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Implementation of Continental ARS 408 Radar in Ubuntu 16.04. Visualization of objects in rviz.

Nodes

  • base_link_to_radar
  • decode_node
  • decode_node_cluster
  • extendedkf
  • joint_state_publisher
  • rosout
  • rviz
  • socketcan_bridge_node
  • speedinfo_node
  • visualization_marker_node
  • visualization_marker_node_cluster

Topics

  • /clicked_point
  • /cluster_decoded_messages
  • /cluster_list_messages
  • /control/arduino_output_steering
  • /control/arduino_output_throttle
  • /decoded_messages
  • /filtered_messages
  • /initialpose
  • /joint_states
  • /list_messages
  • /move_base_simple/goal
  • /received_messages
  • /rosout
  • /rosout_agg
  • /sent_messages
  • /tf
  • /tf_static
  • /visualization_marker
  • /visualization_marker_array
  • /visualization_marker_cluster

Build and Run

mkdir folder
mkdir folder/src
cd folder/src
git clone https://github.com/sergiocasaspastor/myrepository.git
cd ..
catkin build
source devel/setup.bash
roslaunch socketcan_bridge radar.launch

Radar setup

There is a command called cansend, that belongs to can-utils, used for sending configuration messages to the radar. Here are some messages proposed, but other messages can be sent (watch the manual ARS40X_Technical_Documentation_V 1.8_18.10.2017 inside documentation folder).

Installation of can-utils

sudo apt-get install can-utils
candump can0 // Watch the raw data received once the peak CAN bus is installed and connected to Radar

Configuration messages to choose between cluster detection or object detection

cansend can0 200#F8000000089C0000 // Objects detection with all extended properties
cansend can0 200#F8000000109C0000 // Clusters detection with all extended properties

Configuration messages for applying different filters.

cansend can0 202#8C0000012C // Maximum distance of objects detected 30 meters
cansend can0 202#AE06800FFF // Minimum value of object RCS -10 dBm2
cansend can0 202#C600030007 // Minimum value of objects probability of existence 75%

Other option to configure the radar is to modify the values of configuration_vars.h inside the header folder of socketcan brige. Please remember that is necessary to build the package again in order to save the values chosen in the configuration header file.

Radar pointcloud

New feature added. Point cloud topic of objects with the name /radar_pointcloud.

Radar manuals and documentacion

Check folder doc

Author

Name: Sergio Casas Pastor email: sergiocp@ntu.edu.sg