ros_delphi_srr: delphi_srr | delphi_srr_msgs
This driver reads all CAN messages from the Delphi SRR2 radar and publishes them as ROS topics.
Supported Hardware
- Delphi SRR2
Published Topics
| Message Type | Topic Name | Description |
|---|---|---|
can_msgs/Frame | can_tx | A copy of all raw CAN data received by the driver from the sensor. |
can_msgs/Frame | can_rx_echo | A copy of all raw CAN messages sent by the SRR driver to the sensor. |
delphi_srr/SrrDebug3 | parsed_tx/srr_debug3 | The 1st debugging message provided by the SRR. |
delphi_srr/SrrDebug4 | parsed_tx/srr_debug4 | The 2nd debugging message provided by the SRR. |
delphi_srr/SrrDebug5 | parsed_tx/srr_debug5 | The 3rd debugging message provided by the SRR. |
delphi_srr/SrrFeatureAlert | parsed_tx/srr_feature_alert | TBD. |
delphi_srr/SrrFeatureSwVersion | parsed_tx/srr_feature_sw_version | Provides the version of the software used for CTA/BLIS. |
delphi_srr/SrrStatus1 | parsed_tx/srr_status1 | The 1st status information message provided by the SRR. |
delphi_srr/SrrStatus2 | parsed_tx/srr_status2 | The 2nd status information message provided by the SRR. |
delphi_srr/SrrStatus3 | parsed_tx/srr_status3 | The 3rd status information message provided by the SRR. |
delphi_srr/SrrStatus4 | parsed_tx/srr_status4 | The 4th status information message provided by the SRR. |
delphi_srr/SrrStatus5 | parsed_tx/srr_status5 | The 5th status information message provided by the SRR. |
delphi_srr/SrrTrack | parsed_tx/srr_track | The list of tracks (actually detections) provided by the SRR. |
radar_msgs/RadarDetectionArray | as_tx/detections | An abstracted list of the detections provided by the SRR. |
visualization_msgs/Marker | as_tx/radar_markers | Visualization information for Rviz based on the abstracted detections. |
Subscribed Topics
| Message Type | Topic Name | Description |
|---|---|---|
can_msgs/Frame | can_rx | Will forward any raw CAN messages published to this topic directly to the SRR. |
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).
~srr_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.
~srr_side
Configures the driver to know which SRR Messages it should parse. Options are "Left" or "Right"