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Add V2XNode changes to documentation 

Signed-off-by: Tiago Garcia <tiago.rgarcia@av.it.pt>
This commit is contained in:
Tiago Garcia 2024-07-09 15:28:56 +01:00
parent 26ad12c9e0
commit f1b160d1f7
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GPG Key ID: A3B1096AD19E1688
7 changed files with 30 additions and 24 deletions
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2
config/autoware_v2x.param.yaml
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@ -1,4 +1,4 @@
/**: /**:
ros__parameters: ros__parameters:
network_interface: "v2x_testing" network_interface: "wlp4s0"
is_sender: true is_sender: true

6
docs/design/index.md
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@ -21,6 +21,9 @@ The V2XNode launches a ROS2 Node for AutowareV2X. Its main purpose is to act as
| -------------------- | ------------------------------- | ---------------- | | -------------------- | ------------------------------- | ---------------- |
| `/perception/object_recognition/objects` | `autoware_auto_perception_msgs::msg::PredictedObjects` | Perceived Objects by Autoware | | `/perception/object_recognition/objects` | `autoware_auto_perception_msgs::msg::PredictedObjects` | Perceived Objects by Autoware |
| `/tf` | `tf2_msgs::msg::TFMessage` | Pose of Ego Vehicle | | `/tf` | `tf2_msgs::msg::TFMessage` | Pose of Ego Vehicle |
| `/vehicle/status/velocity_report` | `autoware_auto_vehicle_msgs::msg::VelocityReport` | Velocity of Ego Vehicle |
| `/api/vehicle/status` | `autoware_adapi_v1_msgs::msg::VehicleStatus` | Vehicle Status (gear, steering angle, etc.) |
| `/api/vehicle/dimensions` | `autoware_adapi_v1_msgs::srv::GetVehicleDimensions` | Service to get Vehicle Dimensions |
### Output ### Output
@ -34,6 +37,9 @@ The V2XNode launches a ROS2 Node for AutowareV2X. Its main purpose is to act as
| -------------------- | ---------------- | | -------------------- | ---------------- |
| `objectsCallback(const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr msg)` | Call `V2XApp::objectsCallback` | | `objectsCallback(const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr msg)` | Call `V2XApp::objectsCallback` |
| `tfCallback` | Call `V2XApp::tfCallback` | | `tfCallback` | Call `V2XApp::tfCallback` |
| `velocityReportCallback` | Call `V2XApp::velocityReportCallback` |
| `vehicleStatusCallback` | Call `V2XApp::vehicleStatusCallback` |
| `getVehicleDimensions` | Sends a request to the service used for vehicle dimensions |
| `publishObjects(std::vector<CpmApplication::Object> *objectsStack, int cpm_num)` | | | `publishObjects(std::vector<CpmApplication::Object> *objectsStack, int cpm_num)` | |
| `publishCpmSenderObject` | Not used now | | `publishCpmSenderObject` | Not used now |

2
include/autoware_v2x/v2x_node.hpp
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@ -45,8 +45,6 @@ namespace v2x
rclcpp::Client<autoware_adapi_v1_msgs::srv::GetVehicleDimensions>::SharedPtr get_vehicle_dimensions_; rclcpp::Client<autoware_adapi_v1_msgs::srv::GetVehicleDimensions>::SharedPtr get_vehicle_dimensions_;
rclcpp::Publisher<autoware_auto_perception_msgs::msg::PredictedObjects>::SharedPtr cpm_objects_pub_; rclcpp::Publisher<autoware_auto_perception_msgs::msg::PredictedObjects>::SharedPtr cpm_objects_pub_;
rclcpp::Publisher<autoware_auto_perception_msgs::msg::PredictedObjects>::SharedPtr cpm_sender_pub_; rclcpp::Publisher<autoware_auto_perception_msgs::msg::PredictedObjects>::SharedPtr cpm_sender_pub_;
rclcpp::Publisher<autoware_auto_perception_msgs::msg::PredictedObjects>::SharedPtr cam_objects_pub_;
rclcpp::Publisher<autoware_auto_perception_msgs::msg::PredictedObjects>::SharedPtr cam_sender_pub_;
double pos_lat_; double pos_lat_;
double pos_lon_; double pos_lon_;

2
launch/v2x.launch.xml
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@ -1,5 +1,5 @@
<launch> <launch>
<arg name="network_interface" default="v2x_testing"/> <arg name="network_interface" default="wlp5s0"/>
<arg name="is_sender" default="true"/> <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 from="$(find-pkg-share autoware_v2x)/config/autoware_v2x.param.yaml"/> <param from="$(find-pkg-share autoware_v2x)/config/autoware_v2x.param.yaml"/>

4
src/cam_application.cpp
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@ -175,7 +175,9 @@ namespace v2x
CoopAwareness_t &cam = message->cam; CoopAwareness_t &cam = message->cam;
cam.generationDeltaTime = std::chrono::duration_cast<std::chrono::milliseconds>(cam_interval_).count(); // Set GenerationTime
RCLCPP_INFO(node_->get_logger(), "[CpmApplication::send] %ld", gdt_timestamp_);
cam.generationDeltaTime = gdt_timestamp_;
BasicContainer_t &basic_container = cam.camParameters.basicContainer; BasicContainer_t &basic_container = cam.camParameters.basicContainer;
basic_container.stationType = StationType_passengerCar; basic_container.stationType = StationType_passengerCar;

2
src/v2x_node.cpp
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@ -54,7 +54,7 @@ namespace v2x
// cpm_sender_pub_ = create_publisher<autoware_auto_perception_msgs::msg::PredictedObjects>("/v2x/cpm/sender", rclcpp::QoS{10}); // cpm_sender_pub_ = create_publisher<autoware_auto_perception_msgs::msg::PredictedObjects>("/v2x/cpm/sender", rclcpp::QoS{10});
// Declare Parameters // Declare Parameters
this->declare_parameter<std::string>("network_interface", "v2x_testing"); this->declare_parameter<std::string>("network_interface", "vmnet1");
this->declare_parameter<bool>("is_sender", true); this->declare_parameter<bool>("is_sender", true);
// Launch V2XApp in a new thread // Launch V2XApp in a new thread