v2x_stack

Overview

ROS 2 support for integrating a V2X stack into the ROS environment.

Core Components

The stack consists of three main components:

• UDP Handler (udp_dispatcher): Communicates via UDP with the V2X device and converts received packets into ROS topics.
• BTP Service (btp_data_service): Extracts the BTP header and payload, then publishes the information to the /btp_data ROS topic.
• V2X Services: Each service listens to the /btp_data topic, evaluates the port (e.g., CA Service uses port 2001), and converts serialized data into ROS messages and vice versa.

Environment Information

This setup was implemented and tested under the following conditions:

• Operating System: Ubuntu 24.04.2
• ROS 2 Distribution: Jazzy

Package Dependencies

(To be added, if there are specific ROS 2 or system dependencies)

Install ROS 2

Enable the Ubuntu Universe Repository

sudo apt install software-properties-common
sudo add-apt-repository universe

Add the ROS 2 GPG Key

sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

Add the ROS 2 Repository

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Install Development Tools

sudo apt update && sudo apt install ros-dev-tools

Update System Packages

sudo apt update
sudo apt upgrade

Install ROS 2

Desktop Install (Recommended for GUI and tools support)

sudo apt install ros-jazzy-desktop

ROS-Base Install (Minimal installation)

sudo apt install ros-jazzy-ros-base

Clone and Build This Repository

Create a ROS 2 Workspace and Clone the Repository

mkdir -p ~/colcon_ws/src
cd ~/colcon_ws/src
git clone <REPO_URL>

Build the Workspace

cd ~/colcon_ws
colcon build

Source the Workspace

source ~/colcon_ws/install/setup.bash

Usage

Running the BTP Data Service

To start the BTP data service, run the following command:

ros2 launch v2x_stack services_launch.py

Running the V2X Services

To launch the V2X services, use:

ros2 launch v2x_stack services_launch.py

Adding New Services

To add new services to the launch file, modify the configuration file:

/config/services_params.yml