />
+  <node pkg="autoware_v2x" exec="autoware_v2x_node" namespace="v2x" output="screen" emulate_tty="true">
+    <param name="network_interface" value="vmnet1"/>
+  </node>
 </launch>
\ No newline at end of file

From b8b38afdae135c49c28b5c31f9d143fccad4d699 Mon Sep 17 00:00:00 2001
From: Yu Asabe <yuasabe@g.ecc.u-tokyo.ac.jp>
Date: Wed, 8 Dec 2021 20:32:54 +0900
Subject: [PATCH 2/3] Use network_interface parameter in v2x_app

---
 src/v2x_app.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/v2x_app.cpp b/src/v2x_app.cpp
index 404b554..8491160 100644
--- a/src/v2x_app.cpp
+++ b/src/v2x_app.cpp
@@ -106,8 +106,11 @@ namespace v2x
     boost::asio::io_service io_service;
     TimeTrigger trigger(io_service);
 
-    const char* device_name = "vmnet1";
-    EthernetDevice device(device_name);
+    std::string network_interface;
+    node_->get_parameter("network_interface", network_interface);
+    RCLCPP_INFO(node_->get_logger(), "Network Interface: %s", network_interface.c_str());
+
+    EthernetDevice device(network_interface.c_str());
     vanetza::MacAddress mac_address = device.address();
 
     std::stringstream sout;

From ac296d2dc9a31820913229caff148feb8eb3cb7e Mon Sep 17 00:00:00 2001
From: Yu Asabe <yuasabe@g.ecc.u-tokyo.ac.jp>
Date: Wed, 8 Dec 2021 20:33:06 +0900
Subject: [PATCH 3/3] declare_parameter in v2x_node

---
 src/v2x_node.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/v2x_node.cpp b/src/v2x_node.cpp
index 59254a9..e44aed2 100644
--- a/src/v2x_node.cpp
+++ b/src/v2x_node.cpp
@@ -34,6 +34,8 @@ namespace v2x
 
     publisher_ = create_publisher<autoware_perception_msgs::msg::DynamicObjectArray>("/perception/object_recognition/objects", rclcpp::QoS{10});
 
+    this->declare_parameter<std::string>("network_interface", "vmnet1");
+
     app = new V2XApp(this);
     boost::thread v2xApp(boost::bind(&V2XApp::start, app));