Merge branch 'main' into feature/auto-cmake-generation

README.md

@@ -30,9 +30,10 @@ All message definitions and conversion functions are automatically generated bas
 - [Packages](#packages)
 - [Installation](#installation)
 - [Conversion Node](#conversion-node)
+- [Sample Messages](#sample-messages)
 - [Access Functions](#access-functions)
 - [Code Generation](#code-generation)
-- [V2AIX Dataset / Citation](#v2aix-dataset-citation)
+- [V2AIX Dataset / Citation](#v2aix-dataset--citation)
 - [Acknowledgements](#acknowledgements)
 - [Notice](#notice)
 
@@ -192,6 +193,36 @@ rosrun nodelet nodelet standalone etsi_its_conversion/Converter _etsi_types:=[ca
 | `check_constraints_before_encoding` | `bool` | whether an asn constraint check should be performed before encoding using asn1c's `asn_check_constraints` function (setting to `true` could lead to segmentation faults because of infinite recursion; [known asn1c issue](https://github.com/vlm/asn1c/issues/410)) |
 
 
+## Sample Messages
+
+The `etsi_its_msgs_utils` package contains simple ROS 2 nodes for publishing sample ROS 2 messages of the supported ETSI ITS message types, see [`./etsi_its_msgs_utils/samples/`](./etsi_its_msgs_utils/samples/). For example, publish a sample CPM by running the following.
+
+```bash
+# ROS 2 only
+ros2 run etsi_its_msgs_utils publish_cpm_ts.py
+```
+
+You can then visualize the CPM in RViz with the provided demo configuration.
+
+```bash
+# ROS 2 only
+ros2 launch etsi_its_rviz_plugins demo.launch.py
+```
+
+And finally, run the [Conversion Node](#conversion-node) to convert ROS 2 messages to binary payloads.
+
+```bash
+# ROS 2 only
+ros2 run etsi_its_conversion etsi_its_conversion_node \
+    --ros-args \
+        -r __node:=etsi_its_conversion \
+        -r /etsi_its_conversion/udp/out:=/etsi_its_conversion/udp/in \
+        -p has_btp_destination_port:=true \
+        -p btp_destination_port_offset:=0 \
+        -p etsi_message_payload_offset:=4
+```
+
+
 ## Access Functions
 
 The `etsi_its_msgs_utils` package contains header-only libraries providing helpful access functions for modifying the deeply nested ROS messages equivalents of the ETSI ITS messages. All access functions are [documented here](https://ika-rwth-aachen.github.io/etsi_its_messages/).

etsi_its_msgs_utils/CMakeLists.txt

@@ -36,6 +36,17 @@ if(${ROS_VERSION} EQUAL 2)
     DESTINATION include/${PROJECT_NAME}
   )
 
+  # install all sample python scripts
+  file(GLOB SAMPLE_SCRIPTS "samples/publish_*.py")
+  install(
+    FILES "samples/utils.py"
+    DESTINATION lib/${PROJECT_NAME}
+  )
+  install(
+    PROGRAMS ${SAMPLE_SCRIPTS}
+    DESTINATION lib/${PROJECT_NAME}
+  )
+
   install(TARGETS ${PROJECT_NAME}
     EXPORT ${PROJECT_NAME}Targets
     ARCHIVE DESTINATION lib

utils/scripts/publish_cpm_ts.py → etsi_its_msgs_utils/samples/publish_cpm_ts.py

@@ -67,10 +67,13 @@ def publish(self):
             perceived_object.position.y_coordinate.confidence.value = perceived_object.position.y_coordinate.confidence.UNAVAILABLE
             perceived_object.object_dimension_x_is_present = True
             perceived_object.object_dimension_x.value.value = int(3.5 * 1e1)
+            perceived_object.object_dimension_x.confidence.value = perceived_object.object_dimension_x.confidence.UNAVAILABLE
             perceived_object.object_dimension_y_is_present = True
             perceived_object.object_dimension_y.value.value = int(1.8 * 1e1)
+            perceived_object.object_dimension_y.confidence.value = perceived_object.object_dimension_y.confidence.UNAVAILABLE
             perceived_object.object_dimension_z_is_present = True
             perceived_object.object_dimension_z.value.value = int(1.6 * 1e1)
+            perceived_object.object_dimension_z.confidence.value = perceived_object.object_dimension_z.confidence.UNAVAILABLE
             perceived_object_container.perceived_objects.array.append(perceived_object)
 
         cpm_container.container_data.perceived_object_container = perceived_object_container

etsi_its_msgs_utils/samples/publish_cpm_ts_multi_wrapped_container.py

@@ -0,0 +1,163 @@
+#!/usr/bin/env python
+
+# ==============================================================================
+# MIT License
+#
+# Copyright (c) 2023-2024 Institute for Automotive Engineering (ika), RWTH Aachen University
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+# ==============================================================================
+
+# Sample CPM from 4th ETSI C-V2X Plugtests, Malaga/ESP, Sep 2024
+
+import rclpy
+from rclpy.node import Node
+from etsi_its_cpm_ts_msgs.msg import *
+import utils
+
+class Publisher(Node):
+
+    def __init__(self):
+
+        super().__init__("cpm_publisher")
+        topic = "/etsi_its_conversion/cpm_ts/in"
+        self.publisher = self.create_publisher(CollectivePerceptionMessage, topic, 1)
+        self.timer = self.create_timer(0.1, self.publish)
+
+    def get_lidar_sensor_information(self) -> SensorInformation:
+        msg = SensorInformation()
+        msg.sensor_type.value = SensorType.LIDAR
+        msg.perception_region_shape.choice = 1 # Circular
+        msg.perception_region_shape_is_present = True
+        msg.perception_region_shape.circular.shape_reference_point_is_present = True
+        msg.perception_region_shape.circular.shape_reference_point.x_coordinate.value = -150
+        msg.perception_region_shape.circular.shape_reference_point.y_coordinate.value = 0
+        msg.perception_region_shape.circular.shape_reference_point.z_coordinate_is_present = True
+        msg.perception_region_shape.circular.shape_reference_point.z_coordinate.value = 150
+        msg.perception_region_shape.circular.radius.value = 150
+        msg.perception_region_shape.circular.height_is_present = True
+        msg.perception_region_shape.circular.height.value = 70
+        msg.perception_region_confidence.value = 100
+        msg.perception_region_confidence_is_present = True
+        msg.shadowing_applies = False
+        return msg
+
+    def get_local_aggregation_sensor_information(self) -> SensorInformation:
+        msg = SensorInformation()
+        msg.sensor_type.value = SensorType.LOCAL_AGGREGATION
+        msg.perception_region_shape.choice = 2 # Polygonal
+        msg.perception_region_shape_is_present = True
+        msg.perception_region_shape.polygonal.shape_reference_point_is_present = True
+        msg.perception_region_shape.polygonal.shape_reference_point.x_coordinate.value = 0
+        msg.perception_region_shape.polygonal.shape_reference_point.y_coordinate.value = -150
+        msg.perception_region_shape.polygonal.shape_reference_point.z_coordinate_is_present = True
+        msg.perception_region_shape.polygonal.shape_reference_point.z_coordinate.value = 50
+
+        p1 = CartesianPosition3d()
+        p1.x_coordinate.value = -10000
+        p1.y_coordinate.value = -15000
+        p1.z_coordinate.value = 500
+        p1.z_coordinate_is_present = True
+
+        p2 = CartesianPosition3d()
+        p2.x_coordinate.value = -8000
+        p2.y_coordinate.value = 15000
+        p2.z_coordinate.value = 500
+        p2.z_coordinate_is_present = True
+
+        p3 = CartesianPosition3d()
+        p3.x_coordinate.value = 13000
+        p3.y_coordinate.value = 20000
+        p3.z_coordinate.value = 500
+        p3.z_coordinate_is_present = True
+
+        p4 = CartesianPosition3d()
+        p4.x_coordinate.value = 13000
+        p4.y_coordinate.value = 20000
+        p4.z_coordinate.value = 500
+        p4.z_coordinate_is_present = True
+
+        msg.perception_region_shape.polygonal.polygon.array = [p1, p2, p3, p4]
+        msg.perception_region_shape.polygonal.height_is_present = True
+        msg.perception_region_shape.polygonal.height.value = 150
+        msg.perception_region_confidence.value = 100
+        msg.perception_region_confidence_is_present = True
+        msg.shadowing_applies = False
+        return msg
+
+
+    def  get_perceived_object(self) -> PerceivedObject:
+        msg = PerceivedObject()
+        msg.measurement_delta_time.value = 1
+        msg.position.x_coordinate.value.value = 5000
+        msg.position.x_coordinate.confidence.value = 1
+        msg.position.y_coordinate.value.value = 500
+        msg.position.y_coordinate.confidence.value = 1
+        msg.object_dimension_y_is_present = True
+        msg.object_dimension_y.value.value = 30
+        msg.object_dimension_y.confidence.value = 1
+        msg.object_dimension_x_is_present = True
+        msg.object_dimension_x.value.value = 20
+        msg.object_dimension_x.confidence.value = 1
+        return msg
+
+
+    def publish(self) -> None:
+
+        msg = CollectivePerceptionMessage()
+
+        msg.header.protocol_version.value = 2
+        msg.header.message_id.value = msg.header.message_id.CPM
+
+        msg.payload.management_container.reference_time.value = utils.get_t_its(self.get_clock().now().nanoseconds)
+        msg.payload.management_container.reference_position.latitude.value = int(50.78779641723146 * 1e7)
+        msg.payload.management_container.reference_position.longitude.value = int(6.047076274316094 * 1e7)
+
+        # Get sensor informations 
+        lidar_sensor = self.get_lidar_sensor_information()
+        local_aggretation_sensor = self.get_local_aggregation_sensor_information()
+
+        # Sensor information container
+        si_container = WrappedCpmContainer()
+        si_container.container_id.value = CpmContainerId.SENSOR_INFORMATION_CONTAINER
+        si_container.container_data.choice.value = si_container.container_id.value
+        si_container.container_data.sensor_information_container.array = [lidar_sensor, local_aggretation_sensor]
+
+        # Get perceived object
+        perceived_object = self.get_perceived_object()
+
+        # Perceived object container
+        po_container = WrappedCpmContainer()
+        po_container.container_id.value = CpmContainerId.PERCEIVED_OBJECT_CONTAINER
+        po_container.container_data.choice.value = po_container.container_id.value
+        po_container.container_data.perceived_object_container.number_of_perceived_objects.value = 1
+        po_container.container_data.perceived_object_container.perceived_objects.array = [perceived_object]
+
+        # Append wrapped containers
+        msg.payload.cpm_containers.value.array = [si_container, po_container]
+
+        self.get_logger().info(f"Publishing CPM")
+        self.publisher.publish(msg)
+
+if __name__ == "__main__":
+
+    rclpy.init()
+    publisher = Publisher()
+    rclpy.spin(publisher)
+    rclpy.shutdown()

etsi_its_msgs_utils/samples/publish_cpm_ts_sensor_information.py

@@ -0,0 +1,134 @@
+#!/usr/bin/env python
+
+# ==============================================================================
+# MIT License
+#
+# Copyright (c) 2023-2024 Institute for Automotive Engineering (ika), RWTH Aachen University
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+# ==============================================================================
+
+# Sample CPM from 4th ETSI C-V2X Plugtests, Malaga/ESP, Sep 2024
+
+import rclpy
+from rclpy.node import Node
+from etsi_its_cpm_ts_msgs.msg import *
+import utils
+
+class Publisher(Node):
+
+    def __init__(self):
+
+        super().__init__("cpm_publisher")
+        topic = "/etsi_its_conversion/cpm_ts/in"
+        self.publisher = self.create_publisher(CollectivePerceptionMessage, topic, 1)
+        self.timer = self.create_timer(0.1, self.publish)
+
+    def get_lidar_sensor_information(self) -> SensorInformation:
+        msg = SensorInformation()
+        msg.sensor_type.value = SensorType.LIDAR
+        msg.perception_region_shape.choice = 1 # Circular
+        msg.perception_region_shape_is_present = True
+        msg.perception_region_shape.circular.shape_reference_point_is_present = True
+        msg.perception_region_shape.circular.shape_reference_point.x_coordinate.value = -150
+        msg.perception_region_shape.circular.shape_reference_point.y_coordinate.value = 0
+        msg.perception_region_shape.circular.shape_reference_point.z_coordinate_is_present = True
+        msg.perception_region_shape.circular.shape_reference_point.z_coordinate.value = 150
+        msg.perception_region_shape.circular.radius.value = 150
+        msg.perception_region_shape.circular.height_is_present = True
+        msg.perception_region_shape.circular.height.value = 70
+        msg.perception_region_confidence.value = 100
+        msg.perception_region_confidence_is_present = True
+        msg.shadowing_applies = False
+        return msg
+
+    def get_local_aggregation_sensor_information(self) -> SensorInformation:
+        msg = SensorInformation()
+        msg.sensor_type.value = SensorType.LOCAL_AGGREGATION
+        msg.perception_region_shape.choice = 2 # Polygonal
+        msg.perception_region_shape_is_present = True
+        msg.perception_region_shape.polygonal.shape_reference_point_is_present = True
+        msg.perception_region_shape.polygonal.shape_reference_point.x_coordinate.value = 0
+        msg.perception_region_shape.polygonal.shape_reference_point.y_coordinate.value = -150
+        msg.perception_region_shape.polygonal.shape_reference_point.z_coordinate_is_present = True
+        msg.perception_region_shape.polygonal.shape_reference_point.z_coordinate.value = 50
+
+        p1 = CartesianPosition3d()
+        p1.x_coordinate.value = -10000
+        p1.y_coordinate.value = -15000
+        p1.z_coordinate.value = 500
+        p1.z_coordinate_is_present = True
+
+        p2 = CartesianPosition3d()
+        p2.x_coordinate.value = -8000
+        p2.y_coordinate.value = 15000
+        p2.z_coordinate.value = 500
+        p2.z_coordinate_is_present = True
+
+        p3 = CartesianPosition3d()
+        p3.x_coordinate.value = 13000
+        p3.y_coordinate.value = 20000
+        p3.z_coordinate.value = 500
+        p3.z_coordinate_is_present = True
+
+        p4 = CartesianPosition3d()
+        p4.x_coordinate.value = 13000
+        p4.y_coordinate.value = 20000
+        p4.z_coordinate.value = 500
+        p4.z_coordinate_is_present = True
+
+        msg.perception_region_shape.polygonal.polygon.array = [p1, p2, p3, p4]
+        msg.perception_region_shape.polygonal.height_is_present = True
+        msg.perception_region_shape.polygonal.height.value = 150
+        msg.perception_region_confidence.value = 100
+        msg.perception_region_confidence_is_present = True
+        msg.shadowing_applies = False
+        return msg
+
+    def publish(self) -> None:
+
+        msg = CollectivePerceptionMessage()
+
+        msg.header.protocol_version.value = 2
+        msg.header.message_id.value = msg.header.message_id.CPM
+
+        msg.payload.management_container.reference_time.value = utils.get_t_its(self.get_clock().now().nanoseconds)
+        msg.payload.management_container.reference_position.latitude.value = int(50.78779641723146 * 1e7)
+        msg.payload.management_container.reference_position.longitude.value = int(6.047076274316094 * 1e7)
+
+        cpm_container = WrappedCpmContainer()
+        cpm_container.container_id.value = CpmContainerId.SENSOR_INFORMATION_CONTAINER
+        cpm_container.container_data.choice.value = cpm_container.container_id.value
+
+        # Get sensor informations 
+        lidar_sensor = self.get_lidar_sensor_information()
+        local_aggretation_sensor = self.get_local_aggregation_sensor_information()
+
+        cpm_container.container_data.sensor_information_container.array = [lidar_sensor, local_aggretation_sensor]
+        msg.payload.cpm_containers.value.array.append(cpm_container)
+
+        self.get_logger().info(f"Publishing CPM")
+        self.publisher.publish(msg)
+
+if __name__ == "__main__":
+
+    rclpy.init()
+    publisher = Publisher()
+    rclpy.spin(publisher)
+    rclpy.shutdown()

utils/codegen/codegen-rust/rgen/src/conversion/utils.rs

@@ -124,7 +124,7 @@ impl Conversion {
                         is_primitive: member.ty.is_builtin_type(),
                         inner_types: self.get_inner_types_names(&member.ty),
                 },
-                is_optional: member.is_optional,
+                is_optional: member.is_optional && (member.default_value.is_none() || self.value_to_tokens(member.default_value.as_ref().unwrap(), None).unwrap() != "0"),
                 has_default: member.default_value.is_some(),
             })
         .collect::<Vec<NamedSeqMember>>()