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| Original file line number | Diff line number | Diff line change |
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| <launch> | ||
| <!-- socket can interface parameter --> | ||
| <arg name="interface" default="can0" /> | ||
| <arg name="receiver_interval_sec" default="0.01"/> | ||
| <!-- driver parameter --> | ||
| <arg name="input/frame" default="from_can_bus" /> | ||
| <arg name="output_frame" default="ars408_front" /> | ||
| <arg name="publish_radar_track" default="true" /> | ||
| <arg name="publish_radar_scan" default="false" /> | ||
| <arg name="size_x" default="1.8" /> | ||
| <arg name="size_y" default="1.8" /> | ||
| <!-- noise filter parameter --> | ||
| <arg name="velocity_y_threshold" default="7.0" /> | ||
| <!-- converter parameter --> | ||
| <arg name="input/odometry" default="/localization/kinematic_state" /> | ||
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|
||
| <!-- Socket CAN --> | ||
| <group if="$(var launch_driver)"> | ||
| <include file="$(find-pkg-share ros2_socketcan)/launch/socket_can_receiver.launch.py"> | ||
| <arg name="interface" value="$(var interface)"/> | ||
| <arg name="interval_sec" value="$(var receiver_interval_sec)"/> | ||
| </include> | ||
| </group> | ||
|
|
||
| <!-- ARS408 driver--> | ||
| <!-- Note: If the ARS408 driver is stable, continental_ars408.launch.xml move to group <if="$(var launch_driver)> --> | ||
| <include file="$(find-pkg-share pe_ars408_ros)/launch/continental_ars408.launch.xml"> | ||
| <arg name="input/frame" value="$(var input/frame)" /> | ||
| <arg name="output/objects" value="objects_raw" /> | ||
| <arg name="output/scan" value="scan_raw" /> | ||
| <arg name="publish_radar_track" value="$(var publish_radar_track)" /> | ||
| <arg name="publish_radar_scan" value="$(var publish_radar_scan)" /> | ||
| <arg name="output_frame" value="$(var output_frame)" /> | ||
| <arg name="sequential_publish" value="false" /> | ||
| <arg name="size_x" value="$(var size_x)" /> | ||
| <arg name="size_y" value="$(var size_y)" /> | ||
| </include> | ||
|
|
||
| <!-- Noise filter --> | ||
| <include file="$(find-pkg-share radar_tracks_noise_filter)/launch/radar_tracks_noise_filter.launch.xml"> | ||
| <arg name="input/tracks" value="objects_raw"/> | ||
| <arg name="output/noise_tracks" value="noise_objects" /> | ||
| <arg name="output/filtered_tracks" value="filtered_objects" /> | ||
| <arg name="velocity_y_threshold" value="$(var velocity_y_threshold)" /> | ||
| </include> | ||
|
|
||
| <!-- Message converter --> | ||
| <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml"> | ||
| <arg name="input/radar_objects" value="filtered_objects"/> | ||
| <arg name="input/odometry" value="$(var input/odometry)"/> | ||
| <arg name="output/radar_detected_objects" value="detected_objects"/> | ||
| <arg name="output/radar_tracked_objects" value="tracked_objects"/> | ||
| <arg name="update_rate_hz" value="10.0"/> | ||
| <arg name="use_twist_compensation" value="true"/> | ||
| </include> | ||
| </launch> |