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chore: update radar driver #302

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chore: update radar driver #302

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d4faa4d
chore: use optimized driver
0x126 Sep 4, 2024
5c0b379
chore: remove radar preprocessor
0x126 Sep 4, 2024
1531921
fix: extend receiver_interval_sec
0x126 Sep 4, 2024
3b8c474
chore: remove radar merger
0x126 Sep 4, 2024
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8 changes: 0 additions & 8 deletions aip_x2_launch/launch/radar.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -59,13 +59,5 @@
</include>
</group>

<include file="$(find-pkg-share simple_object_merger)/launch/simple_object_merger.launch.xml">
<arg name="output/objects" value="detected_objects"/>
<arg name="update_rate_hz" value="20.0"/>
<arg name="new_frame_id" value="base_link"/>
<arg name="timeout_threshold" value="1.0"/>
<arg name="input_topics" value="[/sensing/radar/front_center/detected_objects, /sensing/radar/front_left/detected_objects, /sensing/radar/rear_left/detected_objects, /sensing/radar/rear_center/detected_objects, /sensing/radar/rear_right/detected_objects, /sensing/radar/front_right/detected_objects]"/>
</include>

</group>
</launch>
32 changes: 4 additions & 28 deletions common_sensor_launch/launch/ars408.launch.xml
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Expand Up @@ -3,7 +3,7 @@

<!-- socket can interface parameter -->
<arg name="interface" default="can0" />
<arg name="receiver_interval_sec" default="0.01"/>
<arg name="receiver_interval_sec" default="0.1"/>
<!-- driver parameter -->
<arg name="input/frame" default="from_can_bus" />
<arg name="output_frame" default="ars408_front" />
Expand All @@ -16,17 +16,10 @@
<!-- converter parameter -->
<arg name="input/odometry" default="/localization/kinematic_state" />

<!-- Socket CAN -->
<group if="$(var launch_driver)">
<include file="$(find-pkg-share ros2_socketcan)/launch/socket_can_receiver.launch.py">
<arg name="interface" value="$(var interface)"/>
<arg name="interval_sec" value="$(var receiver_interval_sec)"/>
</include>
</group>

<!-- ARS408 driver-->
<!-- Note: If the ARS408 driver is stable, continental_ars408.launch.xml move to group <if="$(var launch_driver)> -->
<include file="$(find-pkg-share pe_ars408_ros)/launch/continental_ars408.launch.xml">
<include file="$(find-pkg-share pe_ars408_ros)/launch/continental_ars408.launch.py">
<arg name="interface" value="$(var interface)"/>
<arg name="interval_sec" value="$(var receiver_interval_sec)"/>
<arg name="input/frame" value="$(var input/frame)" />
<arg name="output/objects" value="objects_raw" />
<arg name="output/scan" value="scan_raw" />
Expand All @@ -38,21 +31,4 @@
<arg name="size_y" value="$(var size_y)" />
</include>

<!-- Noise filter -->
<include file="$(find-pkg-share radar_tracks_noise_filter)/launch/radar_tracks_noise_filter.launch.xml">
<arg name="input/tracks" value="objects_raw"/>
<arg name="output/noise_tracks" value="noise_objects" />
<arg name="output/filtered_tracks" value="filtered_objects" />
<arg name="velocity_y_threshold" value="$(var velocity_y_threshold)" />
</include>

<!-- Message converter -->
<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="filtered_objects"/>
<arg name="input/odometry" value="$(var input/odometry)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="update_rate_hz" value="10.0"/>
<arg name="use_twist_compensation" value="true"/>
</include>
</launch>
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