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Implementation of Continental ARS 408 Radar in Ubuntu 16.04. Visualization of objects in rviz.

Nodes

  • base_link_to_radar
  • decode_node
  • decode_node_cluster
  • extendedkf
  • joint_state_publisher
  • rosout
  • rviz
  • socketcan_bridge_node
  • speedinfo_node
  • visualization_marker_node
  • visualization_marker_node_cluster

Topics

  • /clicked_point
  • /cluster_decoded_messages
  • /cluster_list_messages
  • /control/arduino_output_steering
  • /control/arduino_output_throttle
  • /decoded_messages
  • /filtered_messages
  • /initialpose
  • /joint_states
  • /list_messages
  • /move_base_simple/goal
  • /received_messages
  • /rosout
  • /rosout_agg
  • /sent_messages
  • /tf
  • /tf_static
  • /visualization_marker
  • /visualization_marker_array
  • /visualization_marker_cluster

Build and Run

mkdir folder
mkdir folder/src
cd folder/src
git clone https://github.com/sergiocasaspastor/myrepository.git
cd ..
catkin build
source devel/setup.bash
roslaunch socketcan_bridge radar.launch

Radar setup

There is a command called cansend, that belongs to can-utils, used for sending configuration messages to the radar. Here are some messages proposed, but other messages can be sent (watch the manual ARS40X_Technical_Documentation_V 1.8_18.10.2017 inside documentation folder).

Installation of can-utils

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

Configuration messages to choose between cluster detection or object detection

cansend can0 200#F8000000089C0000 // Objects detection with all extended properties
cansend can0 200#F8000000109C0000 // Clusters detection with all extended properties

Configuration messages for applying different filters.

cansend can0 202#8C0000012C // Maximum distance of objects detected 30 meters
cansend can0 202#AE06800FFF // Minimum value of object RCS -10 dBm2
cansend can0 202#C600030007 // Minimum value of objects probability of existence 75%

Other option to configure the radar is to modify the values of configuration_vars.h inside the header folder of socketcan brige. Please remember that is necessary to build the package again in order to save the values chosen in the configuration header file.