VSS-ROS-Bridge provides a bridge between the KUKSA.val databroker and ROS 2. It subscribes to Vehicle Signal Specification (VSS) data points and publishes them as ROS topics, enabling control of simulators such as turtlesim and the F1TENTH simulator using standardized vehicle signals.

flowchart LR
    A[VSS Signals] --> B[KUKSA.val Databroker]
    B --> C[VSS-ROS Bridge]
    C --> D[ROS 2 Topics]
    D --> E[turtlesim]
    D --> F[FlexCAR]

The VSS-ROS bridge can be easily intentegrated with simulation (turtlesim) or FlexCAR, the following demonstration section demonstrates VSS-ROS bridge being used between turtlesim and FlexCAR with no code changes. This enables safe and faster prototyping and testing of vehicular functions

• KUKSA.val
• COVESA Vehicle Signal Specification (VSS)
• ROS 2 Humble
• Docker and Docker Compose

VSS-ROS-Bridge/
├── assets/
├── csv_provider/
├── f2tenth_simulator/
├── publisher/
├── scripts/
├── img/
├── docker-compose.yml
├── Dockerfile
├── README.md
└── LICENSE

• Unix-based environment
• Docker
• Docker Compose

git clone https://github.com/LikhithST/VSS-ROS-Bridge.git
cd VSS-ROS-Bridge

Update environment variables in docker-compose.yml if needed:

• width
• height
• x_coord
• y_coord

docker compose up

This starts:

• KUKSA Databroker
• VSS-ROS Bridge
• ROS simulator

source ./scripts/setup.sh

cd csv_provider
python3 provider.py -f output_left_90_1x.csv

• The simulator launches automatically
• The turtle or vehicle moves according to CSV input
• ROS topics reflect VSS signals

docker run -it --rm --net=host ghcr.io/eclipse/kuksa.val/databroker:master --insecure

docker run -it --rm --net=host ghcr.io/eclipse/kuksa.val/databroker-cli:master

docker run -it --rm --net=host ghcr.io/eclipse-kuksa/kuksa-python-sdk/kuksa-client:main

• Vehicle signal simulation
• ROS-based control systems
• Autonomous driving experimentation
• Automotive and robotics integration

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

Contributions are welcome through issues and pull requests.

• Eclipse KUKSA Project
• COVESA VSS
• ROS 2 Community