12 lines
918 B
Markdown
12 lines
918 B
Markdown
# Design
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!!! Warning
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More to come
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A V2X communication software stack called [Vanetza](https://github.com/riebl/vanetza) is integrated into the standalone autonomous driving software stack, [Autoware](https://github.com/autowarefoundation/autoware). The V2X stack and the autonomous driving stack can be decoupled, allowing other applications to utilize the V2X router as well. A high-level overview of the architecture is shown below.
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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.
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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. |