[initial]

- imported from internal Virtual Vehicle Research GmbH repository

.gitignore

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+cmake-build-debug/
+.idea
+/cmake-build-debug/

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5.1)
+project(v2x_gw)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+ set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+ set(CMAKE_CXX_STANDARD 14)
+endif()
+
+# compile options
+# - activation will lead to a shitload of warnings of unused variables in autogenerated vcits lib
+#if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+# add_compile_options(-Wall -Wextra -Wpedantic)
+#endif()
+
+# ZeroMQ configuration
+# - activate relative paths for libraries (use that for deployment; WARNING: don't use with --symlink-install -> lib won't be found by file)
+# - set lib location for building and linking
+# - copy the lib files
+#set(CMAKE_INSTALL_RPATH "$ORIGIN")
+#set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
+set(ZEROMQ_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/ext/libzmq/include")
+set(ZEROMQ_LIBRARIES "${CMAKE_CURRENT_SOURCE_DIR}/ext/libzmq/libzmq.so")
+install(FILES
+        "${CMAKE_CURRENT_SOURCE_DIR}/ext/libzmq/libzmq.so"
+        "${CMAKE_CURRENT_SOURCE_DIR}/ext/libzmq/libzmq.so.5"
+        "${CMAKE_CURRENT_SOURCE_DIR}/ext/libzmq/libzmq.so.5.2.4"
+        DESTINATION lib/${PROJECT_NAME}/
+        )
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_auto REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(eigen3_cmake_module)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+find_package(diagnostic_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(dbw_ford_msgs REQUIRED)
+find_package(v2x_msgs REQUIRED)
+
+#pkg_check_modules(vcits REQUIRED)
+add_subdirectory(vcits)
+
+# add executable and sources
+ament_auto_add_executable(v2x_gw src/V2XGateway.cpp
+        src/server/V2XServer.cpp
+        src/server/V2XZMQServer.cpp
+        src/handler/V2XMHandler.cpp
+        src/handler/CAMHandler.cpp
+        src/handler/CPMHandler.cpp
+        src/handler/DENMHandler.cpp
+        src/handler/ExampleMHandler.cpp
+        )
+
+# reference headers
+target_include_directories(v2x_gw PUBLIC ${CMAKE_INSTALL_PREFIX}/include/
+        include
+        include/server
+        include/handler
+        ${ZEROMQ_INCLUDE_DIR}
+        vcits/asn1c
+        .
+        )
+
+# link libraries
+ament_target_dependencies(v2x_gw rclcpp std_msgs geometry_msgs nav_msgs visualization_msgs diagnostic_msgs dbw_ford_msgs v2x_msgs tf2 tf2_ros)
+
+target_link_libraries(v2x_gw
+        ${ZEROMQ_LIBRARIES}
+        vcits)
+
+# install ros package dependencies
+ament_auto_package(
+        INSTALL_TO_SHARE
+        launch
+        config
+)

FindZeroMQ.cmake

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+# ZeroMQ.cmake from http://lists.gforge.inria.fr/pipermail/simgrid-devel/2012-July/001513.html
+
+SET (ZEROMQ_FIND_QUIETLY TRUE)
+SET (ZEROMQ_FIND_REQUIRED FALSE)
+
+IF (NOT ZEROMQ_FOUND)
+    # Search user environment for headers, then default paths
+    FIND_PATH (ZEROMQ_INCLUDE_DIR zmq.hpp
+            PATHS ${ZEROMQROOT}/include $ENV{ZEROMQROOT}/include /usr/local/include
+            NO_DEFAULT_PATH)
+    FIND_PATH (ZEROMQ_INCLUDE_DIR zmq.hpp)
+    GET_FILENAME_COMPONENT (ZEROMQROOT ${ZEROMQ_INCLUDE_DIR} PATH)
+
+    # Search user environment for libraries, then default paths
+    FIND_LIBRARY (ZEROMQ_LIBRARIES zmq
+            PATHS ${ZEROMQROOT}/lib $ENV{ZEROMQROOT}/lib /usr/local/lib
+            NO_DEFAULT_PATH)
+    FIND_LIBRARY (ZEROMQ_LIBRARIES zmq)
+
+    # Set ZEROMQ_FOUND and error out if zmq is not found
+    INCLUDE (FindPackageHandleStandardArgs)
+    FIND_PACKAGE_HANDLE_STANDARD_ARGS (ZEROMQ
+            DEFAULT_MSG ZEROMQ_LIBRARIES ZEROMQ_INCLUDE_DIR)
+
+    IF (ZEROMQ_FOUND)
+        MESSAGE (STATUS "ZeroMQ found: zmq library and zmq.hpp ")
+        MESSAGE (STATUS "  * includes: ${ZEROMQ_INCLUDE_DIR}")
+        MESSAGE (STATUS "  * libs:     ${ZEROMQ_LIBRARIES}")
+    ELSE (ZEROMQ_FOUND)
+        IF(${ZEROMQ_LIBRARIES} STREQUAL "ZEROMQ_LIBRARIES-NOTFOUND")
+            MESSAGE (STATUS "ZeroMQ library does not exist")
+        ELSEIF(${ZEROMQ_INCLUDE_DIR} STREQUAL "ZEROMQ_INCLUDE_DIR-NOTFOUND")
+            MESSAGE (STATUS "ZeroMQ has a problem: zmq.hpp does not exist, try to download it from https://github.com/zeromq/cppzmq/blob/master/zmq.hpp")
+        ENDIF()
+    ENDIF (ZEROMQ_FOUND)
+ENDIF (NOT ZEROMQ_FOUND)

LICENSE

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+BSD 3-Clause License
+
+Copyright (c) 2022, Virtual Vehicle
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

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+# V2X Gateway
+The *v2x_gw* is part of the [vehicleCAPTAIN](https://github.com/virtual-vehicle/vehicle_captain) toolbox.
+
+The *v2x_gw* is a central ROS2 node that (i) connects to the vehicleCAPTAIN routing core (ii) converts V2X messages to ROS messages (iii) converts ROS messages to V2X messages.
+
+The vehicleCAPTAIN routing core may be replaced by your implementation for rx/tx of V2X messages.
+
+Version Support:
+* v1.x
+  * v2x_msgs v1.1.0
+  * vcits 1.0
+
+## Copyright
+Please cite the [vehicleCAPTAIN paper](https://TODO_link_to_paper_when_it_is_published) if you used any part of this library for your work.
+
+## Contribution Guidelines
+Feel free to add fixes and new features!
+
+## Authors
+Main Author: [Christoph Pilz](https://github.com/MrMushroom)
+
+## Acknowledgement
+The majority of this work is part of my ([Christoph Pilz](https://www.researchgate.net/profile/Christoph-Pilz)) PhD studies at [Graz University of Technology](https://www.tugraz.at/home) in cooperation with the [Virtual Vehicle Research GmbH](https://www.v2c2.at/).
+
+Features are also integrated across various funded projects (see [vehicleCAPTAIN](https://github.com/virtual-vehicle/vehicle_captain)).

USAGE_GUIDE.md

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+# Usage Guide
+Check out the Requirements below!
+
+Afterwards simply check out the repo and integrate it into your ROS2 environment.
+
+## Requirements
+This node requires the [v2x_msgs](https://github.com/virtual-vehicle/v2x_msgs) library from the [vehicleCAPTAIN](https://github.com/virtual-vehicle/vehicle_captain) toolbox.
+
+This node is designed for the [v2x_routing_core](https://github.com/virtual-vehicle/vehicle_captain_routing_core) from the [vehicleCAPTAIN](https://github.com/virtual-vehicle/vehicle_captain) toolbox.
+However, you may introduce your own V2XServer connection.
+
+Also, check out the ROS2 dependencies (package.xml)!
+
+## In case you want to install ZMQ locally
+
+You may use zmq_setup.sh for setup
+
+In top level "CMakeLists.txt" replace setting of ZMQ libs with "FindZeroMQ.cmake"
+
+### LibZMQ v4.3.4
+```shell
+cd /opt
+git clone https://github.com/zeromq/libzmq.git
+cd /opt/libzmq
+git checkout v4.3.4
+
+apt-get update -qq
+apt-get install -qq --yes --no-install-recommends \
+libkrb5-dev \
+libsodium23
+
+./autogen.sh
+./configure --prefix=/usr/local --with-libgssapi_krb5
+make
+make check
+make install
+
+ldconfig && ldconfig -p | grep libzmq
+```
+
+### CPPZMQ v4.8.0
+WARNING: v4.8.0 recommended, but Ubuntu 18.04 has wrong cmake version!
+WARNING: also for that reason, the -DCPPZMQ_BUILD_TESTS=OFF is required
+```shell
+cd /opt
+git clone https://github.com/zeromq/cppzmq.git
+cd /opt/cppzmq
+git checkout v4.7.1
+
+mkdir build
+cd /opt/cppzmq/build
+
+cmake -DCPPZMQ_BUILD_TESTS=OFF ..
+make install
+```

config/v2x_gw.param.yaml

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+# config/v2x_gw.param.yaml
+---
+
+# Node-specific parameters
+/**:
+  ros__parameters:
+    server:
+      type: "zmq"                     # type of the V2X server (supported: "zmq")
+      address: "vcaptain001.local"    # hostname or ipv4 of the vehicleCAPTAIN routing core
+      receive_port: 5556              # 5556 is default for receiving from the vehicleCAPTAIN routing core
+      send_port: 5555                 # 5555 is default for sending to the vehicleCAPTAIN routing core
+      topic_filter: "v2x."            # supported: "v2x." ... get v2x messages (see vehicleCAPTAIN routing core docs)
+      cycle_time_ms: 1                # cycle time leads to communication update interval
+
+    header:
+      station_id: 1337          # this value is pseudonymized and should be unique in a GN communication
+
+    cam:
+      active: true                                # activate processing of CAM module
+      handler_debug_msg_throttle_ms: 5000         # throttle for debug msgs in milliseconds (throttles <=WARN)
+
+    cpm:
+      active: true                               # activate processing of CPM module
+      handler_debug_msg_throttle_ms: 5000         # throttle for debug msgs in milliseconds (throttles <=WARN)
+
+    denm:
+      active: true                               # activate processing of DENM module
+      handler_debug_msg_throttle_ms: 5000         # throttle for debug msgs in milliseconds (throttles <=WARN)
+
+    examplem:
+      active: false                               # activate processing of ExampleM module
+      handler_debug_msg_throttle_ms: 5000         # throttle for debug msgs in milliseconds (throttles <=WARN)

docs/v2x_gw_node_ros.drawio

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