This project provides ROS drivers for Bosch Corner Radar LGU sensors.
These packages are developed for ROS 2 Humble on Ubuntu 22.04.
- 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.
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.
See intended use.
Please see LICENSE.
Install:
- Ubuntu jammy 22.04
- ROS humble
Clone this repository into your workspace and execute in it:
rosdep update && rosdep install --from-paths src --ignore-src -r -yExecute in your workspace
colcon build --cmake-args '-DCMAKE_BUILD_TYPE=Release'for using colcon.