README

目录

• drivers-conti-radar
  • Introduction
  • Directory Structure
  • Modules
    • ContiRadarCanbusComponent
      • Input
      • Output
      • Topic
      • configs
      • How to Launch
    • OculiiRadarComponent
      • Input
      • Output
      • Topic
      • configs
      • How to Launch
    • RacobitRadarCanbusComponent
      • Input
      • Output
      • Topic
      • configs
      • How to Launch
    • UltrasonicRadarCanbusComponent
      • Input
      • Output
      • configs
      • Topic
      • How to Launch
  • 文档意见反馈

drivers-conti-radar

Introduction

This package is responsible for receiving the native radar input and parsing it to send it to the perception package for subsequent processing.

Directory Structure

modules/drivers/radar/
├── conti_radar/
├── oculii_radar/
├── racobit_radar/
├── ultrasonic_radar/

Modules

ContiRadarCanbusComponent

apollo::drivers::conti_radar::ContiRadarCanbusComponent

Input

The package will first send commands to the can card to configure the radar according to the configuration file. When the received radar status information is consistent with the user configuration information, only then it starts to parse the data received from the can and send the message.

Output

Name	Type	Description
msg	apollo::drivers::conti_radar::ContiRadar	Parsed radar data

Topic

topic name: /apollo/sensor/conti_radar channel ID: CHANNEL_ID_ONE proto file: modules/drivers/proto/conti_radar.proto

configs

file path	type / struct	Description
modules/drivers/radar/conti_radar/conf/conti_radar_conf.pb.txt	apollo::drivers::conti_radar::ContiRadarConf	conti radar config

How to Launch

cyber_launch start modules/drivers/radar/conti_radar/launch/conti_radar.launch

OculiiRadarComponent

apollo::drivers::radar::OculiiRadarComponent

Input

The package will first send commands to the can card to configure the radar according to the configuration file. When the received radar status information is consistent with the user configuration information, only then it starts to parse the data received from the udp socket and send the message.

Output

Name	Type	Description
msg	apollo::drivers::radar::OculiiPointCloud	4d radar pointcloud

Topic

topic name: /apollo/sensor/oculii/PointCloud2 channel ID: CHANNEL_ID_ONE

configs

file path	type / struct	Description
modules/drivers/radar/oculii_radar/conf/oculii_radar_conf.pb.txt	apollo::drivers::oculii_radar::OculiiRadarConf	oculii radar config

How to Launch

cyber_launch start modules/drivers/radar/oculii_radar/launch/oculii_radar.launch

RacobitRadarCanbusComponent

apollo::drivers::racobit_radar::RacobitRadar

Input

The package will first send commands to the can card to configure the radar according to the configuration file. When the received radar status information is consistent with the user configuration information, only then it starts to parse the data received from the can and send the message.

Output

Name	Type	Description
msg	apollo::drivers::racobit_radar::RacobitRadar	Parsed radar data

Topic

topic name: /apollo/sensor/racobit_radar channel ID: CHANNEL_ID_ONE proto file: modules/drivers/proto/racobit_radar.proto

configs

file path	type / struct	Description
modules/drivers/radar/racobit_radar/conf/oracobit_radar_conf.pb.txt	apollo::drivers::racobit_radar::RacobitRadarConf	racobit radar config

How to Launch

cyber_launch start modules/drivers/radar/racobit_radar/launch/racobit_radar.launch

UltrasonicRadarCanbusComponent

apollo::drivers::ultrasonic_radar::UltrasonicRadarCanbusComponent

Input

The package will first send commands to the can card to configure the radar according to the configuration file. When the received radar status information is consistent with the user configuration information, only then it starts to parse the data received from the can and send the message.

Output

Name	Type	Description
msg	apollo::drivers::ultrasonic_radar::Ultrasonic	Parsed radar data

configs

file path	type / struct	Description
modules/drivers/radar/ultrasonic_radar/conf/ultrasonic_radar_conf.pb.txt	apollo::drivers::ultrasonic_radar::UltrasonicRadarConf	ultrasonic radar config

Topic

topic name: /apollo/sensor/ultrasonic_radar channel ID: CHANNEL_ID_ONE

How to Launch

cyber_launch start modules/drivers/radar/ultrasonic_radar/launch/ultrasonic_radar.launch

文档意见反馈

如果您在使用文档的过程中，遇到任何问题，请到我们在【开发者社区】建立的 反馈意见收集问答页面，反馈相关的问题。我们会根据反馈意见对文档进行迭代优化。