Package Summary

Tags No category tags.
Version 0.4.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/bosch-engineering/off_highway_sensor_drivers.git
VCS Type git
VCS Version humble-devel
Last Updated 2024-02-09
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The off_highway_general_purpose_radar package

Additional Links

No additional links.

Maintainers

  • Robin Petereit

Authors

  • Robin Petereit

off_highway_general_purpose_radar

The off_highway_general_purpose_radar package provides a receiver node to receive and decode CAN frames of the Bosch General Purpose Radar Off-Highway (GPR) into ROS messages - it implements an off_highway_can::Receiver.

Further information on the Bosch General Purpose Radar Off-Highway (GPR), it's inputs, outputs and how they can be interpreted can be found in the corresponding Technical Customer Documentation (TCD) of the sensor system.

Supported devices

Device name Part Number Description Supported by subpackage Quality declaration
General Purpose Radar Off-Highway (GPR) - F037.000.100 (series)
- F037.B00.255-11 (sample)
- Radar sensor with up to 48 target reflections
- Target output on automotive CAN is supported
off_highway_general_purpose_radar 3

Further information: Radar systems for off-highway applications

Contact: off-highway.beg@bosch.com

Nodes

Receiver

The radar receiver decodes CAN frames into a target list, manages the current list and publishes it cyclically.

All received messages are checked for their cyclic redundancy check (CRC), rolling message counter and age (message not older than parameter allowed_age). If any of these checks do not succeed the received message is not further processed and skipped.

The relevant radar CAN frame IDs to process are specified by the target_base_id and info_id parameters. They should correspond to the first target frame ID and the info frame ID of the radar CAN node and need to be adapted for the specific bus setup. If multiple radar sensors need to be decoded on the same bus just launch multiple receiver nodes with individual *_id parameters.

The target list is published as a list of radar targets or as a point cloud and contains up to 48 targets (sensor limit). Only valid targets in the list are published (measured flag set).

If the receiver node does not receive anything within a configured period (parameter timeout), it will publish a diagnostic error on /diagnostics. Also, the sensor information CAN frame gets published and is checked for the diagnostic status of the radar. On error, the node will publish a diagnostic error on /diagnostics.

Subscribed Topics

Published Topics

  • targets (off_highway_general_purpose_radar_msgs/Targets)
    • Update Rate: configurable with publish_frequency
    • Contains current target list of radar as custom message containing the same information as each target's CAN frame. Mapping to the respective CAN frame is done via the id field.
  • targets_pcl (sensor_msgs/PointCloud2)
    • Update Rate: configurable with publish_frequency
    • Contains current target list of radar as point cloud.
  • info (off_highway_radar_msgs/Information)
    • Update Rate: On each sensor information CAN frame
    • Contains current sensor information message containing the same information as the respective CAN frame.
  • /diagnostics (diagnostic_msgs/DiagnosticArray)
    • Update Rate: On each sensor information CAN frame or if receiver timed out periodically with timeout period
    • Diagnostic status contains statuses from the latest received sensor information and timeout status.

Parameters

See receiver_params.yaml.

Launch files

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged off_highway_general_purpose_radar at Robotics Stack Exchange

No version for distro iron. Known supported distros are highlighted in the buttons above.
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Package Summary

Tags No category tags.
Version 0.2.2
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/bosch-engineering/off_highway_sensor_drivers.git
VCS Type git
VCS Version noetic-devel
Last Updated 2024-02-08
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The off_highway_general_purpose_radar package

Additional Links

No additional links.

Maintainers

  • Robin Petereit

Authors

No additional authors.

off_highway_general_purpose_radar

The off_highway_general_purpose_radar package provides a receiver node to receive and decode CAN frames of the Bosch General Purpose Radar Off-Highway (GPR) into ROS messages - it implements an off_highway_common::Receiver.

Further information on the Bosch General Purpose Radar Off-Highway (GPR), it's inputs, outputs and how they can be interpreted can be found in the corresponding Technical Customer Documentation (TCD) of the sensor system.

Supported devices

Device name Part Number Description Supported by subpackage Quality declaration
General Purpose Radar Off-Highway (GPR) - F037.000.100 (series)
- F037.B00.255-11 (sample)
- Radar sensor with up to 48 target reflections
- Target output on automotive CAN is supported
off_highway_general_purpose_radar 3

Further information: Radar systems for off-highway applications

Contact: off-highway.beg@bosch.com

Nodes

Receiver

The radar receiver decodes CAN frames into a target list, manages the current list and publishes it cyclically.

All received messages are checked for their cyclic redundancy check (CRC), rolling message counter and age (message not older than parameter allowed_age). If any of these checks do not succeed the received message is not further processed and skipped.

The relevant radar CAN frame IDs to process are specified by the target_base_id and info_id parameters. They should correspond to the first target frame ID and the info frame ID of the radar CAN node and need to be adapted for the specific bus setup. If multiple radar sensors need to be decoded on the same bus just launch multiple receiver nodes with individual *_id parameters.

The target list is published as a list of radar targets or as a point cloud and contains up to 48 targets (sensor limit). Only valid targets in the list are published (measured flag set).

If the receiver node does not receive anything within a configured period (parameter timeout), it will publish a diagnostic error on /diagnostics. Also, the sensor information CAN frame gets published and is checked for the diagnostic status of the radar. On error, the node will publish a diagnostic error on /diagnostics.

Subscribed Topics

Published Topics

  • targets (off_highway_general_purpose_radar_msgs/Targets)
    • Update Rate: configurable with publish_frequency
    • Contains current target list of radar as custom message containing the same information as each target's CAN frame. Mapping to the respective CAN frame is done via the id field.
  • targets_pcl (sensor_msgs/PointCloud2)
    • Update Rate: configurable with publish_frequency
    • Contains current target list of radar as point cloud.
  • info (off_highway_radar_msgs/Information)
    • Update Rate: On each sensor information CAN frame
    • Contains current sensor information message containing the same information as the respective CAN frame.
  • /diagnostics (diagnostic_msgs/DiagnosticArray)
    • Update Rate: On each sensor information CAN frame or if receiver timed out periodically with timeout period
    • Diagnostic status contains statuses from the latest received sensor information and timeout status.

Parameters

See receiver_params.yaml.

Launch files

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged off_highway_general_purpose_radar at Robotics Stack Exchange

No version for distro ardent. Known supported distros are highlighted in the buttons above.
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