Merge pull request CoFra-CaLa#1 from nfiniity/foxy

ROS2 integration

.github/workflows/ci.yml

@@ -0,0 +1,29 @@
+
+name: Build
+on:
+  push:
+    branches: [ "foxy" ]
+  pull_request:
+    branches: [ "foxy" ]
+permissions:
+  contents: read
+
+jobs:
+  build_and_test:
+    runs-on: ubuntu-20.04
+    steps:
+    - name: Setup ROS environment
+      uses: ros-tooling/setup-ros@0.4.1
+      with:
+        use-ros2-testing: true
+        install-connext: false
+        required-ros-distributions: foxy
+    - name: Checkout repository    
+      uses: actions/checkout@v3
+      with:
+        ref: foxy
+        path: dev_ws/src/etsi_its_msgs
+    - name: Build 
+      run: |
+        source /opt/ros/foxy/setup.bash
+        colcon build

.gitignore

@@ -0,0 +1,51 @@
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE

AUTHORS.md

@@ -0,0 +1,5 @@
+## Contributors
+
+- Raphael Riebl, Technische Hochschule Ingolstadt
+- Quentin Delooz, Technische Hochschule Ingolstadt
+- Apostolos Georgiadis, nfiniity GmbH

CMakeLists.txt

@@ -1,81 +1,98 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(etsi_its_msgs)
 
-find_package(catkin REQUIRED COMPONENTS message_generation std_msgs)
 
-add_message_files(
-  FILES
-  AccelerationControl.msg
-  ActionID.msg
-  Altitude.msg
-  BasicVehicleContainerHighFrequency.msg
-  BasicVehicleContainerLowFrequency.msg
-  CAM.msg
-  CauseCode.msg
-  CPM.msg
-  Curvature.msg
-  CurvatureCalculationMode.msg
-  DeltaReferencePosition.msg
-  DENM.msg
-  DriveDirection.msg
-  DynamicStatus.msg
-  EventPoint.msg
-  ExteriorLights.msg
-  Heading.msg
-  InformationQuality.msg
-  ItsPduHeader.msg
-  LateralAcceleration.msg
-  ListOfPerceivedObjects.msg
-  LocationContainer.msg
-  LongitudinalAcceleration.msg
-  ManagementContainer.msg
-  MatchedPosition.msg
-  ObjectClassDescription.msg
-  ObjectDimension.msg
-  ObjectDistanceWithConfidence.msg
-  ObjectRefPoint.msg
-  OriginatingVehicleContainer.msg
-  PathDeltaTime.msg
-  PathHistory.msg
-  PathPoint.msg
-  PerceivedObject.msg
-  PositionConfidenceEllipse.msg
-  ReferencePosition.msg
-  RelevanceDistance.msg
-  RelevanceTrafficDirection.msg
-  SensorInformation.msg
-  SensorInformationContainer.msg
-  SituationContainer.msg
-  Speed.msg
-  SpeedExtended.msg
-  StationType.msg
-  VehicleLength.msg
-  VehicleRole.msg
-  VehicleSensor.msg
-  VehicleSensorProperty.msg
-  VehicleWidth.msg
-  WGS84Angle.msg
-  YawRate.msg
-  GenericLane.msg
-  IntersectionGeometry.msg
-  Intersections.msg
-  Connection.msg
-  NodeSetXY.msg
-  SPATEM.msg
-  IntersectionState.msg
-  MovementState.msg
-  MovementEvent.msg
-  MAPEM.msg
-)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-generate_messages(DEPENDENCIES std_msgs)
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
 
-catkin_package(
-  INCLUDE_DIRS include
-  CATKIN_DEPENDS std_msgs message_runtime
+set(msg_files
+  "msg/AccelerationControl.msg"
+  "msg/ActionID.msg"
+  "msg/Altitude.msg"
+  "msg/BasicVehicleContainerHighFrequency.msg"
+  "msg/BasicVehicleContainerLowFrequency.msg"
+  "msg/CAM.msg"
+  "msg/CauseCode.msg"
+  "msg/CPM.msg"
+  "msg/Curvature.msg"
+  "msg/CurvatureCalculationMode.msg"
+  "msg/DeltaReferencePosition.msg"
+  "msg/DENM.msg"
+  "msg/DriveDirection.msg"
+  "msg/DynamicStatus.msg"
+  "msg/EventPoint.msg"
+  "msg/ExteriorLights.msg"
+  "msg/Heading.msg"
+  "msg/InformationQuality.msg"
+  "msg/ItsPduHeader.msg"
+  "msg/LateralAcceleration.msg"
+  "msg/ListOfPerceivedObjects.msg"
+  "msg/LocationContainer.msg"
+  "msg/LongitudinalAcceleration.msg"
+  "msg/ManagementContainer.msg"
+  "msg/MatchedPosition.msg"
+  "msg/ObjectClassDescription.msg"
+  "msg/ObjectDimension.msg"
+  "msg/ObjectDistanceWithConfidence.msg"
+  "msg/ObjectRefPoint.msg"
+  "msg/OriginatingVehicleContainer.msg"
+  "msg/PathDeltaTime.msg"
+  "msg/PathHistory.msg"
+  "msg/PathPoint.msg"
+  "msg/PerceivedObject.msg"
+  "msg/PositionConfidenceEllipse.msg"
+  "msg/ReferencePosition.msg"
+  "msg/RelevanceDistance.msg"
+  "msg/RelevanceTrafficDirection.msg"
+  "msg/SensorInformation.msg"
+  "msg/SensorInformationContainer.msg"
+  "msg/SituationContainer.msg"
+  "msg/Speed.msg"
+  "msg/SpeedExtended.msg"
+  "msg/StationType.msg"
+  "msg/VehicleLength.msg"
+  "msg/VehicleRole.msg"
+  "msg/VehicleSensor.msg"
+  "msg/VehicleSensorProperty.msg"
+  "msg/VehicleWidth.msg"
+  "msg/WGS84Angle.msg"
+  "msg/YawRate.msg"
+  "msg/GenericLane.msg"
+  "msg/IntersectionGeometry.msg"
+  "msg/Intersections.msg"
+  "msg/Connection.msg"
+  "msg/NodeSetXY.msg"
+  "msg/SPATEM.msg"
+  "msg/IntersectionState.msg"
+  "msg/MovementState.msg"
+  "msg/MovementEvent.msg"
+  "msg/MAPEM.msg"
 )
 
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  FILES_MATCHING PATTERN "*.h"
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  DEPENDENCIES std_msgs builtin_interfaces
 )
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

LICENSE

@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2023, The ros_etsi_its_msgs Authors
+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

@@ -0,0 +1,12 @@
+# ETSI ITS Messages [![Build](https://github.com/nfiniity/ros_etsi_its_msgs/actions/workflows/ci.yml/badge.svg)](https://github.com/nfiniity/ros_etsi_its_msgs/actions/workflows/ci.yml)
+
+ROS equivalents of ETSI ITS [(European Telecommunications Standards Institute Intelligent Transport Systems)](https://www.etsi.org/) messages which are a set of standardized messages that are used for communication between vehicles and other components of the transportation infrastructure. They are developed by the ETSI Technical Committee on Intelligent Transport Systems (TC ITS) and are based on the international standard ISO/IEC 21451 for Intelligent Transport Systems (ITS).
+
+## Authors
+
+See the [AUTHORS](./AUTHORS.md) file for a full list of contributors.
+
+## Licence
+
+This project is licensed under BSD-3. See [LICENSE](./LICENSE) file for details.
+

msg/CAM.msg

@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header
 ItsPduHeader its_header
 uint16 generation_delta_time # milliseconds since 2004 modulo 2^16
 

msg/CPM.msg

@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header
 ItsPduHeader its_header
 
 #CpmParameters container
@@ -12,14 +12,14 @@ ReferencePosition reference_position
 
 ## StationDataContainer
 # TODO extend to OriginatingRSUContainer
-OriginatingVehicleContainer originatingVehicleContainer
+OriginatingVehicleContainer originating_vehicle_container
 
 bool has_sensor_information_container
-SensorInformationContainer sensorInformationContainer
+SensorInformationContainer sensor_information_container
 
 bool has_list_of_perceived_object
-ListOfPerceivedObjects listOfPerceivedObjects
+ListOfPerceivedObjects list_of_perceived_objects
 
-int32 numberOfPerceivedObjects
+int32 number_of_perceived_objects
 
-# TODO: include FreeSpaceAddendumContainer
+# TODO: include FreeSpaceAddendumContainer