ARS_40X_Toolkit
Our Toolkit is built based on socket_can and you should install it first.
Install(Installation in Chinese)
CSDN
And We refer to ars408X technical manual to develop this repo.
Get started
roslaunch ars_40X ars_40X.launch visualize:=true obstacle_array:=true
- visualize (default:"true") : Launches RViz to display the clusters/obstacles as markers.
- obstacle_array (default:"false") : Launches ars_40X_obstacle_array node which publishes obstacles as geometry_msgs/Polygon
Publications
| Message |
Type |
Description |
Message Box |
| /radar_status |
ars_40X/RadarStatus |
Describe the radar configuration |
0x201 |
| /ars_40X/clusters |
ars_40X/ClusterList |
Raw clusters data from radar |
0x600, 0x701 |
| /ars_40X/objects |
ars_40X/ObjectList |
Raw objects data from radar |
0x60A, 0x60B, 0x60C, 0x60D |
| /visualize_clusters |
visualization_msgs/MarkerArray |
Clusters markers for RViz visualization |
- |
| /visualize_objects |
visualization_msgs/MarkerArray |
Object markers for RViz visualization |
- |
Subscription
| Message |
Type |
Description |
Message Box |
| /odom |
nav_msgs/Odometry |
Velocity and accleration information |
0x300, 0x301 |
Services
| Services |
| /set_ctrl_relay_cfg |
| /set_max_distance |
| /set_output_type |
| /set_radar_power |
| /set_rcs_threshold |
| /set_send_ext_info |
| /set_send_quality |
| /set_sensor_id |
| /set_sort_index |
| /set_store_in_nvm |
| /set_filter |
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