ARS_40X

ARS_40X package contains a driver for the Continental radar ARS_404 / ARS_408. The package also contains a ROS Wrapper for the driver.

Requirements

• socket_can

Launching with arguments

roslaunch ars_40X ars_40X.launch visualize:=true obstacle_array:=true

Arguments available

• visualize (default:"true") : Launches RViz to display the clusters/obstacles as markers.
• obstacle_array (default:"false") : Launches ars_40X_obstacle_array node which publishes obstacles as geometry_msgs/Polygon

Publications

Message	Type	Description	Message Box
/radar_status	ars_40X/RadarStatus	Describe the radar configuration	0x201
/ars_40X/clusters	ars_40X/ClusterList	Raw clusters data from radar	0x600, 0x701
/ars_40X/objects	ars_40X/ObjectList	Raw objects data from radar	0x60A, 0x60B, 0x60C, 0x60D
/visualize_clusters	visualization_msgs/MarkerArray	Clusters markers for RViz visualization	-
/visualize_objects	visualization_msgs/MarkerArray	Object markers for RViz visualization	-

Subscription

Message	Type	Description	Message Box
/odom	nav_msgs/Odometry	Velocity and accleration information	0x300, 0x301

Services

The following services are available for configuring the radar options available in 0x200

Services
/set_ctrl_relay_cfg
/set_max_distance
/set_output_type
/set_radar_power
/set_rcs_threshold
/set_send_ext_info
/set_send_quality
/set_sensor_id
/set_sort_index
/set_store_in_nvm