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)
delphi_esr_can
Published Topics
| Message Type | Topic Name | Description |
|---|---|---|
can_msgs/Frame | can_rx | All data published on this topic is intended to be sent to the sensor via a CAN interface. |
delphi_esr_msgs/EsrStatus1 | parsed_tx/radarstatus1 | The 1st status message from the ESR. |
delphi_esr_msgs/EsrStatus2 | parsed_tx/radarstatus2 | The 2nd status message from the ESR. |
delphi_esr_msgs/EsrStatus3 | parsed_tx/radarstatus3 | The 3rd status message from the ESR. |
delphi_esr_msgs/EsrStatus4 | parsed_tx/radarstatus4 | The 4th status message from the ESR. |
delphi_esr_msgs/EsrStatus5 | parsed_tx/radarstatus5 | The 5th status message from the ESR. |
delphi_esr_msgs/EsrStatus6 | parsed_tx/radarstatus6 | The 6th status message from the ESR. |
delphi_esr_msgs/EsrStatus7 | parsed_tx/radarstatus7 | The 7th status message from the ESR. |
delphi_esr_msgs/EsrStatus8 | parsed_tx/radarstatus8 | The 8th status message from the ESR. |
delphi_esr_msgs/EsrStatus9 | parsed_tx/radarstatus9 | The 9th status message from the ESR. |
delphi_esr_msgs/EsrValid1 | parsed_tx/radarvalid1 | The 1st message about the validity of data coming from the ESR. |
delphi_esr_msgs/EsrValid2 | parsed_tx/radarvalid2 | The 2nd message about the validity of data coming from the ESR. |
delphi_esr_msgs/EsrTrack | parsed_tx/radartrack | All tracks (unfiltered) produced by the ESR. |
delphi_esr_msgs/EsrTrackMotionPower | parsed_tx/trackmotionpower | Information for each track regarding the movement and power of the track. |
perception_msgs/ObjectWithCovarianceArray | as_tx/objects | Abstracted, detailed representation of objects detected 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 based on the abstracted radar tracks (intended for use in RViz). |
Subscribed Topics
| Message Type | Topic Name | Description |
|---|---|---|
can_msgs/Frame | can_tx | All data published to this topic will be parsed by the driver. This should be connected to a CAN interface. |
delphi_esr_msgs/EsrVehicle1 | parsed_rx/vehicle1_msgs | The 1st message that provides vehicle information to the ESR. |
delphi_esr | parsed_rx/vehicle2_msgs | The 2nd message that provides vehicle information to the ESR. |
delphi_esr | 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 | 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
~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
| Message Type | Topic Name | Description |
|---|---|---|
network_interface/TCPFrame | tcp_tx | A copy of all raw TCP data received by the driver from the sensor. |
delphi_esr_msgs/EsrEthTx | parsed_tx/esr_eth_tx_msg | A parsed version of all data received over Ethernet by the driver from the sensor. |
raadar_msgs/RadarDetectionArray | as_tx/radar_detections | A high-level abstraction of all detections produced by the ESR. |
visualization_msgs/Marker | as_tx/radar_markers | Visualization information based on the abstracted radar detections (intended for use in RViz). |
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).