ros_delphi_esr: 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
| Message Type | Topic Name | Description |
|---|---|---|
can_msgs/Frame | can_tx | A copy of all raw CAN data received by the driver from the ESR. |
can_msgs/Frame | can_rx_echo | A copy of all raw CAN messages sent by the ESR driver to the ESR. |
delphi_esr/EsrStatus1 | parsed_tx/radarstatus1 | The 1st status message from the ESR. |
delphi_esr/EsrStatus2 | parsed_tx/radarstatus2 | The 2nd status message from the ESR. |
delphi_esr/EsrStatus3 | parsed_tx/radarstatus3 | The 3rd status message from the ESR. |
delphi_esr/EsrStatus4 | parsed_tx/radarstatus4 | The 4th status message from the ESR. |
delphi_esr/EsrStatus5 | parsed_tx/radarstatus5 | The 5th status message from the ESR. |
delphi_esr/EsrStatus6 | parsed_tx/radarstatus6 | The 6th status message from the ESR. |
delphi_esr/EsrStatus7 | parsed_tx/radarstatus7 | The 7th status message from the ESR. |
delphi_esr/EsrStatus8 | parsed_tx/radarstatus8 | The 8th status message from the ESR. |
delphi_esr/EsrStatus9 | parsed_tx/radarstatus9 | The 9th status message from the ESR. |
delphi_esr/EsrValid1 | parsed_tx/radarvalid1 | The 1st message about the validity of data coming from the ESR. |
delphi_esr/EsrValid2 | parsed_tx/radarvalid2 | The 2nd message about the validity of data coming from the ESR. |
delphi_esr/EsrTrack | parsed_tx/radartrack | All tracks (unfiltered) produced by the ESR. |
radar_msgs/RadarStatus | as_tx/radar_status | A high-level abstraction of all radar status information. |
radar_msgs/RadarErrorStatus | as_tx/radar_error_status | A high-level abstraction of all radar error states and validity information. |
radar_msgs/RadarTrackArray | as_tx/radar_tracks | A high-level abstraction of all tracks (filtered for validity) produced by the ESR. |
visualization_msgs/Marker | as_tx/radar_markers | Visualization information for RViz based on the abstracted radar tracks. |
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 ESR. |
delphi_esr/EsrVehicle1 | parsed_rx/vehicle1_msgs | The 1st message that provides vehicle information to the ESR. |
delphi_esr/EsrVehicle2 | parsed_rx/vehicle2_msgs | The 2nd message that provides vehicle information to the ESR. |
delphi_esr/EsrVehicle3 | parsed_rx/vehicle3_msgs | The 3rd message that provides vehicle information to the ESR. |
| parsed_rx/vehicle4_msgs | The 4th message that provides vehicle information to the ESR. |
delphi_esr/EsrVehicle5 | parsed_rx/vehicle5_msgs | The 5th message that provides vehicle information to the ESR. |
geometry_msgs/TwistStamped | as_rx/vehicle_motion | A topic for publishing abstracted vehicle motion information which is parsed into ESR-specific messages and sent to the radar. |
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.