EdgeFirst Radar Publisher v1.9.0

EdgeFirst Radar Publisher v1.9.0

Installation

Download Binaries

Platform	edgefirst-radarpub	drvegrdctl
Linux x86_64	edgefirst-radarpub-linux-x86_64	drvegrdctl-linux-x86_64
Linux ARM64	edgefirst-radarpub-linux-aarch64	drvegrdctl-linux-aarch64
Configuration	radarpub.default

# Download and install (ARM64 example for Maivin/Raivin)
wget https://github.com/EdgeFirstAI/radarpub/releases/download/v1.9.0/edgefirst-radarpub-linux-aarch64
wget https://github.com/EdgeFirstAI/radarpub/releases/download/v1.9.0/drvegrdctl-linux-aarch64
chmod +x edgefirst-radarpub-linux-aarch64 drvegrdctl-linux-aarch64
sudo mv edgefirst-radarpub-linux-aarch64 /usr/local/bin/edgefirst-radarpub
sudo mv drvegrdctl-linux-aarch64 /usr/local/bin/drvegrdctl

# Install default configuration (optional)
sudo cp radarpub.default /etc/default/radarpub

What's Changed

Removes radar point mirroring (EDGEAI-2021). A leftover MIRROR entry in /etc/default/radarpub is ignored; passing --mirror on the command line is now an error.

Changed

• Dependencies updated to their latest semver-compatible releases, including tokio 1.53.2 and hyper 1.12.0

Removed

• The MIRROR / --mirror option; radar points are always published in the sensor's right-handed frame, orientation is expressed through TF, and mirroring is a view option in the web UI (EDGEAI-2021)

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Full Documentation: https://github.com/EdgeFirstAI/radarpub#readme

EdgeFirst Radar Publisher v1.8.0

EdgeFirst Radar Publisher v1.8.0

Installation

Download Binaries

Platform	edgefirst-radarpub	drvegrdctl
Linux x86_64	edgefirst-radarpub-linux-x86_64	drvegrdctl-linux-x86_64
Linux ARM64	edgefirst-radarpub-linux-aarch64	drvegrdctl-linux-aarch64
Configuration	radarpub.default

# Download and install (ARM64 example for Maivin/Raivin)
wget https://github.com/EdgeFirstAI/radarpub/releases/download/v1.8.0/edgefirst-radarpub-linux-aarch64
wget https://github.com/EdgeFirstAI/radarpub/releases/download/v1.8.0/drvegrdctl-linux-aarch64
chmod +x edgefirst-radarpub-linux-aarch64 drvegrdctl-linux-aarch64
sudo mv edgefirst-radarpub-linux-aarch64 /usr/local/bin/edgefirst-radarpub
sudo mv drvegrdctl-linux-aarch64 /usr/local/bin/drvegrdctl

# Install default configuration (optional)
sudo cp radarpub.default /etc/default/radarpub

What's Changed

The eth and net library signatures change without compatibility shims; radarpub ships as an application and these modules are internal to its binaries and examples.

Added

• TARGETS_LATENCY and CUBE_LATENCY (--targets-latency, --cube-latency): sensor processing latency in nanoseconds subtracted from the receive time to estimate acquisition time, default 110 ms (EDGEAI-1942)

Changed

• The Zenoh sample timestamp equals header.stamp on radar/targets, radar/clusters, radar/cube, radar/info and tf_static (EDGEAI-1942)
• radar/targets is stamped from the kernel receive time of the first CAN frame of the target list instead of the time parsing finished (EDGEAI-1942)
• radar/cube header.stamp is host time from the kernel receive time of the start-of-frame packet instead of the radar's power-on clock; the sensor time remains in RadarCube.timestamp (EDGEAI-1942)
• radar/clusters uses the stamp of the newest target list instead of reading the clock again (EDGEAI-1942)
• radar/info and tf_static are re-stamped at each republish instead of keeping the startup time (EDGEAI-1942)
• Track lifetimes run on CLOCK_MONOTONIC, so wall-clock steps no longer affect tracking (EDGEAI-1942)
• Port 50063 uses the same batched recvmmsg receiver as port 50005 and waits on socket readiness (EDGEAI-1942)
• Dependencies updated to their latest semver-compatible releases, including Zenoh 1.10.1
• Library API: net::port5 and net::port63 send net::Datagrams (packets with per-packet receive times) instead of Vec<u8>; eth::RadarCubeReader::read takes the packet receive time; eth::RadarCube and can::Frame carry rx_time (EDGEAI-1942)

Fixed

• The 2 MiB UDP receive buffer is requested with SO_RCVBUFFORCE, falling back to SO_RCVBUF; the default net.core.rmem_max silently capped it at 208 KiB, dropping radar cube packets. A warning is logged when the granted size is smaller than requested (EDGEAI-1942)
• Rustdoc build with -D warnings failed on an unescaped Complex<i16> in the RadarCubeReader documentation
• Documentation referred to the removed drvegrd-rerun binary; it now points to the radar_viewer and zenoh_viewer examples

Removed

• Orphaned src/rerun.rs, which no build target compiled since the viewers moved to examples/ in 1.6.0

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Full Documentation: https://github.com/EdgeFirstAI/radarpub#readme

EdgeFirst Radar Publisher v1.7.2

EdgeFirst Radar Publisher v1.7.2

Installation

Download Binaries

Platform	edgefirst-radarpub	drvegrdctl
Linux x86_64	edgefirst-radarpub-linux-x86_64	drvegrdctl-linux-x86_64
Linux ARM64	edgefirst-radarpub-linux-aarch64	drvegrdctl-linux-aarch64
Configuration	radarpub.default

# Download and install (ARM64 example for Maivin/Raivin)
wget https://github.com/EdgeFirstAI/radarpub/releases/download/v1.7.2/edgefirst-radarpub-linux-aarch64
wget https://github.com/EdgeFirstAI/radarpub/releases/download/v1.7.2/drvegrdctl-linux-aarch64
chmod +x edgefirst-radarpub-linux-aarch64 drvegrdctl-linux-aarch64
sudo mv edgefirst-radarpub-linux-aarch64 /usr/local/bin/edgefirst-radarpub
sudo mv drvegrdctl-linux-aarch64 /usr/local/bin/drvegrdctl

# Install default configuration (optional)
sudo cp radarpub.default /etc/default/radarpub

What's Changed

Patch release for EDGEAI-1094. Argument parsing only; no wire-format or
configuration-key changes from 1.7.1.

Fixed

• Empty environment variables in /etc/default/radarpub (KEY="") are now
  treated as unset so the documented default applies instead of failing to
  start (EDGEAI-1094)

---

Full Documentation: https://github.com/EdgeFirstAI/radarpub#readme

EdgeFirst Radar Publisher v1.7.1

EdgeFirst Radar Publisher v1.7.1

Installation

Download Binaries

Platform	edgefirst-radarpub	drvegrdctl
Linux x86_64	edgefirst-radarpub-linux-x86_64	drvegrdctl-linux-x86_64
Linux ARM64	edgefirst-radarpub-linux-aarch64	drvegrdctl-linux-aarch64
Configuration	radarpub.default

# Download and install (ARM64 example for Maivin/Raivin)
wget https://github.com/EdgeFirstAI/radarpub/releases/download/v1.7.1/edgefirst-radarpub-linux-aarch64
wget https://github.com/EdgeFirstAI/radarpub/releases/download/v1.7.1/drvegrdctl-linux-aarch64
chmod +x edgefirst-radarpub-linux-aarch64 drvegrdctl-linux-aarch64
sudo mv edgefirst-radarpub-linux-aarch64 /usr/local/bin/edgefirst-radarpub
sudo mv drvegrdctl-linux-aarch64 /usr/local/bin/drvegrdctl

# Install default configuration (optional)
sudo cp radarpub.default /etc/default/radarpub

What's Changed

Fixed

• CI: Remove obsolete DCO Actions workflow; DCO is enforced by the GitHub App
• CI: Run SBOM via workflow_call from Release (no longer wait on a separate
  SBOM check that may be missing if the workflow was inactive); add
  workflow_dispatch for manual SBOM runs

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Full Documentation: https://github.com/EdgeFirstAI/radarpub#readme

EdgeFirst Radar Publisher v1.7.0

EdgeFirst Radar Publisher v1.7.0

Installation

Download Binaries

Platform	edgefirst-radarpub	drvegrdctl
Linux x86_64	edgefirst-radarpub-linux-x86_64	drvegrdctl-linux-x86_64
Linux ARM64	edgefirst-radarpub-linux-aarch64	drvegrdctl-linux-aarch64
Configuration	radarpub.default

# Download and install (ARM64 example for Maivin/Raivin)
wget https://github.com/EdgeFirstAI/radarpub/releases/download/v1.7.0/edgefirst-radarpub-linux-aarch64
wget https://github.com/EdgeFirstAI/radarpub/releases/download/v1.7.0/drvegrdctl-linux-aarch64
chmod +x edgefirst-radarpub-linux-aarch64 drvegrdctl-linux-aarch64
sudo mv edgefirst-radarpub-linux-aarch64 /usr/local/bin/edgefirst-radarpub
sudo mv drvegrdctl-linux-aarch64 /usr/local/bin/drvegrdctl

# Install default configuration (optional)
sudo cp radarpub.default /etc/default/radarpub

What's Changed

Changed

• Attach a Zenoh source timestamp on published radar and tf_static
  samples so the recorder can use publisher time instead of receive time.
• Set the Zenoh session namespace to the system hostname and drop the rt/
  prefix from default key expressions. Wire keys are {hostname}/radar/…
  and {hostname}/tf_static (EDGEAI-1396).
• Upgrade edgefirst-schemas from 1.5.2 to 4.0.0: replace serde_cdr
  serialize/deserialize with builders, from_cdr/into_cdr, and O(1)
  accessors (EDGEAI-1428)
• Refresh crate dependencies (zenoh 1.10, ndarray 0.17, nalgebra 0.35,
  clap 4.6, tokio 1.53, tracy 0.12/0.19, rerun 0.36)
• Raise MSRV to 1.95 (package.rust-version) to match rerun 0.36 and
  the rest of the refreshed dependency set

Fixed

• Use wall-clock time (CLOCK_REALTIME) for all ROS 2 Header timestamps instead
  of CLOCK_MONOTONIC_RAW, enabling temporal synchronization across EdgeFirst
  services (fusion, webui, rosbag correlation) (EDGEAI-1397, EDGEAI-1131)
• Add Y2038 overflow guard for builtin_interfaces::Time (sec is i32)
• Derive RadarCube header.stamp from sensor capture time (Unix μs) when available

---

Full Documentation: https://github.com/EdgeFirstAI/radarpub#readme

Note: Published manually after automated Release workflow failed waiting for the SBOM check (workflow was disabled_inactivity). Binaries are from the successful tag Build run; SBOM generated locally.

EdgeFirst Radar Publisher v1.6.3

EdgeFirst Radar Publisher v1.6.3

Installation

Download Binaries

Platform	edgefirst-radarpub	drvegrdctl
Linux x86_64	edgefirst-radarpub-linux-x86_64	drvegrdctl-linux-x86_64
Linux ARM64	edgefirst-radarpub-linux-aarch64	drvegrdctl-linux-aarch64
Configuration	radarpub.default

# Download and install (ARM64 example for Maivin/Raivin)
wget https://github.com/EdgeFirstAI/radarpub/releases/download/v1.6.3/edgefirst-radarpub-linux-aarch64
wget https://github.com/EdgeFirstAI/radarpub/releases/download/v1.6.3/drvegrdctl-linux-aarch64
chmod +x edgefirst-radarpub-linux-aarch64 drvegrdctl-linux-aarch64
sudo mv edgefirst-radarpub-linux-aarch64 /usr/local/bin/edgefirst-radarpub
sudo mv drvegrdctl-linux-aarch64 /usr/local/bin/drvegrdctl

# Install default configuration (optional)
sudo cp radarpub.default /etc/default/radarpub

What's Changed

Added

• radarpub.default: Complete systemd EnvironmentFile with all configuration options and documentation, included as a release artifact

Changed

• Environment variable names: Use short uppercase names (e.g. CENTER_FREQUENCY instead of EDGEFIRST_RADARPUB_CENTER_FREQUENCY) for easier systemd EnvironmentFile configuration
• Improved argument help text with consistent capitalization and clearer descriptions

Fixed

• SBOM workflow: Pin CycloneDX CLI to v0.30.0 to prevent SHA256 checksum mismatch when new versions are released

---

Full Documentation: https://github.com/EdgeFirstAI/radarpub#readme

EdgeFirst Radar Publisher v1.6.2

EdgeFirst Radar Publisher v1.6.2

Installation

Download Binaries

Platform	edgefirst-radarpub	drvegrdctl
Linux x86_64	edgefirst-radarpub-linux-x86_64	drvegrdctl-linux-x86_64
Linux ARM64	edgefirst-radarpub-linux-aarch64	drvegrdctl-linux-aarch64

# Download and install (ARM64 example for Maivin/Raivin)
wget https://github.com/EdgeFirstAI/radarpub/releases/download/v1.6.2/edgefirst-radarpub-linux-aarch64
wget https://github.com/EdgeFirstAI/radarpub/releases/download/v1.6.2/drvegrdctl-linux-aarch64
chmod +x edgefirst-radarpub-linux-aarch64 drvegrdctl-linux-aarch64
sudo mv edgefirst-radarpub-linux-aarch64 /usr/local/bin/edgefirst-radarpub
sudo mv drvegrdctl-linux-aarch64 /usr/local/bin/drvegrdctl

What's Changed

Changed

• Binary renamed: radarpub → edgefirst-radarpub for consistency with EdgeFirst naming convention
• Release artifact format: Changed from .tar.gz archives to raw binaries
  • Binaries now published as edgefirst-radarpub-linux-x86_64, edgefirst-radarpub-linux-aarch64, etc.
  • Matches the format used by lidarpub and edgefirst-imu
• CI/CD improvements:
  • Simplified build workflow to match lidarpub patterns
  • Uses lewagon/wait-on-check-action for release coordination
  • Uses dawidd6/action-download-artifact for cross-workflow artifact downloads

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Full Documentation: https://github.com/EdgeFirstAI/radarpub#readme

RadarPub v1.6.1

RadarPub v1.6.1

Changed

• CDR serialization migration: Replaced direct cdr crate usage with edgefirst_schemas::serde_cdr API
  for consistent ROS2 message serialization across EdgeFirst components
• Dependencies updated:
  • edgefirst-schemas v1.4.0 → v1.5.2 (provides serde_cdr API)
  • Removed direct cdr dependency (now internal to edgefirst-schemas)
• CI/CD improvements:
  • Simplified test workflow (removed cross-compilation from tests, build handles that)
  • Updated SBOM generation with cargo-cyclonedx output handling
  • Fixed GPL license check to allow OR-alternatives (Apache-2.0 OR LGPL-2.1 OR MIT)
  • Updated SonarCloud configuration for EdgeFirstAI organization

Added

• TESTING.md: Comprehensive manual hardware testing documentation
  • CAN and Ethernet mode setup instructions
  • Virtual CAN configuration for local testing
  • Troubleshooting guides for common issues

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Installation

Download the appropriate package for your platform:

• radarpub-*-x86_64-linux.tar.gz - Linux x86_64
• radarpub-*-aarch64-linux.tar.gz - Linux ARM64 (Maivin/Raivin)

Extract and install:

tar -xzf radarpub-*.tar.gz
cd radarpub-*/
sudo cp bin/* /usr/local/bin/

Documentation

• README
• Architecture
• Contributing

SBOM & License

Software Bill of Materials: radarpub-1.6.1-sbom.json

License: Apache-2.0