driver_name: delphi_esr
msgs_name: delphi_esr_msgs
This driver reads and parses the CAN and Ethernet data created by a Delphi ESR. CAN Interface to a Delphi ESR provides only track information. Ethernet interface provides raw detections.
Supported Hardware
- Delphi ESR 2.5 12V
- Delphi ESR 2.5 24V
- Delphi ESR 9.21.21 (CAN Only)
- Delphi ESR 9.21.15 (CAN Only)
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Published Topics
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Description
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delphi_esr_msgs/EsrTrackMotionPower
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Subscribed Topics
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delphi_esr_msgs/EsrVehicle4
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Parameters
~sensor_frame_id
The id of the frame of reference of the sensor. This will be attached to all published messages.
~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.
delphi_esr_eth
Published Topics
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Description
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Subscribed Topics: None
Parameters
~sensor_frame_id
The id of the frame of reference of the sensor. This will be attached to all published messages.
~ip_address
The IP address used to connect to the ESR.
~ip_port
The port used to connect to the ESR (default: 5555).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:
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roscd delphi_esr
less README.md |
For convenience, below is a copy of the latest delphi_esr README.
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