visualize(default:"true") : Launches RViz to display the clusters/obstacles as markers.
obstacle_array(default:"false") : Launches ars_40X_obstacle_array node which publishes obstacles as geometry_msgs/Polygon
Publications
Message
Type
Description
Message Box
/radar_status
ars_40X/RadarStatus
Describe the radar configuration
0x201
/ars_40X/clusters
ars_40X/ClusterList
Raw clusters data from radar
0x600, 0x701
/ars_40X/objects
ars_40X/ObjectList
Raw objects data from radar
0x60A, 0x60B, 0x60C, 0x60D
/visualize_clusters
visualization_msgs/MarkerArray
Clusters markers for RViz visualization
-
/visualize_objects
visualization_msgs/MarkerArray
Object markers for RViz visualization
-
Subscription
Message
Type
Description
Message Box
/odom
nav_msgs/Odometry
Velocity and accleration information
0x300, 0x301
Services
The following services are available for configuring the radar options available in 0x200
Services
/set_ctrl_relay_cfg
/set_max_distance
/set_output_type
/set_radar_power
/set_rcs_threshold
/set_send_ext_info
/set_send_quality
/set_sensor_id
/set_sort_index
/set_store_in_nvm
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