Continental ARS408 Driver

This is Continental ARS408 Driver for ROS2.

How to use

1. build environment

$ rosdep install --from-paths src --ignore-src -r -y

2. build

$ colcon build

3. Enable can port

sudo ip link set can0 up type can bitrate 500000

4. setup hardware (only first time)

# Objects detection with all extended properties
cansend can0 200#F8000000089C0000

5. Launch the driver

ros2 launch continental_ars408_socket_can.launch.xml

Design

Input

• input/frame
  • can_msgs https://github.com/ros-industrial/ros_canopen/tree/melodic-devel/can_msgs

Output

• output/objects
  • RadarTrack: https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTrack.msg
  • If you want to visualize, you should choose RadarTrack and visualize in rviz using radar_tracks_msgs_converter with autoware.universe.
• output/return
  • RadarReturn: https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarReturn.msg

parameters

• publish_radar_track
  • The bool parameter to publish output/objects topic
• publish_radar_return
  • The bool parameter to publish output/return topic
• output_frame
  • The string parameter of the output frame id
• sequential_publish
  • The bool parameter to determine output publishing behavior.
  • If this parameter is set to false (default value), the driver will publish output after receiving a complete cycle of sequential data from the CAN data topic.
  • If this parameter is set to true, the driver will publish output every time data is received from the CAN data topic.
• size_x
  • The assumed x-axis size of output objects [m]. The default parameter is 1.8, which derive from distance resolution measuring of ARS408 for far range.
• size_y
  • The assumed y-axis size of output objects [m]. The default parameter is 1.8, which derive from distance resolution measuring of ARS408 for far range.

launcher

• continental_ars408.xml
  • Base launcher
• continental_ars408_socket_can.xml
  • The launch file will initiate two nodes:
    1. socketcan_bridge to read from can0 and publish the CAN msg in can_raw
    2. Continental ARS408 driver will read the can_raw, parse and publish RadarTrack or RadarReturn

Reference

• This repository fork from original package Perception Engine's Continental ARS408 Driver