off_highway_sensor_drivers

This project provides ROS drivers for Bosch Off-Highway sensor systems.

The off_highway_sensor_drivers package is tested for ROS1 Noetic on Ubuntu 20.04. Connected sensors were tested in a 500 kBd CAN configuration.

The drivers offer the possibility to log processing cycle times. This allows you to check if your hardware in combination with these drivers is capable of processing your system's specific CAN load.

Package Organization

The off_highway_sensor_drivers package acts as metapackage for the following packages:

• off_highway_common: Library containing receiver and sender classes to decode / encode sensor CAN frames
• off_highway_general_purpose_radar: Receiver node for the Bosch General Purpose Radar Off-Highway (GPR)
• off_highway_general_purpose_radar_msgs: The custom message interface for the Bosch General Purpose Radar Off-Highway (GPR)
• off_highway_radar: Receiver and sender nodes for the Bosch Off-Highway radar
• off_highway_radar_msgs: The custom message interface for the Bosch Off-Highway radar
• off_highway_uss: Receiver and sender nodes for the Bosch Off-Highway ultrasonic sensor system
• off_highway_uss_msgs: The custom message interface for the Bosch Off-Highway ultrasonic sensor system

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

Sensor Driver Architecture

The most relevant packages for an application of the sensors are the off_highway_general_purpose_radar, off_highway_radar and off_highway_uss packages, which provide a receiver node to convert CAN frames received from the sensor into ROS messages and a sender node to provide relevant information as CAN frames, converted from a ROS message interface.

The sensor packages do not contain a CAN to ROS driver. Instead, their interface towards the sensor side are encoded as can_msgs/Frame ROS messages. Such messages can be handled by e.g. the socketcan_bridge, which converts between such ROS messages and physical CAN frames through the SocketCAN driver. See the following diagram for a system overview:

Further Information about the Hardware

• Radar systems for off-highway applications
• Ultrasonic system variants and sensors

Or contact [email protected].

Intended Use

See intended use.

License

Please see LICENSE.

Build

Prerequisites

Install:

• Ubuntu focal 20.04
• ROS noetic

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

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

for using catkin or

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

for using colcon.