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Delphi SRR2 (PCAN)

Delphi SRR2 (PCAN)

Owned by Former user (Deleted)
Last updated: Sept 04, 2018 by Joshua Whitley (Deactivated)

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 TypeTopic Name

Description

can_msgs/Frame
can_rxAll data published on this topic is intended to be sent to the sensor via a CAN interface.
delphi_srr/SrrDebug3parsed_tx/srr_debug3The 1st debugging message provided by the SRR.
delphi_srr/SrrDebug4parsed_tx/srr_debug4The 2nd debugging message provided by the SRR.
delphi_srr/SrrDebug5parsed_tx/srr_debug5The 3rd debugging message provided by the SRR.
delphi_srr/SrrFeatureAlertparsed_tx/srr_feature_alertTBD.
delphi_srr/SrrFeatureSwVersionparsed_tx/srr_feature_sw_versionProvides the version of the software used for CTA/BLIS.
delphi_srr/SrrStatus1parsed_tx/srr_status1The 1st status information message provided by the SRR.
delphi_srr/SrrStatus2parsed_tx/srr_status2The 2nd status information message provided by the SRR.
delphi_srr/SrrStatus3parsed_tx/srr_status3The 3rd status information message provided by the SRR.
delphi_srr/SrrStatus4parsed_tx/srr_status4The 4th status information message provided by the SRR.
delphi_srr/SrrStatus5parsed_tx/srr_status5The 5th status information message provided by the SRR.
delphi_srr/SrrTrackparsed_tx/srr_trackThe list of tracks (actually detections) provided by the SRR.
radar_msgs/RadarDetectionArrayas_tx/detectionsAn abstracted list of the detections provided by the SRR.
visualization_msgs/Markeras_tx/radar_markersVisualization information based on the abstracted detections (intended for use in RViz).

Subscribed Topics

Message TypeTopic NameDescription
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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