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EdgeFirst Radar Publisher v1.8.0

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@github-actions github-actions released this 29 Sep 14:49
· 4 commits to main since this release
v1.8.0
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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

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

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