drivers-conti-radar

Introduction

This package is responsible for receiving the native conti radar input from can and parsing it to send it to the perception-radar-detecetion package for subsequent processing.

Directory Structure

shell

modules/drivers/radar/conti_radar/
├── BUILD
├── conf
├── conti_radar_canbus_component.cc
├── conti_radar_canbus_component.h
├── conti_radar_message_manager.cc
├── conti_radar_message_manager.h
├── dag
├── launch
├── proto
├── protocol                        // parseing protocol
├── README_cn.md
└── README.md

Modules

ContiRadarCanbusComponent

apollo::drivers::conti_radar::ContiRadarCanbusComponent

Input

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.

Output

Name	Type	Description
`msg`	`apollo::drivers::conti_radar::ContiRadar`	Parsed radar data

Topic

topic name: /apollo/sensor/conti_radar channel ID: CHANNEL_ID_ONE proto file: modules/drivers/proto/conti_radar.proto

configs

file path	type / struct	Description
`modules/drivers/radar/conti_radar/conf/conti_radar_conf.pb.txt`	`apollo::drivers::conti_radar::ContiRadarConf`	conti radar config

How to Launch

bash

cyber_launch start modules/drivers/radar/conti_radar/launch/conti_radar.launch