Delphi SRR2 (PCAN)

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

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

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"