corner_radar_driver

This project provides ROS drivers for Bosch Corner Radar LGU sensors.

These packages are developed for ROS 2 Humble on Ubuntu 22.04.

CAN Based Drivers

• corner_radar_driver: Receiver node for the Bosch Corner Radar LGU sensor
• corner_radar_driver_msgs: The custom message interface for the corner_radar_driver package

The CAN communication based sensors were tested in a 500 kBd CAN configuration.

This driver uses the off_highway_can package for en- and decoding of CAN FD frames.

For further information, have a look at the linked package readmes.

Architecture

The most relevant packages for an application of the CAN communication based sensors are the corner_radar_driver package, which provides a receiver node to convert CAN FD frames received from the sensor into ROS messages.

The sensor package does not contain a CAN to ROS driver. Instead, the interface towards the sensor side is encoded as ros2_socketcan_msgs/msg/FdFrame ROS messages. Such messages can be handled by e.g., the ros2_socketcan receiver, which converts between such ROS messages and physical CAN FD frames through the SocketCAN driver.

Intended Use

See intended use.

License

Please see LICENSE.

Build

Prerequisites

Install:

• Ubuntu jammy 22.04
• ROS humble

Install Dependencies

Clone this repository into your workspace and execute in it:

rosdep update && rosdep install --from-paths src --ignore-src -r -y

Compile

Execute in your workspace

colcon build --cmake-args '-DCMAKE_BUILD_TYPE=Release'

for using colcon.