This package was designed to read messages from the Bosch GPR V1.0 radar using a PEAK-USB converter. This package is not about handling low-level can communication. Therefore it is assumed, that socketcan_bridge_node is already running.
The data from the sensor is published onto 'radar_messages' topic. Additionally, the measurements for each single target are republished as 'can_messages_A' and 'can_messages_B' respectively. For more details see Node radar_pa_node.
Moreover, it is possible to republish the data through a standard pointcloud on 'radar_pcd'. Please refer to Node radar2pcd_pa_node.
rosrun radar_pa radar_pa_node
Input and Output Topics:
| Topic Name | Type | Description |
|---|---|---|
| "received_messages" | can_msgs/Frame | input from socketcan_bridge_node |
| "radar_messages" | radar_pa_msgs/radar_msg | output |
rosrun radar_pa radar2pcd_pa_node
Input and Output Topics:
| Topic Name | Type | Description |
|---|---|---|
| "radar_messages" | radar_pa_msgs/radar_msg | input from Node radar_pa_node |
| "radar_pcd" | sensor_msgs/PointCloud | output |
Source code at github:
Related packages:
ROS packages: (upcoming)
| ROS-Distribution | Documentation |
|---|---|
| Kinetic | docs.ros.org |
| Melodic | docs.ros.org |