ROS driver for Continental ARS 408-21

This is a C++ ROS driver for Continental ARS 408-21 (or 404-21) automotive radar. The code is heavily based on the ApexAI ROS2 Radar driver .

Install and Build

make sure to clone in to your catkin workspace src folder

git clone https://github.com/ros-industrial/ros_canopen.git
git clone https://github.com/mesmatyi/conti_radar_driver.git
catkin build
or if you want to build the package separately: catkin build radar_conti

Run

source in: source ~/your_catkin_workspace/devel.setup.bash
then run the node: rosrun radar_conti radar_conti

Radar configuration CAN frames

More CAN configuration frames

Change between Object detection and Cluster detection:
cansend can1 200#F8000000089C0000 // Objects detection with all extended properties
cansend can1 200#F8000000109C0000 // Clusters detection with all extended properties

Alternatively configure with https://github.com/szenergy/conti_radar_configurator forked from https://github.com/lf2653/myrepository.