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USAGE_GUIDE.md

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Usage Guide

This library is used to generate ROS2 messages in vehicleCAPTAIN toolbox.

Quickstart: simply include into your ROS2 project.

Quickstart Guide for Docker environment (by Christoph Pilz)

Release versions have been tested in use and should be stable. Some scenarios are still in progess.

If you want to make changes in the branch, you can visit https://confluence.v2c2.at/display/VVP/ASN.1ToROS-Generator for more information about the adapted asn1ToROS-code.

This approach requires Docker.

Important: You have to supply the docker with a keyfile for accessing the vif repo. Simply put a working id_rsa in the root folder. The Dockerfile does the rest.

# Generate the docker
./docker-generation-environment-build-and-run.sh

# Connect to the docker
docker exec -it ros2_msg_gen bash

# Execute the script
./command.sh

# exit the docker
exit

# copy the generated library from the docker
docker cp ros2_msg_gen:/tmp/gen_env/build/v2x_msgs ./v2x_msgs

# your generated files are now in the vifits folder
cp -r v2x_msgs <destination>

Generation per hand

If you want to generate .msg-files per hand you have to follow these steps:

1. Download branch 'ros2_msg_parser_from_velichkov': https://github.com/virtual-vehicle/vehicle_captain_asn1_parser
2. Use following commands:
    test -f configure || autoreconf -iv
    ./configure
    make
3. Create new directory for your new .msg-files:
    install -d "$MSG_ROOT_DIR"/denm/ 
4. Generate the messages (use "-generate-ros-message"-tag):
    asn1c -D "$dir_for_new_msg" -E -generate-ros-message -R -no-gen-example -fcompound-names -fno-include-deps "$ETSI_SPECS"
5. Check if new messages are in new folder.
6. Done.

"hotfix"-Folder:

(Because some cases are not handled with the parser at the moment.)

In the "hotfix"folder are messages for scenarios which are not handled with the parser at the moment.
A python-file replaces the original files with the adapted files from the "hotfix"-folder.
In each message-file you can find a short description what has been changed manually.

Author and License

Main Author: Patrizia Neubauer

License: BSD