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USAGE_GUIDE.md

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Usage Guide

Check out the Requirements below!

Afterwards simply check out the repo and integrate it into your ROS2 environment.

Requirements

This node requires the v2x_msgs library from the vehicleCAPTAIN toolbox.

This node is designed for the v2x_routing_core from the vehicleCAPTAIN toolbox. However, you may introduce your own V2XServer connection.

Also, check out the ROS2 dependencies (package.xml)!

In case you want to install ZMQ locally

You may use zmq_setup.sh for setup

In top level "CMakeLists.txt" replace setting of ZMQ libs with "FindZeroMQ.cmake"

LibZMQ v4.3.4

cd /opt
git clone https://github.com/zeromq/libzmq.git
cd /opt/libzmq
git checkout v4.3.4

apt-get update -qq
apt-get install -qq --yes --no-install-recommends \
libkrb5-dev \
libsodium23

./autogen.sh
./configure --prefix=/usr/local --with-libgssapi_krb5
make
make check
make install

ldconfig && ldconfig -p | grep libzmq

CPPZMQ v4.8.0

WARNING: v4.8.0 recommended, but Ubuntu 18.04 has wrong cmake version! WARNING: also for that reason, the -DCPPZMQ_BUILD_TESTS=OFF is required

cd /opt
git clone https://github.com/zeromq/cppzmq.git
cd /opt/cppzmq
git checkout v4.7.1

mkdir build
cd /opt/cppzmq/build

cmake -DCPPZMQ_BUILD_TESTS=OFF ..
make install