Mobileye 560/660
driver_name: mobileye_560_660
msgs_name: 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_msgs/Frame | can_rx | All data published on this topic is intended to be sent to the sensor via a CAN interface. |
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. |
visualization_msgs/Marker | as_tx/lane_markers | Visualization information about the detected lanes (intended for use in RViz). |
perception_msgs/LaneModels | as_tx/lane_models | Combined model data from multiple types of lane messages pertaining to the closest left and right lanes. |
visualization_msgs/Marker | as_tx/object_markers | Visualization information about the detected objects (intended for use in RViz). |
perception_msgs/ObectWithCovariance | as_tx/objects | Combined, detailed physical information about detected objects. |
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. |
Parameters
~sensor_frame_id
The id of the frame of reference of the sensor. This will be attached to all published messages except the lane and object visualization markers.
~viz_frame_id
The id of the frame of reference of visualized objects and lanes. This will be attached to messages which are intended for visualization in RViz. The intent of this frame is that it will be the same as the frame of reference as the Mobileye but will have an inverse value for the Z measurement. This causes the visualized objects to be level with the ground (Z=0) rather than floating at the height of the Mobileye relative to the ground.