drivers-ultrasonic-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

modules/drivers/radar/ultrasonic_radar/
├── BUILD
├── conf
├── dag
├── launch
├── proto
├── README_cn.md
├── README.md
├── ultrasonic_radar_canbus.cc
├── ultrasonic_radar_canbus_component.cc
├── ultrasonic_radar_canbus_component.h
├── ultrasonic_radar_canbus.h
├── ultrasonic_radar_message_manager.cc
└── ultrasonic_radar_message_manager.h

Modules

UltrasonicRadarCanbusComponent

apollo::drivers::ultrasonic_radar::UltrasonicRadarCanbusComponent

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

configs

Topic

topic name: /apollo/sensor/ultrasonic_radar channel ID: CHANNEL_ID_ONE

How to Launch

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