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Continental ARS408 Driver

This is Continental ARS408 Driver for ROS2.

How to use

  1. build environment
$ rosdep install --from-paths src --ignore-src -r -y
  1. build
$ colcon build
  1. Enable can port
sudo ip link set can0 up type can bitrate 500000
  1. setup hardware (only first time)
# Objects detection with all extended properties
cansend can0 200#F8000000089C0000
  1. Launch the driver
ros2 launch continental_ars408_socket_can.launch.xml

Design

Input

Output

parameters

  • publish_radar_track
    • The bool parameter to publish output/objects topic
  • publish_radar_return
    • The bool parameter to publish output/return topic

Launch

continental_ars408.xml

continental_ars408_socket_can.xml

  • The launch file will initiate two nodes:
    1. socketcan_bridge to read from can0 and publish the CAN msg in can_raw
    2. Continental ARS408 driver will read the can_raw, parse and publish RadarTrack or RadarReturn

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