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rosdriver_delphi_esrname: delphi_esr | delphi_esr_msgs

This driver reads and parses the CAN data created by a Delphi ESR. CAN Interface to a Delphi ESR provides only track information. 

Supported Hardware

• Delphi ESR 2.5 12V
• Delphi ESR 2.5 24V
• Delphi ESR 9.21.21
• Delphi ESR 9.21.15

Published Topics

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msgs

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_name: delphi_esr_msgs

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delphi_esr_msgs/EsrTrackMotionPower

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Subscribed Topics

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delphi_esr/EsrVehicle4

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Parameters

~can_hardware_id
    The serial number of the Kvaser device (or in the case of socketcan, the identifier number - such as 0 for "can0").

~can_circuit_id
    The 0-based index of the channel on the Kvaser device (or in the case of socketcan, 0).

~sensor_frame_id
    The id of the frame of reference of the sensor. This will be attached to all published messages except the lane visualization markers.

~sensor_upside_down
    Flag that can be sent to the ESR to orient the device and receive accurate information regarding track position.

~viz_mature_tracks_only
    Allows configurable visualization of the tracks within RViz to remove noise of less mature tracks being published.The best source of information on our closed-source drivers will always be the README.md file that comes with the driver, since it will contain information accurate to the driver version you happen to be using. You can access the README file with the following commands:

roscd delphi_esr
less README.md

For convenience, below is a copy of the latest delphi_esr README.

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