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Repository Summary
| Description | |
| Checkout URI | https://github.com/nacayu/ars_408_ros_toolkit.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-08-20 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ars_40X | 0.0.0 |
README
ARS_40X_Toolkit
Our Toolkit is built based on socket_can and you should install it first.
Install(Installation in Chinese)
And We refer to ars408X technical manual to develop this repo.
Get started
roslaunch ars_40X ars_40X.launch visualize:=true obstacle_array:=true
- visualize (default:”true”) : Launches RViz to display the clusters/obstacles as markers.
- obstacle_array (default:”false”) : Launches ars_40X_obstacle_array node which publishes obstacles as geometry_msgs/Polygon
Publications
| Message | Type | Description | Message Box |
|---|---|---|---|
| /radar_status | ars_40X/RadarStatus | Describe the radar configuration | 0x201 |
| /ars_40X/clusters | ars_40X/ClusterList | Raw clusters data from radar | 0x600, 0x701 |
| /ars_40X/objects | ars_40X/ObjectList | Raw objects data from radar | 0x60A, 0x60B, 0x60C, 0x60D |
| /visualize_clusters | visualization_msgs/MarkerArray | Clusters markers for RViz visualization | - |
| /visualize_objects | visualization_msgs/MarkerArray | Object markers for RViz visualization | - |
Subscription
| Message | Type | Description | Message Box |
|---|---|---|---|
| /odom | nav_msgs/Odometry | Velocity and accleration information | 0x300, 0x301 |
Services
|Services| |—| |/set_ctrl_relay_cfg| |/set_max_distance| |/set_output_type| |/set_radar_power| |/set_rcs_threshold| |/set_send_ext_info| |/set_send_quality| |/set_sensor_id| |/set_sort_index| |/set_store_in_nvm| |/set_filter|
CONTRIBUTING
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