sim_sample_communication_ros_tool

Sample communication module for a vehicle in the simulation framework.

It models characteristics of vehicle to vehicle communication, such as delay and message-drops.

Installation

• this package is part of the simulation framework
• see coincarsim_getting_started for installation and more details

Usage

• started within a vehicle launchfile of the simulation_initialization_ros_tool

Parameters

• parameters that need to be passed to the launchfile sample_communication.launch:

  • vehicle_id: Id of the vehicle, needs to be unique within the framework

  • vehicle_ns: Namespace of the vehicle, needs to be unique within the framework

  • internal_communication_subns: Subnamespace for vehicle-internal communication

  • global_communication_ns: Namespace for communication in-between vehicles

  • car2x_topic1 (optional): Topic for car2x message type 1

  • car2x_topic2 (optional): Topic for car2x message type 2

  • car2x_topic3 (optional): Topic for car2x message type 3

  • clear_queue_topic (optional): Topic to clear the message queue

• parameters that can be dynamically reconfigured:

  • time_delay: Artificial time delay for communication characteristics simulation in seconds
  • drop_probability: Artificial drop probability for communication characteristics simulation [0..1]

Contribution

• fork this repo
• use your own algorithms for modeling communication characteristics
• every message type is treated by a separate node
• ensure that
  • messages received under
    • $(arg global_communication_ns)/$(arg car2x_topic1)
    • are forwarded under
    • /$(arg vehicle_ns)/$(arg internal_communication_subns)/in/$(arg car2x_topic1)
    • with respect to the communication characteristics model
  • messages received under
    • /$(arg vehicle_ns)/$(arg internal_communication_subns)/out/$(arg car2x_topic1)
    • are forwarded under
    • $(arg global_communication_ns)/$(arg car2x_topic1)
    • without additional delay

Contributors

Tobias Kronauer, Maximilian Naumann

License

This package is distributed under the 3-Clause BSD License, see LICENSE.