ros_mobileye_560_660: mobileye_560_660 | mobileye_560_660_msgs
This driver reads and parses CAN data provided by the Mobileye 560/630/660 with Extended Logging Firmware (provided by AutonomouStuff). The following are available:
- Several forms of Lane Model information
- Additional Lanes (road edge, next lane, etc.)
- Detected and Classified Objects (pedestrian, bicyclist, motorcycle, car, truck)
- Traffic Signs (speed limit, construction zone, school zone, etc.)
Supported Hardware
- Mobileye 560 w/Extended Firmware
- Mobileye 630 w/Extended Firmware (without EyeWatch)
- Mobileye 660 w/Extended Firmware (with Eyewatch)
Published Topics
| Message Type | Topic Name | Description |
|---|---|---|
can_interface/CanFrame | can_tx | A copy of all raw CAN data received by the driver from the sensor. |
mobileye_560_660_msgs/AftermarketLane | parsed_tx/aftermarket_lane | Lane data for detected lanes including confidence value, offset distances, and lane type. |
mobileye_560_660_msgs/Ahbc | parsed_tx/ahbc | Information about the Automatic High-Beam Control decision. |
mobileye_560_660_msgs/AhbcGradual | parsed_tx/ahbc_gradual | Detailed information about the Automatic High-Beam Control decision model including number of cars, glare, and target tracking. |
mobileye_560_660_msgs/AwsDisplay | parsed_tx/aws_display | Data that are sent to the EyeWatch display. |
mobileye_560_660_msgs/FixedFoe | parsed_tx/fixed_foe | Information about the inferred horizon and vehicle yaw. |
mobileye_560_660_msgs/Lane | parsed_tx/lane | Basic information about detected lanes including curvature, heading, pitch angle, and yaw angle. |
mobileye_560_660_msgs/LkaLane | parsed_tx/left_lka_lane | Extended information about the left lane including type, quality, marker width, and parameters used to generate a 3rd degree polynomial model. |
mobileye_560_660_msgs/LkaLane | parsed_tx/right_lka_lane | Extended information about the right lane including type, quality, marker width, and parameters used to generate a 3rd degree polynomial model. |
mobileye_560_660_msgs | parsed_tx/next_lka_lanes | Extended information about the aditional lanes including type, quality, marker width, and parameters used to generate a 3rd degree polynomial model. |
| parsed_tx/lka_num_of_next_lane_markers_reported | The number of "next lane" markers reported. |
| parsed_tx/lka_reference_points | Position information about reference points used to generate the polynomial model. |
mobileye_560_660_msgs/ObstacleData | parsed_tx/obstacle_data | Information about each obstacle detected including classification, position, width, age, CIPV status, and relative velocity. |
mobileye_560_660_msgs/ObstacleStatus | parsed_tx/obstacle_status | Information about the number of obstacles detected and how they might affect the behavior of the driver. |
mobileye_560_660_msgs/Tsr | parsed_tx/tsr | Extended nformation about each detected traffic sign. |
mobileye_560_660_msgs/TsrVisionOnly | parsed_tx/tsr_vision_only | Information about the currently-detected signs. |
highway_msgs/LaneModels | as_tx/lane_models | |
visualization_msgs/Marker | as_tx/lane_markers | |
visualization_msgs/Marker | as_tx/object_markers |
Subscribed Topics
| Message Type | Topic Name | Description |
|---|---|---|
can_interface/CanFrame | can_rx | Forwards any raw CAN data published to this topic directly to the sensor. |
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).
~veh_frame_id
The id of the frame of reference of the vehicle (usually base_link). Used only for publishing the visual lane markers with respect to the vehicle.
~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.