off_highway_sensor_drivers repository

Repository Summary

Checkout URI https://github.com/bosch-engineering/off_highway_sensor_drivers.git
VCS Type git
VCS Version humble-devel
Last Updated 2024-06-13
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

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

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.

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 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

Miscellaneous

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

Further Information about the Hardware

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.

CONTRIBUTING

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).