ARS_40X package contains a driver for the Continental radar ARS_404 / ARS_408. The package also contains a ROS Wrapper for the driver.
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
| Message | Type | Description | Message Box |
|---|---|---|---|
| /radar_status | ars_40X 56B4 /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 | - |
| Message | Type | Description | Message Box |
|---|---|---|---|
| /odom | nav_msgs/Odometry | Velocity and accleration information | 0x300, 0x301 |
The following services are available for configuring the radar options available in 0x200
| 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 |