ROS2_AUTOSARAP_Bridge_Converter

Overview

ROS2_AUTOSARAP_Bridge_Converter is a bridge that performs conversion between DDS and SOME/IP, enabling communication between ROS 2 and the AUTOSAR Adaptive Platform (AUTOSAR AP). With this bridge, ROS 2 and AUTOSAR AP can work together, and ROS 2 tools can be used within AUTOSAR AP. This tool was released by Saitama University in collaboration with EMB IV and Hitachi Astemo(currently Astemo).

Prerequisites

• ROS 2 Humble Hawksbill

File Description

Shell Scripts

• colcon.sh: Script for building the bridge converter
• server_exe.sh: Script for launching the server side
• client_exe.sh: Script for launching the client side
• kill_routingmanager.sh: Script to force terminate server or client

JSON Files (in config/)

• vsomeip-server.json: SOME/IP configuration file for the server
• vsomeip-client.json: SOME/IP configuration file for the client

Repository layout

Top-level directories and important files in this repository:

• */src/ — primary ROS 2 packages for the bridge (for example: gnss_someip_lib, gnss_bridge, gnss_listener, gnss_provider, and franca2ros).
• string/ — workspace variants used for quick testing and experiments; each contains its own src/, build/, install/, and local configs.
• pointcloud2/, tf2/ — additional workspace snapshots containing examples, Dockerfiles, and tf/pointcloud-related packages and artifacts.
• ros/ — shared message definitions (if present) used across workspaces.
• config/ — VSOMEIP configuration files (vsomeip-client.json, vsomeip-server.json) and init scripts.
• install/, build/, log/ — build artifacts and logs (these are typically ignored by .gitignore).
• Top-level scripts: colcon.sh, client_exe.sh, server_exe.sh, kill_routingmanager.sh, Makefile — helpers for building and running the workspace.

Build examples (run from repository root):

# Full workspace build
colcon build

# Build individual packages only
colcon build --packages-select gnss_someip_lib
colcon build --packages-select gnss_bridge

Note: generated files such as .msg and other translator outputs are listed in .gitignore. If generated files were previously committed, remove them from the index with git rm --cached <file>.

Setup

EXPORT COMMONAPI_CONFIG=<PATH>/src/install/gnss_someip_lib/etc/commonapi.ini
EXPORT COMMONAPI_DEFAULT_FOLDER=<PATH>/src/install/gnss_someip_lib/lib/

EXPORT INSTALL_PATH=/usr/bin

sudo apt-get update && apt install -y wget unzip git

# Installation of required tools
sudo DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends tzdata
sudo apt-get install -y openjdk-17-jdk openjdk-17-jre
sudo apt-get install -y g++ gcc cmake libboost-all-dev make doxygen asciidoc
sudo apt-get install -y net-tools iproute2
sudo apt-get install -y python3-pip

# Installation of required libraries
sudo apt-get install -y libboost-all-dev nlohmann-json3-dev graphviz source-highlight

sudo wget https://github.com/COVESA/capicxx-core-tools/releases/download/3.2.0.1/commonapi_core_generator.zip -P /opt 
    cd /opt 
    sudo unzip commonapi_core_generator.zip -d commonapi_core_generator 
    sudo ln -s /opt/commonapi_core_generator/commonapi-core-generator-linux-x86_64 $INSTALL_PATH/commonapi-core-generator

sudo wget https://github.com/COVESA/capicxx-someip-tools/releases/download/3.2.0.1/commonapi_someip_generator.zip -P /opt/ 
    cd /opt/ 
    sudo unzip commonapi_someip_generator.zip -d commonapi_someip_generator 
    sudo ln -s /opt/commonapi_someip_generator/commonapi-someip-generator-linux-x86_64 $INSTALL_PATH/commonapi-someip-generator

cd /opt && sudo git clone https://github.com/COVESA/dlt-daemon.git -b v2.18.8 && cd dlt-daemon 
    sudo mkdir build 
    cd build 
    sudo cmake -DCMAKE_INSTALL_PREFIX=/usr .. 
    sudo make -j$(nproc) 
    sudo make install
    
cd vsomeip_udp
    sudo mkdir build
    cd build
    sudo cmake 
    sudo make 
    sudo make install

cd /opt && sudo git clone https://github.com/COVESA/capicxx-core-runtime.git
    cd capicxx-core-runtime 
    sudo mkdir build 
    cd build 
    sudo cmake -DCMAKE_INSTALL_PREFIX=/usr .. 
    sudo make -j$(nproc) 
    sudo make install

cd /opt && sudo git clone https://github.com/COVESA/capicxx-someip-runtime.git  
cd capicxx-someip-runtime 
    sudo mkdir build 
    cd build 
    sudo cmake -DCMAKE_INSTALL_PREFIX=/usr .. 
    sudo make -j$(nproc) 
    sudo make install

cd /opt && sudo git clone https://github.com/cameron314/concurrentqueue.git
    cd concurrentqueue 
    sudo mkdir build 
    cd build 
    sudo cmake -DCMAKE_INSTALL_PREFIX=/usr .. 
    sudo make -j$(nproc) 
    sudo make install

sudo pip3 install git+https://github.com/miketsukerman/pyfranca.git

sudo pip3 install -e src/franca2ros

Usage

1. Modify the configuration in config/vsomeip-server.json and config/vsomeip-client.json as needed
2. Configure the ServiceID and other parameters in src/gnss-someip-lib/src/fidl/gnss.fdepl
3. Run colcon.sh to build
4. Run server_exe.sh and client_exe.sh to launch the server and client

Publications & Presentations

• Ryudai Iwakami, Bo Peng, Hiroyuki Hanyu, Tasuku Ishigooka and Takuya Azumi, "AUTOSAR AP and ROS 2 Collaboration Framework for Development in Cloud Environment," in IEEE Open Journal of the Industrial Electronics Society, doi: 10.1109/OJIES.2025.3607248.
• Ryudai Iwakami, Hiroyuki Hanyu, Tasuku Ishigooka, and Takuya Azumi, “Collaboration between the Autoware Ecosystem and AUTOSAR AP via an Open-Source DDS-SOME/IP Bridge Converter.” AutowareCon, Nagoya, Japan, 2025.
• Ryudai Iwakami, Bo Peng, Hiroyuki Hanyu, Tasuku Ishigooka, and Takuya Azumi, “ROS 2 and AUTOSAR AP Integration.” ROSCon JP, Tokyo, Japan, 2024.
• Ryudai Iwakami, Bo Peng, Hiroyuki Hanyu, Tasuku Ishigooka and Takuya Azumi, “AUTOSAR AP and ROS 2 Collaboration Framework.” In Proceedings of the 27th Euromicro Conference Series on Digital System Design (DSD 2024), Paris, France, August 28-30, 2024.
• Ryudai Iwakami, Bo Peng, Hiroyuki Hanyu, Tasuku Ishigooka, and Takuya Azumi, “DDS and SOME/IP Collaboration Framework.” Workshop on Embedded Technology and Network (ETNET), Nagasaki, 2024.

License

This project is licensed under the Apache License 2.0 - see the LICENSE file for details.

Repository layout

Top-level directories and important files in this repository:

• src/ — primary ROS 2 packages for the bridge (for example: gnss_someip_lib, gnss_bridge, gnss_listener, gnss_provider, and franca2ros).
• string/, int/ — workspace variants used for quick testing and experiments; each contains its own src/, build/, install/, and local configs.
• pointcloud2/, tf2/ — additional workspace snapshots containing examples, Dockerfiles, and tf/pointcloud-related packages and artifacts.
• ros/ — shared message definitions (if present) used across workspaces.
• config/ — VSOMEIP configuration files (vsomeip-client.json, vsomeip-server.json) and init scripts.
• install/, build/, log/ — build artifacts and logs (these are typically ignored by .gitignore).
• Top-level scripts: colcon.sh, client_exe.sh, server_exe.sh, kill_routingmanager.sh, Makefile — helpers for building and running the workspace.

Build examples (run from repository root):

# Full workspace build
colcon build

# Build individual packages only
colcon build --packages-select gnss_someip_lib
colcon build --packages-select gnss_bridge

Note: generated files such as .msg and other translator outputs are listed in .gitignore. If generated files were previously committed, remove them from the index with git rm --cached <file>.