Update dsrc package name #127
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…hwa-stol/carma-cohda-dsrc-driver into arpa-16-update-dsrc-package-name
README.md
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| # CARMAPlatform | ||
| The primary CARMAPlatform repository can be found [here](https://github.com/usdot-fhwa-stol/carma-platform) and is part of the [USDOT FHWA STOL](https://github.com/usdot-fhwa-stol/) | ||
| The driver was initially developed for CARMAPlatform. The primary CARMAPlatform repository can be found [here](https://github.com/usdot-fhwa-stol/carma-platform) and is part of the [USDOT FHWA STOL](https://github.com/usdot-fhwa-stol/) |
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Suggest a space between CARMA and Platform
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| # Deployment Instructions | ||
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| The v2x-ros-driver is a ros2 package currently implemented in [ros2-foxy] (<https://docs.ros.org/en/foxy/Installation.html>). It creates a UDP client to listen to input from the v2x radio and broadcast the UPER encoded message to ROS. |
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fyi this package works in Humble (from source) without changes but I assume the docker implementation is not updated if we are referencing foxy. The CDA 1Tenth vehicles already run it
| 3. Build the package | ||
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| ``` | ||
| source /opt/ros/foxy/setup.bash |
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I think we should indicate humble or foxy works here and to source depending on your ROS 2 install
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Since we are about to officially move to the humble version, i was thinking we can just update this text to humble then and remove references to foxy. We probably don't want to advise mixing distro's since the behavior is a little unpredictable
Will update the copyrights as a last step so its easier to review the PR without that change set. |
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| This package defines a carma-plaform compatible driver for Cohda OBUs though other models of OBU may work as well. The driver is compatible with DSRC and CV2X radios. The design documents for this driver can be found here <https://usdot-carma.atlassian.net/wiki/spaces/CRMMSG/pages/1319272562/Detailed+Design+-+DSRC+OBU+Driver> | ||
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| This driver is known to work successfully with the Cohda Wireless MK5 and MK6 OBU. It implements the communication interface allowing UPER-encoded SAE J2735 communication to be exposed to a ROS network using [carma_driver_msgs/msg/ByteArray] (<https://github.com/usdot-fhwa-stol/carma-msgs/blob/develop/carma_driver_msgs/msg/ByteArray.msg>). It has been tested with SAE J2735 2016 but can support later versions as well. |
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I know there may be some additional steps needed to configure an OBU to work with this driver (or at least with CARMA Platform, since that requires that immediate forwarding be enabled). Not something we need to fix in this PR, but maybe it's something we can work with Will to create under Interoperability Help Desk?
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Merging and bypassing the failing SonarCloud Code Analysis CI step; fix will be captured in https://usdot-carma.atlassian.net/browse/ARPA-32 as mentioned in the PR description |
<!-- Thanks for the contribution, this is awesome. --> # PR Details Updates the deployment for the v2x-ros-driver, following the changes to the package and node names in usdot-fhwa-stol/v2x-ros-driver#127. ## Description <!--- Describe your changes in detail --> ## Related GitHub Issue <!--- This project only accepts pull requests related to open GitHub issues or Jira Keys --> <!--- If suggesting a new feature or change, please discuss it in an issue first --> <!--- If fixing a bug, there should be an issue describing it with steps to reproduce --> <!--- Please DO NOT name partially fixed issues, instead open an issue specific to this fix --> <!--- Please link to the issue here: --> ## Related Jira Key <!-- e.g. CAR-123 --> https://usdot-carma.atlassian.net/browse/ARPA-16 ## Motivation and Context <!--- Why is this change required? What problem does it solve? --> ## How Has This Been Tested? <!--- Please describe in detail how you tested your changes. --> <!--- Include details of your testing environment, and the tests you ran to --> <!--- see how your change affects other areas of the code, etc. --> ## Types of changes <!--- What types of changes does your code introduce? Put an `x` in all the boxes that apply: --> - [x] Defect fix (non-breaking change that fixes an issue) - [ ] New feature (non-breaking change that adds functionality) - [ ] Breaking change (fix or feature that cause existing functionality to change) ## Checklist: <!--- Go over all the following points, and put an `x` in all the boxes that apply. --> <!--- If you're unsure about any of these, don't hesitate to ask. We're here to help! --> - [ ] I have added any new packages to the sonar-scanner.properties file - [ ] My change requires a change to the documentation. - [ ] I have updated the documentation accordingly. - [x] I have read the [**CONTRIBUTING**](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md) document. - [ ] I have added tests to cover my changes. - [ ] All new and existing tests passed.
PR Details
This PR updates the package and node name for the v2x ros driver. In order to represent the driver's functionality as being agnostic of DSRC/CV2X the naming in the package and the variables defined for the node are renamed to v2x radio.
Some variables which are being drawn from the j2735 spec are unchanged, for example dsrc_id is still the official id field for messages in the SAE J2735 spec.
The driver has previously been tested successfully with both DSRC and CV2X radios. For this change it was tested on CV2X radios.
A missing change here is that sonarscanner needs to be updated for the renamed repository. Currently the paths were updated so sonar scanner is building the new code, but it is still writing to usdot-fhwa-stol_CARMACohdaDsrcDriver. This change wasn't implemented since a new repo needs to be configured manually. An issue was created to make this change here https://usdot-carma.atlassian.net/browse/ARPA-32
Description
Related GitHub Issue
Related Jira Key
https://usdot-carma.atlassian.net/browse/ARPA-16
Motivation and Context
How Has This Been Tested?
V2X communication tested between two vehicles using CV2X radios.
BSM messages seen to be communicated across the vehicles.
Types of changes
Checklist: