drivers-oculii-radar

Introduction

This package is responsible for receiving the native 4d radar of oculii input from upd socket and parsing it to send it to the perception-4d-radar-detecetion package for subsequent processing.

Directory Structure

shell

modules/drivers/radar/oculii_radar/
├── BUILD
├── common                              // common data structure
├── conf
├── dag
├── launch
├── oculii_radar_component.cc
├── oculii_radar_component.h
├── parser                              // parser implementation of raw 4d radar message
├── proto
└── README.md

Modules

OculiiRadarComponent

apollo::drivers::radar::OculiiRadarComponent

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 udp socket and send the message.

Output

Name	Type	Description
`msg`	`apollo::drivers::radar::OculiiPointCloud`	4d radar pointcloud

Topic

topic name: /apollo/sensor/oculii/PointCloud2 channel ID: CHANNEL_ID_ONE

configs

file path	type / struct	Description
`modules/drivers/radar/oculii_radar/conf/oculii_radar_conf.pb.txt`	`apollo::drivers::oculii_radar::OculiiRadarConf`	oculii radar config

How to Launch

bash

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