Radar driver

docker/interfacing/sensor_interfacing/sensor_interfacing.Dockerfile

@@ -7,7 +7,7 @@ WORKDIR ${AMENT_WS}/src
 
 # Copy in source code 
 COPY src/interfacing/sensor_interfacing sensor_interfacing
-COPY src/wato_msgs/sample_msgs sample_msgs
+COPY src/wato_msgs/perception_msgs/radar_msgs radar_msgs
 
 # Scan for rosdeps
 RUN apt-get -qq update && rosdep update && \
@@ -21,6 +21,7 @@ FROM ${BASE_IMAGE} as dependencies
 
 # Install Rosdep requirements
 COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
+RUN apt-get update
 RUN apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list)
 
 # Copy in source code from source stage
@@ -32,6 +33,14 @@ WORKDIR /
 RUN apt-get -qq autoremove -y && apt-get -qq autoclean && apt-get -qq clean && \
     rm -rf /root/* /root/.ros /tmp/* /var/lib/apt/lists/* /usr/share/doc/*
 
+RUN apt update &&\
+    apt install software-properties-common -y &&\
+    add-apt-repository ppa:lely/ppa -y &&\
+    apt update &&\
+    apt install net-tools iproute2 can-utils kmod liblely-coapp-dev liblely-co-tools python3-dcf-tools -y
+
+RUN apt install -y ros-$ROS_DISTRO-ros2-socketcan
+
 ################################ Build ################################
 FROM dependencies as build
 

docker/perception/radar_object_detection/radar_object_detection.Dockerfile

@@ -21,6 +21,7 @@ FROM ${BASE_IMAGE} as dependencies
 
 # Install Rosdep requirements
 COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
+RUN apt-get update
 RUN apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list)
 
 # Copy in source code from source stage

modules/dev_overrides/docker-compose.interfacing.yaml

@@ -13,7 +13,7 @@ services:
     image: "${INTERFACING_SENSOR_IMAGE}:build_${TAG}"
     command: tail -F anything
     volumes:
-      - ${MONO_DIR}/src/sensor_interfacing:/home/bolty/ament_ws/src/sensor_interfacing
+      - ${MONO_DIR}/src/interfacing/sensor_interfacing:/home/bolty/ament_ws/src/sensor_interfacing
 
   can_interfacing:
     <<: *fixuid

modules/docker-compose.interfacing.yaml

@@ -9,6 +9,12 @@ services:
         - "${INTERFACING_SENSOR_IMAGE}:build_${TAG}"
         - "${INTERFACING_SENSOR_IMAGE}:build_main"
       target: deploy
+    environment:
+      VCAN_TARGET_PORT: 6002
+    ports:
+      - 6001:6000/udp
+    cap_add:
+      - NET_ADMIN
     image: "${INTERFACING_SENSOR_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch sensor_interfacing sensor_interfacing.launch.py"
 

src/interfacing/sensor_interfacing/radar_conti_ars408/CMakeLists.txt

@@ -0,0 +1,156 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(radar_conti_ars408)
+
+# Default to C++14
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# if CMAKE_BUILD_TYPE is not specified, take 'Release' as default
+IF(NOT CMAKE_BUILD_TYPE)
+    SET(CMAKE_BUILD_TYPE Release)
+ENDIF(NOT CMAKE_BUILD_TYPE)
+
+##########################################################
+#######             INCLUDES AND LIBS            #########
+##########################################################
+find_package(ament_cmake REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(example_interfaces REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(rcutils REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(lifecycle_msgs REQUIRED)
+find_package(class_loader REQUIRED)
+find_package(rmw_implementation REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(can_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(radar_msgs REQUIRED)
+find_package(bondcpp REQUIRED)
+find_package(bond REQUIRED)
+find_package(radar_conti_ars408_msgs REQUIRED)
+find_package(ros2_socketcan REQUIRED)
+##########################################################
+
+
+##########################################################
+#######             INCLUDES AND LIBS            #########
+##########################################################
+include_directories(
+  include
+  src
+  include
+  ${rclcpp_lifecycle_INCLUDE_DIRS}
+  ${lifecycle_msgs_INCLUDE_DIRS}
+  ${rclcpp_INCLUDE_DIRS}
+  ${class_loader_INCLUDE_DIRS}
+  ${rmw_implementation_INCLUDE_DIRS}
+  ${std_msgs_INCLUDE_DIRS}
+  ${geometry_msgs_INCLUDE_DIRS}
+  ${ros2_socketcan_INCLUDE_DIRS}
+)
+##########################################################
+
+##########################################################
+#######         Component and Executable         #########
+##########################################################
+# create ament index resource which references the libraries in the binary dir
+set(node_plugins "")
+
+add_library(radar_conti_ars408_component SHARED src/radar_conti_ars_408_component.cpp)
+target_compile_definitions(radar_conti_ars408_component PRIVATE "RADAR_CONTI_ARS408_BUILDING_DLL")
+target_link_libraries(radar_conti_ars408_component dl -lboost_system
+    ${rclcpp_lifecycle_LIBRARIES}
+    ${ament_index_cpp_LIBRARIES}
+)
+
+ament_target_dependencies(
+  radar_conti_ars408_component
+  can_msgs
+  radar_msgs
+  visualization_msgs
+  tf2_ros
+  bondcpp
+  bond
+  "rclcpp_lifecycle"
+  "rclcpp"
+  "std_msgs"
+  "class_loader"
+  "rclcpp_components"
+  "geometry_msgs"
+  ament_index_cpp
+  radar_conti_ars408_msgs
+  ros2_socketcan
+)
+
+rclcpp_components_register_nodes(radar_conti_ars408_component "watonomous::radar_conti_ars408")
+set(node_plugins "${node_plugins}watonomous::radar_conti_ars408;$<TARGET_FILE:radar_conti_ars408_component>\n")
+
+# since the package installs libraries without exporting them
+# it needs to make sure that the library path is being exported
+if(NOT WIN32)
+  ament_environment_hooks(
+    "${ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH}")
+endif()
+
+
+add_executable(radar_conti_ars408_composition src/radar_conti_ars_408_composition.cpp)
+target_link_libraries(
+  radar_conti_ars408_composition
+  radar_conti_ars408_component
+)
+
+ament_target_dependencies(radar_conti_ars408_composition
+  "rclcpp"
+)
+##########################################################
+
+
+##########################################################
+##############         INSTALLS         ##################
+##########################################################
+#install executable 
+install(
+  TARGETS radar_conti_ars408_composition
+  DESTINATION lib/${PROJECT_NAME})
+
+# install plugins
+install(
+  TARGETS radar_conti_ars408_component
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+# install header files
+install(
+    DIRECTORY include/
+    DESTINATION include/${PROJECT_NAME}/
+)
+
+# Install launch files.
+install(DIRECTORY
+  config
+  launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+##########################################################
+
+
+##########################################################
+###########      Register package       ##################
+##########################################################
+ament_package()
+##########################################################

src/interfacing/sensor_interfacing/radar_conti_ars408/config/params.yaml

@@ -0,0 +1,49 @@
+radar_node:
+  ros__parameters:
+    can_channel: "can0"
+    #topic name of list of objects detected
+    object_list_topic_name: "object_list"
+    #topic name of array of markers used to visualize objects detected
+    marker_array_topic_name: "marker_array"
+    #topic name of array of radar tracks detected
+    radar_tracks_topic_name: "radar_tracks"
+    #topic name of array of obstacle detected, corresponds with radar tracks
+    obstacle_array_topic_name: "obstacle_array"
+
+    radar_0:
+        #link of radar, should be relative to base_link      
+        link_name: "front_radar_link"
+        #set filter active flag on filter config index
+        active: [true, false, false, false, false, true, false, false, true, false, false, false, false, false, false]
+        #set filter valid flag on filter config index
+        valid: [true, false, false, false, false, true, false, false, true, false, false, false, false, false, false]
+        filtercfg_min_nofobj: 0
+        filtercfg_max_nofobj: 5
+        filtercfg_min_distance: 0.0
+        filtercfg_max_distance: 409.0
+        filtercfg_min_azimuth: 0.0
+        filtercfg_max_azimuth: 100.0
+        filtercfg_min_vreloncome: 0.0
+        filtercfg_max_vreloncome: 128.0
+        filtercfg_min_vreldepart: 0.0
+        filtercfg_max_vreldepart: 128.0
+        filtercfg_min_rcs: 50.0
+        filtercfg_max_rcs: 80.0
+        filtercfg_min_lifetime: 0.0
+        filtercfg_max_lifetime: 409.0
+        filtercfg_min_size: 0.0
+        filtercfg_max_size: 102.0
+        filtercfg_min_probexists: 5
+        filtercfg_max_probexists: 7
+        filtercfg_min_y: 0.0
+        filtercfg_max_y: 818.0
+        filtercfg_min_x: 0.0
+        filtercfg_max_x: 0.0
+        filtercfg_min_vyrightleft: 0.0
+        filtercfg_max_vyrightleft: 128.0
+        filtercfg_min_vxoncome: 0.0
+        filtercfg_max_vxoncome: 128.0
+        filtercfg_min_vyleftright: 0.0
+        filtercfg_max_vyleftright: 128.0
+        filtercfg_min_vxdepart: 0.0
+        filtercfg_max_vxdepart: 128.0