README

off_highway_sensor_drivers_examples

The off_highway_sensor_drivers_examples package contains sample launch files and scripts to assist with further processing of the data provided by the off_highway_sensor_drivers.

off_highway_premium_radar_sample_filter

Series-connected Point Cloud Library (PCL) PassThrough filter nodes, which filter the point cloud returned by the off_highway_premium_radar_sample driver by the z, x and radar_cross_section field values of the locations. Thresholds are set to example values directly in the launch file and can be adapted at runtime using the dynamic reconfigure plugin of rqt.

Build

:warning: Running this example currently requires building perception_pcl from source. :warning:

Since the currently available ROS 2 binaries of the pcl_ros package do not yet contain all required features to run this example, the perception_pcl repository needs to be cloned and built from source. To accomplish this, cd into the source folder of your workspace and execute

git clone -b ros2 https://github.com/ros-perception/perception_pcl
cd ..
rosdep update && rosdep install --from-paths src --ignore-src -r -y
colcon build --cmake-args '-DCMAKE_BUILD_TYPE=Release'

to build it. Source the workspace before running the example with

ros2 launch off_highway_sensor_drivers_examples off_highway_premium_radar_sample_filter_launch.py

Launch files

• off_highway_premium_radar_filter_launch.py: Starts the off_highway_premium_radar_sample driver with the given parameters, PCL PassThrough filters and rviz.

  • Arguments:

    • off_highway_premium_radar_params: Path to ROS YAML parameter file to load for driver. If not provided, default parameters from the off_highway_premium_radar_sample package are loaded.

    • rviz_config: Path to rviz configuration file. If not provided, default configuration is loaded from this package.

off_highway_radar_extract_velocity

Example to demonstrate, how velocity information from messages other than geometry_msgs::msg::TwistStamped can be passed to the off_highway_radar driver. The extract_velocity component extracts the velocity information from a nav_msgs::msg::Odometry message and republishes it as geometry_msgs::msg::TwistStamped message.

Launch files

• off_highway_radar_extract_velocity_launch.py: Starts the extract_velocity component and the sender component of the off_highway_radar in a composition to make use of intra-process communication.

  • Arguments:

    • params: Path to ROS YAML parameter file to load for sender component of off_highway_radar. If not provided, default parameters from the off_highway_radar package are loaded.