Knowledge Base

Everything you need to know and understand to develop V2X applications.

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denm-generator.py
msg = self.generate_denm()
future = self.send_request(msg)
future.add_done_callback(self.request_completed)

cube:its

cube:its is the ROS 2-based Cooperative ITS stack that transforms every cube:evk into a versatile functional, standards-compliant ITS station. Built on top of Vanetza and extended with extensive ETSI facility layers, cube:its offers a production-ready V2X stack with a modern, developer-friendly API — entirely through ROS 2.

Key Features

  • ROS 2 Integration
    Standard ROS 2 topics, services, and message types (ros_cube_msgs).

  • Supports ETSI Facilities
    Cooperative Awareness (CA), Decentralized Environmental Notification (DEN), Collective Perception (CP), and more.

  • Powered by Vanetza
    The open-source and ETSI-compliant C-ITS stack trusted by industry and research.

  • GNSS and Sensor Fusion Aware
    Uses cube:ubx positioning and IMU fusion internally to provide stable ITS time and accurate positions.

  • Development-Ready Environment
    Pre-installed dev containers, remote debugging, and support for running your ROS 2 applications directly on the cube:evk.

Typical Use Cases

  • V2X-enabled vehicles
  • Smart infrastructure nodes
  • Rapid prototyping platforms for universities and research institutes
  • Edge devices combining V2X, GNSS, and local sensor fusion data
  • Cloud-connected systems (fleet monitoring, digital twins, etc.)
  • ROS-based environments

More Than a Wrapper

cube:its is not just a convenience layer — it is a complete, modular ITS station:

  • Link Layer → via cube:radio API, ITS-G5 or C-V2X
  • Networking → GeoNetworking (Vanetza GN)
  • Transport → BTP-A/B
  • Facilities → CAM, DENM, CPM, LDM
  • Security → ETSI ITS-S security hooks
  • Time sync → GNSS-tuned ITS time (cube:time)

This allows your ROS 2 application to operate at any layer, whether you want to:

  • send CAMs from your own mobility data,
  • process received DENMs,
  • integrate sensor detections into CPM, or
  • implement custom facilities on top.

Start your journey with the Introduction.

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