modules/drivers/radar/README.md
This package is responsible for receiving the native radar input and parsing it to send it to the perception package for subsequent processing.
modules/drivers/radar/
├── conti_radar/
├── oculii_radar/
├── racobit_radar/
├── ultrasonic_radar/
apollo::drivers::conti_radar::ContiRadarCanbusComponent
The package will first send commands to the can card to configure the radar according to the configuration file. When the received radar status information is consistent with the user configuration information, only then it starts to parse the data received from the can and send the message.
| Name | Type | Description |
|---|---|---|
msg | apollo::drivers::conti_radar::ContiRadar | Parsed radar data |
topic name: /apollo/sensor/conti_radar channel ID: CHANNEL_ID_ONE proto file: modules/drivers/proto/conti_radar.proto
| file path | type / struct | Description |
|---|---|---|
modules/drivers/radar/conti_radar/conf/conti_radar_conf.pb.txt | apollo::drivers::conti_radar::ContiRadarConf | conti radar config |
cyber_launch start modules/drivers/radar/conti_radar/launch/conti_radar.launch
apollo::drivers::radar::OculiiRadarComponent
The package will first send commands to the can card to configure the radar according to the configuration file. When the received radar status information is consistent with the user configuration information, only then it starts to parse the data received from the udp socket and send the message.
| Name | Type | Description |
|---|---|---|
msg | apollo::drivers::radar::OculiiPointCloud | 4d radar pointcloud |
topic name: /apollo/sensor/oculii/PointCloud2 channel ID: CHANNEL_ID_ONE
| file path | type / struct | Description |
|---|---|---|
modules/drivers/radar/oculii_radar/conf/oculii_radar_conf.pb.txt | apollo::drivers::oculii_radar::OculiiRadarConf | oculii radar config |
cyber_launch start modules/drivers/radar/oculii_radar/launch/oculii_radar.launch
apollo::drivers::racobit_radar::RacobitRadar
The package will first send commands to the can card to configure the radar according to the configuration file. When the received radar status information is consistent with the user configuration information, only then it starts to parse the data received from the can and send the message.
| Name | Type | Description |
|---|---|---|
msg | apollo::drivers::racobit_radar::RacobitRadar | Parsed radar data |
topic name: /apollo/sensor/racobit_radar channel ID: CHANNEL_ID_ONE proto file: modules/drivers/proto/racobit_radar.proto
| file path | type / struct | Description |
|---|---|---|
modules/drivers/radar/racobit_radar/conf/oracobit_radar_conf.pb.txt | apollo::drivers::racobit_radar::RacobitRadarConf | racobit radar config |
cyber_launch start modules/drivers/radar/racobit_radar/launch/racobit_radar.launch
apollo::drivers::ultrasonic_radar::UltrasonicRadarCanbusComponent
The package will first send commands to the can card to configure the radar according to the configuration file. When the received radar status information is consistent with the user configuration information, only then it starts to parse the data received from the can and send the message.
| Name | Type | Description |
|---|---|---|
msg | apollo::drivers::ultrasonic_radar::Ultrasonic | Parsed radar data |
| file path | type / struct | Description |
|---|---|---|
modules/drivers/radar/ultrasonic_radar/conf/ultrasonic_radar_conf.pb.txt | apollo::drivers::ultrasonic_radar::UltrasonicRadarConf | ultrasonic radar config |
topic name: /apollo/sensor/ultrasonic_radar channel ID: CHANNEL_ID_ONE
cyber_launch start modules/drivers/radar/ultrasonic_radar/launch/ultrasonic_radar.launch