The off_highway_sensor_drivers_examples package contains sample launch files and scripts to assist with further processing of the data provided by the off_highway_sensor_drivers.
Series-connected Point Cloud Library (PCL) PassThrough filter nodes, which filter the point cloud returned by the off_highway_premium_radar_sample driver by the z, x and radar_cross_section field values of the locations. Thresholds are set to example values directly in the launch file and can be adapted at runtime using the dynamic reconfigure plugin of rqt.
⚠️ Running this example currently requires building perception_pcl from source.⚠️
Since the currently available ROS 2 binaries of the pcl_ros package do not yet contain all required
features to run this example, the perception_pcl
repository needs to be cloned and built from source. To accomplish this, cd
into the source folder
of your workspace and execute
git clone -b ros2 https://github.com/ros-perception/perception_pcl
cd ..
rosdep update && rosdep install --from-paths src --ignore-src -r -y
colcon build --cmake-args '-DCMAKE_BUILD_TYPE=Release'
to build it. Source the workspace before running the example with
ros2 launch off_highway_sensor_drivers_examples off_highway_premium_radar_sample_filter_launch.py
- off_highway_premium_radar_filter_launch.py:
Starts the off_highway_premium_radar_sample driver with the given parameters, PCL PassThrough
filters and rviz.
- Arguments:
- off_highway_premium_radar_params: Path to ROS YAML parameter file to load for driver. If not provided, default parameters from the off_highway_premium_radar_sample package are loaded.
- rviz_config: Path to rviz configuration file. If not provided, default configuration is loaded from this package.
- Arguments:
Example to demonstrate, how velocity information from messages other than
geometry_msgs::msg::TwistStamped
can be passed to the off_highway_radar driver. The
extract_velocity component extracts the velocity information from a nav_msgs::msg::Odometry
message and republishes it as geometry_msgs::msg::TwistStamped
message.
- off_highway_radar_extract_velocity_launch.py:
Starts the extract_velocity component and the sender component of the off_highway_radar in
a composition to make use of intra-process communication.
- Arguments:
- params: Path to ROS YAML parameter file to load for sender component of off_highway_radar. If not provided, default parameters from the off_highway_radar package are loaded.
- Arguments: