SAVARI OBU Node

A ROS driver (server) for SAVARI DSRC on-board-unit (OBU)

This package publishes ROS topics related to the content of basic-safety-messages (BSMs) including:

• vehicle general information (length, height, mass, class, etc.)
• vehicle live sensory information (light/wiper/signal status, brake/throttle status, etc.)
• vehicle path history information (if provided)
• bsm interval rate (beaconing rate -Hz-)
• vehicle GPS information (lattitude, longitude, GPS time, speed, etc.)

The information can be for self vehicle (the OBU which the ROS client node runs on) and/or the ego vehicle (the OBU which is installed on other vehicle from which BSMs are periodically received by self vehicle).

What is DSRC?

DSRC is is “a two-way short-to-medium-range wireless communications capability that permits very high data transmission critical in communications-based active safety applications,” according to the U.S. Department of Transportation’s Intelligent Transportation Systems Joint Program Office. DSRC is provided with 75 MHz of spectrum around the 5.9 GHz band (5.850-5.925 GHz) band to be used for vehicle-related safety and mobility systems. A number of DSRC applications have been envisioned:

• Collision avoidance
• Transit vehicle refueling management
• Personalized taxi dispatch services
• Integrated transportation financial transactions:
• Toll collection
• Parking payment
• Rental car payments and processing
• Pedestrian safety at intersections

Read more here!

Dependencies

• Supports Ubuntu 16.04 with ROS Kinetic
• Robot Operating System (ROS Installation)
• sensor_msgs/NavSatFix (link)
• savari_msgs (link)

Publishes

- /savari_ros/self/fix (sensor_msgs/NavSatFix)
- /savari_ros/self/gps (savari_msgs/Gps)
- /savari_ros/self/vehicle (savari_msgs/Vehicle)
- /savari_ros/self/path (savari_msgs/Path)

- /savari_ros/ego/fix (sensor_msgs/NavSatFix)
- /savari_ros/ego/gps (savari_msgs/Gps)
- /savari_ros/ego/vehicle (savari_msgs/Vehicle)
- /savari_ros/ego/path (savari_msgs/Path)

Subscribes to

- /*   None  */

Building the ROS Node

• Change directory to /src of your catkin workspace and clone:

cd catkin_ws/src
git clone https://github.com/zlg9folira/savari.git

• Be sure to source the ROS setup script before building

source /opt/ros/kinetic/setup.bash

• Build:

cd ..
catkin_make --only-pkg-with-deps savari

Testing & Usage

rosrun savari savari_ros -h

The command above should return the command/argument structure supported by the ROS node:

[Usage]		rosrun savari savari_ros -p [PORT]
[Example]	rosrun savari savari_ros -p 1111
[Default]	rosrun savari savari_ros

Development

Package will be subject to change.

Meta

Foad Hajiaghajani

CONNECTED AND AUTONOMOUS VEHICLE APPLICATIONS AND SYSTEMS