set default udp offsets in conversion to cohda mk5

README.md

@@ -18,13 +18,13 @@
 
 All message definitions and conversion functions are automatically generated based on the [ASN.1 definitions](https://forge.etsi.org/rep/ITS/asn1) of the standardized ETSI ITS messages.
 
-> [!IMPORTANT]
-> This repository is open-sourced and maintained by the [**Institute for Automotive Engineering (ika) at RWTH Aachen University**](https://www.ika.rwth-aachen.de/).
-> **V2X Communication** is one of many research topics within our [*Vehicle Intelligence & Automated Driving*](https://www.ika.rwth-aachen.de/en/competences/fields-of-research/vehicle-intelligence-automated-driving.html) domain.
-> If you would like to learn more about how we can support your advanced driver assistance and automated driving efforts, feel free to reach out to us!
->      *Timo Woopen - Manager Research Area Vehicle Intelligence & Automated Driving*
->      *+49 241 80 23549*
->      *[email protected]*
+> [!IMPORTANT]  
+> This repository is open-sourced and maintained by the [**Institute for Automotive Engineering (ika) at RWTH Aachen University**](https://www.ika.rwth-aachen.de/).  
+> **V2X Communication** is one of many research topics within our [*Vehicle Intelligence & Automated Driving*](https://www.ika.rwth-aachen.de/en/competences/fields-of-research/vehicle-intelligence-automated-driving.html) domain.  
+> If you would like to learn more about how we can support your advanced driver assistance and automated driving efforts, feel free to reach out to us!  
+>      *Timo Woopen - Manager Research Area Vehicle Intelligence & Automated Driving*  
+>      *+49 241 80 23549*  
+>      *[email protected]*  
 
 - [etsi\_its\_messages](#etsi_its_messages)
   - [Concept](#concept)
@@ -149,12 +149,12 @@ The conversion node bridges all ETSI ITS message types at the same time in both
 # ROS 2
 ros2 launch etsi_its_conversion converter.launch.py
 # or
-ros2 run etsi_its_conversion etsi_its_conversion_node --ros-args -p etsi_types:=[cam,denm] -p has_btp_destination_port:=true -p btp_destination_port_offset:=0 -p etsi_message_payload_offset:=4
+ros2 run etsi_its_conversion etsi_its_conversion_node --ros-args -p etsi_types:=[cam,denm] -p has_btp_destination_port:=true -p btp_destination_port_offset:=8 -p etsi_message_payload_offset:=78
 
 # ROS
 roslaunch etsi_its_conversion converter.ros1.launch
 # or
-rosrun nodelet nodelet standalone etsi_its_conversion/Converter _etsi_types:=[cam,denm] _has_btp_destination_port:=true _btp_destination_port_offset:=0 _etsi_message_payload_offset:=4
+rosrun nodelet nodelet standalone etsi_its_conversion/Converter _etsi_types:=[cam,denm] _has_btp_destination_port:=true _btp_destination_port_offset:=8 _etsi_message_payload_offset:=78
 ```
 
 ##### Subscribed Topics

etsi_its_conversion/etsi_its_conversion/config/params.ros1.yml

@@ -1,6 +1,6 @@
 has_btp_destination_port: true
-btp_destination_port_offset: 0
-etsi_message_payload_offset: 4
+btp_destination_port_offset: 8  # default for Cohda Wireless MK-5 exampleETSI application
+etsi_message_payload_offset: 78 # default for Cohda Wireless MK-5 exampleETSI application
 etsi_types:
   - cam
-  - denm
+  - denm

etsi_its_conversion/etsi_its_conversion/config/params.yml

@@ -1,8 +1,8 @@
 etsi_its_conversion:
   ros__parameters:
     has_btp_destination_port: true
-    btp_destination_port_offset: 0
-    etsi_message_payload_offset: 4
+    btp_destination_port_offset: 8  # default for Cohda Wireless MK-5 exampleETSI application
+    etsi_message_payload_offset: 78 # default for Cohda Wireless MK-5 exampleETSI application
     etsi_types:
       - cam
       - denm

etsi_its_conversion/etsi_its_conversion/src/Converter.cpp

@@ -71,9 +71,9 @@ const std::string Converter::kOutputTopicDenm{"~/denm/out"};
 const std::string Converter::kHasBtpDestinationPortParam{"has_btp_destination_port"};
 const bool Converter::kHasBtpDestinationPortParamDefault{true};
 const std::string Converter::kBtpDestinationPortOffsetParam{"btp_destination_port_offset"};
-const int Converter::kBtpDestinationPortOffsetParamDefault{0};
+const int Converter::kBtpDestinationPortOffsetParamDefault{8};
 const std::string Converter::kEtsiMessagePayloadOffsetParam{"etsi_message_payload_offset"};
-const int Converter::kEtsiMessagePayloadOffsetParamDefault{4};
+const int Converter::kEtsiMessagePayloadOffsetParamDefault{78};
 const std::string Converter::kEtsiTypesParam{"etsi_types"};
 const std::vector<std::string> Converter::kEtsiTypesParamDefault{"cam", "denm"};