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Driver for the Continental radar ARS_404 / ARS_408.

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Project-MANAS/ars_40X

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ARS_40X package contains a driver for the Continental radar ARS_404 / ARS_408.The package also contains a ROS Wrapper for the driver.

Requirements

Launching with arguments

roslaunch ars_40X ars_40X.launch visualize:=true obstacle_array:=true

Arguments available

  • 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

MessageTypeDescriptionMessage Box
/radar_statusars_40X/RadarStatusDescribe the radar configuration0x201
/ars_40X/clustersars_40X/ClusterListRaw clusters data from radar0x600, 0x701
/ars_40X/objectsars_40X/ObjectListRaw objects data from radar0x60A, 0x60B, 0x60C, 0x60D
/visualize_clustersvisualization_msgs/MarkerArrayClusters markers for RViz visualization-
/visualize_objectsvisualization_msgs/MarkerArrayObject markers for RViz visualization-

Subscription

MessageTypeDescriptionMessage Box
/odomnav_msgs/OdometryVelocity and accleration information0x300, 0x301

Services

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

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Driver for the Continental radar ARS_404 / ARS_408.

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