update readme

ika-rwth-aachen · Jul 29, 2024 · f708f45 · f708f45
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diff --git a/README.md b/README.md
@@ -52,7 +52,7 @@ During runtime, the `etsi_its_conversion` ROS node converts incoming UDP payload
 
 | Status | Acronym | Name | EN Specification | TS Specification |
 | --- | --- | --- | --- | --- |
-| :white_check_mark: | CAM | Cooperative Awareness Message | [EN 302 637-2 V1.4.1](https://www.etsi.org/deliver/etsi_en/302600_302699/30263702/01.04.01_60/en_30263702v010401p.pdf) ([ASN.1](https://forge.etsi.org/rep/ITS/asn1/cam_en302637_2)) | - |
+| :white_check_mark: | CAM | Cooperative Awareness Message | [EN 302 637-2 V1.4.1](https://www.etsi.org/deliver/etsi_en/302600_302699/30263702/01.04.01_60/en_30263702v010401p.pdf) ([ASN.1](https://forge.etsi.org/rep/ITS/asn1/cam_en302637_2)) | [ETSI TS 103 900 V2.1.1](https://www.etsi.org/deliver/etsi_ts/103900_103999/103900/02.01.01_60/ts_103900v020101p.pdf) ([ASN.1](https://forge.etsi.org/rep/ITS/asn1/cam_ts103900)) |
 | :white_check_mark: | DENM | Decentralized Environmental Notification Message | [EN 302 637-3 V1.3.1](https://www.etsi.org/deliver/etsi_en/302600_302699/30263703/01.03.01_60/en_30263703v010301p.pdf) ([ASN.1](https://forge.etsi.org/rep/ITS/asn1/denm_en302637_3)) | - |
 | :white_check_mark: | CPM | Collective Perception Message | - | [TS 103 324 V2.1.1](https://www.etsi.org/deliver/etsi_ts/103300_103399/103324/02.01.01_60/ts_103324v020101p.pdf) ([ASN.1](https://forge.etsi.org/rep/ITS/asn1/cpm_ts103324)) |
 | :soon: | MAPEM | Map Extended Message | - | - | - |
@@ -69,18 +69,21 @@ etsi_its_messages
 ├── etsi_its_coding
 │   ├── etsi_its_coding         # metapackage including all coding packages
 │   ├── etsi_its_cam_coding
+│   ├── etsi_its_cam_ts_coding
 │   ├── etsi_its_cpm_ts_coding
 │   └── etsi_its_denm_coding
 ├── etsi_its_conversion
 │   ├── etsi_its_conversion     # conversion node depending on all conversion packages
 │   ├── etsi_its_cam_conversion
+│   ├── etsi_its_cam_ts_conversion
 │   ├── etsi_its_cpm_ts_conversion
 │   ├── etsi_its_denm_conversion
 │   └── etsi_its_primitives_conversion
 ├── etsi_its_messages           # metapackage including all others
 ├── etsi_its_msgs
 │   ├── etsi_its_msgs           # metapackage including all msg packages
 │   ├── etsi_its_cam_msgs
+│   ├── etsi_its_cam_ts_msgs
 │   ├── etsi_its_cpm_ts_msgs
 │   └── etsi_its_denm_msgs
 ├── etsi_its_msgs_utils
@@ -155,6 +158,7 @@ rosrun nodelet nodelet standalone etsi_its_conversion/Converter _etsi_types:=[ca
 | --- | --- | --- |
 | `~/udp/in` | `udp_msgs/msg/UdpPacket` | UDP payload for conversion to ROS |
 | `~/cam/in` | `etsi_its_cam_msgs/msg/CAM` | CAM for conversion to UDP |
+| `~/cam_ts/in` | `etsi_its_cam_ts_msgs/msg/CAM` | CAM (TS) for conversion to UDP |
 | `~/cpm_ts/in` | `etsi_its_cpm_ts_msgs/msg/CollectivePerceptionMessage` | CPM for conversion to UDP |
 | `~/denm/in` | `etsi_its_denm_msgs/msg/DENM` | DENM for conversion to UDP |
 
@@ -164,6 +168,7 @@ rosrun nodelet nodelet standalone etsi_its_conversion/Converter _etsi_types:=[ca
 | --- | --- | --- |
 | `~/udp/out` | `udp_msgs/msg/UdpPacket` | UDP payload converted from ROS message |
 | `~/cam/out` | `etsi_its_cam_msgs/msg/CAM` | CAM converted from UDP payload |
+| `~/cam_ts/out` | `etsi_its_cam_ts_msgs/msg/CAM` | CAM (TS) converted from UDP payload |
 | `~/cpm_ts/out` | `etsi_its_cpm_ts_msgs/msg/CollectivePerceptionMessage` | CPM converted from UDP payload |
 | `~/denm/out` | `etsi_its_denm_msgs/msg/DENM` | DENM converted from UDP payload |
 
@@ -174,7 +179,8 @@ rosrun nodelet nodelet standalone etsi_its_conversion/Converter _etsi_types:=[ca
 | `has_btp_destination_port` | `bool` | whether incoming/outgoing UDP messages include a [2-byte BTP destination port](https://www.etsi.org/deliver/etsi_en/302600_302699/3026360501/02.01.00_20/en_3026360501v020100a.pdf) |
 | `btp_destination_port_offset` | `int` | number of bytes before an optional 2-byte BTP destination port, see `has_btp_destination_port` (always `0` in outgoing UDP payload) |
 | `etsi_message_payload_offset` | `int` | number of bytes before actual ETSI message payload (always `0` or `4` (if `has_btp_destination_port`) in outgoing UDP payload) |
-| `etsi_types` | `string[]` | list of ETSI types to convert | `cam`, `cpm_ts`, `denm` |
+| `ros2udp_etsi_types` | `string[]` | list of ETSI types to convert from `etsi_its_msgs` to `udp_msgs` (defaults to all norms and specifications of all possible ETSI types) | `cam`, `cam_ts`, `cpm_ts`, `denm` |
+| `udp2ros_etsi_types` | `string[]` | list of ETSI types to convert from `udp_msgs` to `etsi_its_msgs` (defaults only to the norm or specification of all possible ETSI types)  | `cam`, `cam_ts`, `cpm_ts`, `denm` |
 | `subscriber_queue_size` | `int` | queue size for incoming ROS messages |
 | `publisher_queue_size` | `int` | queue size for outgoing ROS messages |
 

diff --git a/etsi_its_conversion/etsi_its_conversion/src/Converter.cpp b/etsi_its_conversion/etsi_its_conversion/src/Converter.cpp
@@ -213,7 +213,7 @@ void Converter::loadParameters() {
       ROS12_LOG(WARN, "Invalid value '%s' for parameter '%s', skipping", e.c_str(), kUdp2RosEtsiTypesParam.c_str());
   }
   if (!has_btp_destination_port_ && udp2ros_etsi_types_.size() > 1) {
-    ROS12_LOG(WARN, "Parameter '%s' is set to 'false', but multiple 'etsi_types' are configured, dropping all but the first", kHasBtpDestinationPortParam.c_str());
+    ROS12_LOG(WARN, "Parameter '%s' is set to 'false', but multiple 'udp2ros_etsi_types' are configured, dropping all but the first", kHasBtpDestinationPortParam.c_str());
     udp2ros_etsi_types_.resize(1);
   }