off_highway_sensor_drivers

This project provides ROS drivers for Bosch Off-Highway sensor systems.

The off_highway_sensor_drivers package is developed for ROS 2 Humble on Ubuntu 22.04.

The off_highway_sensor_drivers package acts as metapackage for all of the following packages.

Ethernet Based Drivers

• off_highway_premium_radar_sample: Driver library and node for the Bosch Radar Off-Highway Premium Sample
• off_highway_premium_radar_sample_msgs: The custom message interface for the off_highway_premium_radar_sample package

For further information, have a look at the linked package readmes.

CAN Based Drivers

• off_highway_can: Library containing receiver and sender classes to decode / encode sensor CAN frames
• off_highway_general_purpose_radar: Receiver node for the Bosch General Purpose Radar Off-Highway (GPR)
• off_highway_general_purpose_radar_msgs: The custom message interface for the Bosch General Purpose Radar Off-Highway (GPR)
• off_highway_radar: Receiver and sender nodes for the Bosch Radar Off-Highway
• off_highway_radar_msgs: The custom message interface for the off_highway_radar package
• off_highway_uss: Receiver and sender nodes for the Bosch Ultrasonic Sensor System Off-Highway
• off_highway_uss_msgs: The custom message interface for the off_highway_uss package

The CAN communication based sensors were tested in a 500 kBd CAN configuration.

The CAN communication based drivers offer the possibility to log processing cycle times. This allows you to check if your hardware in combination with these drivers is capable of processing your system’s specific CAN load.

For further information, have a look at the linked package readmes.

Architecture

The most relevant packages for an application of the CAN communication based sensors are the off_highway_general_purpose_radar, off_highway_radar and off_highway_uss packages, which provide a receiver node to convert CAN (FD) frames received from the sensor into ROS messages and a sender node to provide relevant information as CAN (FD) frames, converted from a ROS message interface.

The sensor packages do not contain a CAN to ROS driver. Instead, their interface towards the sensor side are encoded as can_msgs/Frame or socketcan_msgs/FdFrame ROS messages. Such messages can be handled by e.g., the ros2_socketcan sender and receiver, which convert between such ROS messages and physical CAN (FD) frames through the SocketCAN driver. See the following diagram for a system overview:

Miscellaneous

• off_highway_sensor_drivers_examples: Sample launch files and scripts to assist with further processing of sensor data.

For further information, have a look at the linked package readme.

Further Information about the Hardware

• Radar OHW Premium
• Radar systems for off-highway applications
• Ultrasonic system variants and sensors

Or contact off-highway.beg@bosch.com.

Intended Use

See intended use.

License

Please see LICENSE.

Build

Prerequisites

Install:

• Ubuntu jammy 22.04
• ROS humble

Install Dependencies

Clone this repository into your workspace and execute in it:

rosdep update && rosdep install --from-paths src --ignore-src -r -y

Compile

Execute in your workspace

colcon build --cmake-args '-DCMAKE_BUILD_TYPE=Release'

for using colcon.

Any contribution that you make to this repository will be under the Apache License 2.0.

Contributors must sign-off each commit by adding a Signed-off-by: Name <mail> line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the Developer Certificate of Origin (DCO).