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