driver_name: delphi_srr
msgs_name: 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_rx	All data published on this topic is intended to be sent to the sensor via a CAN interface.
`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 based on the abstracted detections (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.

Parameters

~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"

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