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

Nodes

• base_link_to_radar
• decode_node
• decode_node_cluster
• extendedkf
• joint_state_publisher
• rosout
• rviz
• socketcan_bridge_node
• speedinfo_node
• visualization_marker_node
• visualization_marker_node_cluster

Topics

• /clicked_point
• /cluster_decoded_messages
• /cluster_list_messages
• /control/arduino_output_steering
• /control/arduino_output_throttle
• /decoded_messages
• /filtered_messages
• /initialpose
• /joint_states
• /list_messages
• /move_base_simple/goal
• /received_messages
• /rosout
• /rosout_agg
• /sent_messages
• /tf
• /tf_static
• /visualization_marker
• /visualization_marker_array
• /visualization_marker_cluster

Build and Run

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

Radar setup

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.