off_highway_sensor_drivers repository

Repository Summary

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VCS Type git
VCS Version humble-devel
Last Updated 2024-06-13
CI status No Continuous Integration
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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

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

CAN Based Drivers

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.


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 frames received from the sensor into ROS messages and a sender node to provide relevant information as CAN 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 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 frames through the SocketCAN driver. See the following diagram for a system overview:

Sensor Driver Architecture


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

Further Information about the Hardware

Or contact

Intended Use

See intended use.


Please see LICENSE.




  • 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


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).