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Device driver for radars#

Interface for radar devices#

The radar driver converts the communication data from radars to ROS 2 topics. The following communication types are considered:

  • CAN
  • CAN-FD
  • Ethernet figure

Software Interface#

Autoware support ros-perception/radar_msgs/msg/RadarScan.msg and autoware_auto_perception_msgs/msg/TrackedObjects.msg for Radar drivers. figure

ROS driver receive the data from radar devices.

  • Scan (pointcloud)
  • Tracked objects
  • Diagnostics results

The ROS drivers receives the following data from the radar device.

  • Time synchronization
  • Ego vehicle status, which often need for tracked objects calculation

Radar driver example#