leochien1110 / ars_40X_ros2

ROS2 Driver for the Continental radar ARS_404 / ARS_408.

ARS_40x

ARS_40x package contains a driver for the Continental radar ARS_404 / ARS_408. The package also contains a ROS Wrapper for the driver.

Hardware Setup

Install can-utils to setup radar config

sudo apt-get install can-utils
candump can0 # Watch the raw data received once the peak CAN bus is installed and connected to Radar

Mode selection

Objects

cansend can0 200#F8000000089C0000 // Objects detection with all extended properties

Clusters

cansend can0 200#F8000000109C0000 // Clusters detection with all extended properties

Filter Selection

Maximum distance of objects detected 30 meters

cansend can0 202#8C0000012C

Minimum value of object RCS -10 dBm2

cansend can0 202#AE06800FFF

Minimum value of objects probability of existence 75%

cansend can0 202#C600030007

Software Setup

Dependencies

• socket_can
• [costmap_converter]
• [costmap_converter_msgs]
• [visualization_msgs]
• [perception_msgs]

Build

colcon build --symlink-install --packages-up-to ars_40x

Run

1. Enable CAN interface

sudo ip link set down can0 # If already enabled
sudo ip link set can0 up type can bitrate 500000

2. Check if the radar is connected

candump can0

3. Run the driver

roslaunch ars_40x ars_40x.launch visualize:=true obstacle_array:=true

There are arugments available for the launch file:

• visualize (default:"true") : Launches RViz to display the clusters/obstacles as markers.
• obstacle_array (default:"false") : Launches ars_40x_obstacle_array node which publishes obstacles as geometry_msgs/Polygon

Publications

Message	Type	Description	Message Box
/radar_status	ars_40x/RadarStatus	Describe the radar configuration	0x201
/ars_40x/clusters	ars_40x/ClusterList	Raw clusters data from radar	0x600, 0x701
/ars_40x/objects	ars_40x/ObjectList	Raw objects data from radar	0x60A, 0x60B, 0x60C, 0x60D
/visualize_clusters	visualization_msgs/MarkerArray	Clusters markers for RViz visualization	-
/visualize_objects	visualization_msgs/MarkerArray	Object markers for RViz visualization	-

Subscription

Message	Type	Description	Message Box
/odom	nav_msgs/Odometry	Velocity and accleration information	0x300, 0x301

[TODO] Services

The following services are available for configuring the radar options available in 0x200

Services
/set_ctrl_relay_cfg
/set_max_distance
/set_output_type
/set_radar_power
/set_rcs_threshold
/set_send_ext_info
/set_send_quality
/set_sensor_id
/set_sort_index
/set_store_in_nvm

[TODO] Change Configuration thru ROS service

To make the nodes standalone and create a custom can message to change the radar configuration, a ROS service is created to change the radar configuration.

ros2 service call /set_max_distance perception_msgs/srv/MaxDistance "{max_distance: 160.0}"

The command follow the ros2 service call format

ros2 service call /<service_name> <service_type> "{<service_field>: <value>}"