└── src ├── msgs ├── hadmap_msgs │ ├── msg │ │ ├── Map.msg │ │ ├── MapPolyCoeff.msg │ │ ├── LocalMapSection.msg │ │ ├── MapReferLine.msg │ │ ├── MapSection.msg │ │ ├── Point.msg │ │ ├── MapSplineCoeff.msg │ │ ├── MapLane.msg │ │ ├── LocalMapPoint.msg │ │ ├── Section.msg │ │ ├── LocalMapLane.msg │ │ └── Lane.msg │ ├── CHANGELOG.rst │ ├── srv │ │ └── LocalMap.srv │ ├── package.xml │ └── CMakeLists.txt ├── simulator_msgs │ ├── msg │ │ ├── Rate.msg │ │ └── SetState.msg │ ├── package.xml │ └── CMakeLists.txt ├── localization_msgs │ ├── msg │ │ ├── StopPoints.msg │ │ ├── LidarLoc.msg │ │ └── StopPoint.msg │ ├── package.xml │ └── CMakeLists.txt ├── center_msgs │ ├── msg │ │ ├── DestPoint.msg │ │ ├── Ack.msg │ │ ├── TruckArrived.msg │ │ ├── VehicleStopAccurate.msg │ │ ├── CalibrateSwitch.msg │ │ ├── GlobalPath.msg │ │ ├── TruckPose.msg │ │ ├── PlcStopCmd.msg │ │ ├── VehicleTarget.msg │ │ ├── TosTarget.msg │ │ └── ExternalCenterCmd.msg │ ├── package.xml │ └── CMakeLists.txt ├── pnc_msgs │ ├── msg │ │ ├── ForceVehicleCmd.msg │ │ ├── WayPoint.msg │ │ ├── VehicleState.msg │ │ ├── TruckState.msg │ │ ├── Gear.msg │ │ ├── VirtualWall.msg │ │ ├── PlanningCmd.msg │ │ ├── VehicleOtherCmd.msg │ │ ├── VehicleCmd.msg │ │ ├── DecisionCmd.msg │ │ ├── VehicleOtherInfo.msg │ │ ├── VehicleInfo.msg │ │ └── GNSSInfo.msg │ ├── package.xml │ └── CMakeLists.txt ├── perception_msgs │ ├── msg │ │ ├── Objects.msg │ │ └── Object.msg │ ├── package.xml │ └── CMakeLists.txt ├── conti_radar_msgs │ ├── msg │ │ ├── conti_Objects.msg │ │ └── conti_Object.msg │ ├── package.xml │ └── CMakeLists.txt └── raw_sensor_msgs │ ├── msg │ └── GnssImuInfo.msg │ ├── package.xml │ └── CMakeLists.txt ├── sensor_visualizer.tar.gz ├── conti_radar ├── lib │ └── can │ │ └── libCanCmd.so ├── README.md ├── tool │ └── conti_radar_node.cpp ├── config │ ├── default.yaml │ ├── byd.yaml │ ├── cciv.yaml │ ├── cs55.yaml │ ├── foton.yaml │ ├── sinotruk_c7.yaml │ └── sinotruk_t5g.yaml ├── src │ ├── conti_radar │ │ ├── object_list_status_60a.cpp │ │ ├── CMakeLists.txt │ │ ├── object_general_info_60b.cpp │ │ ├── object_extended_info_60d.cpp │ │ ├── radar_state_201.cpp │ │ └── object_quality_info_60c.cpp │ ├── radar_can.cpp │ └── radar_can_conti.cpp ├── include │ ├── conti_radar │ │ ├── object_list_status_60a.h │ │ ├── object_general_info_60b.h │ │ ├── object_extended_info_60d.h │ │ ├── radar_state_201.h │ │ ├── object_quality_info_60c.h │ │ └── ICANCmd.h │ ├── radar_can.h │ └── radar_can_conti.h ├── launch │ └── run_conti_radar.launch ├── package.xml └── CMakeLists.txt ├── radar_visualizer ├── launch │ └── radar_visualizer.launch ├── tool │ └── radar_visualizer_node.cpp ├── include │ └── radar_visualizer.h ├── src │ └── radar_visualizer.cpp ├── package.xml └── CMakeLists.txt └── CMakeLists.txt /src/msgs/hadmap_msgs/msg/Map.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | Section[] sections 3 | -------------------------------------------------------------------------------- /src/msgs/simulator_msgs/msg/Rate.msg: -------------------------------------------------------------------------------- 1 | float64 cycle_us 2 | float64 time_rate 3 | -------------------------------------------------------------------------------- /src/msgs/hadmap_msgs/msg/MapPolyCoeff.msg: -------------------------------------------------------------------------------- 1 | float64 offset 2 | float64[] poly_parameters 3 | -------------------------------------------------------------------------------- /src/msgs/localization_msgs/msg/StopPoints.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | StopPoint[] stop_points 3 | -------------------------------------------------------------------------------- /src/msgs/center_msgs/msg/DestPoint.msg: -------------------------------------------------------------------------------- 1 | int32 truckId 2 | 3 | geometry_msgs/Point destPoint 4 | -------------------------------------------------------------------------------- /src/msgs/hadmap_msgs/msg/LocalMapSection.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | LocalMapLane[] lanes 3 | 4 | 5 | -------------------------------------------------------------------------------- /src/msgs/pnc_msgs/msg/ForceVehicleCmd.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | 3 | float64 stop_distance_err 4 | -------------------------------------------------------------------------------- /src/msgs/center_msgs/msg/Ack.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | string chid 3 | int32 recv_packet_id 4 | 5 | 6 | -------------------------------------------------------------------------------- /src/msgs/localization_msgs/msg/LidarLoc.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | int32 id 3 | geometry_msgs/Transform pose -------------------------------------------------------------------------------- /src/msgs/pnc_msgs/msg/WayPoint.msg: -------------------------------------------------------------------------------- 1 | float64 x 2 | float64 y 3 | float64 z 4 | float64 heading 5 | float64 curvature 6 | -------------------------------------------------------------------------------- /src/sensor_visualizer.tar.gz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zbzb00zbzb/catkin_radar/HEAD/src/sensor_visualizer.tar.gz -------------------------------------------------------------------------------- /src/msgs/center_msgs/msg/TruckArrived.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | string chid 3 | bool arrived 4 | 5 | int32 send_packet_id 6 | -------------------------------------------------------------------------------- /src/msgs/perception_msgs/msg/Objects.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | 3 | uint64 second 4 | uint64 fra_second 5 | Object[] objects 6 | -------------------------------------------------------------------------------- /src/msgs/pnc_msgs/msg/VehicleState.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | 3 | geometry_msgs/Transform pose 4 | geometry_msgs/Twist velocity 5 | -------------------------------------------------------------------------------- /src/conti_radar/lib/can/libCanCmd.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zbzb00zbzb/catkin_radar/HEAD/src/conti_radar/lib/can/libCanCmd.so -------------------------------------------------------------------------------- /src/msgs/pnc_msgs/msg/TruckState.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | 3 | pnc_msgs/VehicleState truck_head 4 | pnc_msgs/VehicleState[] trailers 5 | -------------------------------------------------------------------------------- /src/msgs/conti_radar_msgs/msg/conti_Objects.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | 3 | uint64 second 4 | uint64 fra_second 5 | conti_Object[] objects 6 | -------------------------------------------------------------------------------- /src/conti_radar/README.md: -------------------------------------------------------------------------------- 1 | # Function Description 2 | 3 | radar node get object information via can card and publish them in type of perception_msgs 4 | -------------------------------------------------------------------------------- /src/msgs/hadmap_msgs/msg/MapReferLine.msg: -------------------------------------------------------------------------------- 1 | 2 | geometry_msgs/Point start_point 3 | float64 heading 4 | float64 length 5 | MapSplineCoeff spline_coeff 6 | -------------------------------------------------------------------------------- /src/msgs/hadmap_msgs/msg/MapSection.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | 3 | uint32 id 4 | float64 s 5 | 6 | MapReferLine refer_line 7 | MapPolyCoeff[] z_coeffs 8 | MapLane[] lanes 9 | -------------------------------------------------------------------------------- /src/msgs/center_msgs/msg/VehicleStopAccurate.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | string chid 3 | int32 send_packet_id 4 | int32 stop_tag_id 5 | uint8 stop_tag_type 6 | float64 stop_offset 7 | -------------------------------------------------------------------------------- /src/radar_visualizer/launch/radar_visualizer.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /src/msgs/hadmap_msgs/msg/Point.msg: -------------------------------------------------------------------------------- 1 | int32 id 2 | 3 | geometry_msgs/Point point 4 | 5 | 6 | 7 | ## not used 8 | 9 | float32 heading 10 | float64 delta_s 11 | uint8 property 12 | -------------------------------------------------------------------------------- /src/msgs/hadmap_msgs/msg/MapSplineCoeff.msg: -------------------------------------------------------------------------------- 1 | float64 start_offset 2 | uint8 degree 3 | uint8 dimension 4 | float64 scale 5 | float64[] spline_knots 6 | geometry_msgs/Point[] spline_points 7 | 8 | -------------------------------------------------------------------------------- /src/msgs/simulator_msgs/msg/SetState.msg: -------------------------------------------------------------------------------- 1 | float64 x # m 2 | float64 y # m 3 | float64 z # m 4 | float64 heading_ang # rad 5 | float64 speed # m/s 6 | -------------------------------------------------------------------------------- /src/msgs/center_msgs/msg/CalibrateSwitch.msg: -------------------------------------------------------------------------------- 1 | uint8 STOP_CALIBRATE = 0 2 | uint8 START_CALIBRATE = 1 3 | 4 | Header header 5 | string chid 6 | int32 stop_tag_id 7 | uint8 stop_tag_type 8 | uint8 calibrate_switch 9 | -------------------------------------------------------------------------------- /src/msgs/center_msgs/msg/GlobalPath.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | string chid 3 | 4 | geometry_msgs/Point src_point 5 | geometry_msgs/Point dest_point 6 | int32[] paths 7 | 8 | int32 recv_packet_id 9 | int32 send_packet_id -------------------------------------------------------------------------------- /src/msgs/hadmap_msgs/msg/MapLane.msg: -------------------------------------------------------------------------------- 1 | uint8 lane_type 2 | 3 | MapPolyCoeff[] poly_coeffs 4 | 5 | 6 | int16 predecessor 7 | int16 successor 8 | 9 | float32 lane_residual_len 10 | float32 speed_limit 11 | -------------------------------------------------------------------------------- /src/msgs/center_msgs/msg/TruckPose.msg: -------------------------------------------------------------------------------- 1 | # truck register 2 | uint8 TRUNK_UNREGISTER = 0 3 | uint8 TRUNK_REGISTER = 1 4 | 5 | Header header 6 | string chid 7 | geometry_msgs/Transform pose 8 | int32 recv_packet_id 9 | int32 send_packet_id 10 | uint8 trunk_register 11 | -------------------------------------------------------------------------------- /src/msgs/hadmap_msgs/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package hadmap_msgs 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 0.0.1 (2017-11-04) 6 | ------------------ 7 | * add msg 8 | * for hadmap_msgs 9 | * Initial commit 10 | * Contributors: coolhebei 11 | -------------------------------------------------------------------------------- /src/msgs/hadmap_msgs/msg/LocalMapPoint.msg: -------------------------------------------------------------------------------- 1 | uint8 TYPE_CROSS = 0 2 | uint8 TYPE_NOT_CROSS = 1 3 | 4 | # lane point localization 5 | geometry_msgs/Point point 6 | # heading angle 7 | float32 heading 8 | # now: cross or not 9 | uint8 type 10 | # speed limit 11 | float32 speed_limit 12 | -------------------------------------------------------------------------------- /src/msgs/hadmap_msgs/srv/LocalMap.srv: -------------------------------------------------------------------------------- 1 | # current localization 2 | geometry_msgs/Transform transform 3 | # query length before us 4 | float32 query_len_ahead 5 | # query length after us 6 | float32 query_len_behind 7 | 8 | --- 9 | 10 | # timestamp 11 | Header header 12 | # all lanes 13 | LocalMapLane[] lanes 14 | -------------------------------------------------------------------------------- /src/msgs/center_msgs/msg/PlcStopCmd.msg: -------------------------------------------------------------------------------- 1 | # PLC Expected direction 2 | uint8 TRUCK_NONE_CMD = 0 3 | uint8 TRUCK_STOP = 1 4 | uint8 TRUCK_MOVE_FORWARD = 2 5 | uint8 TRUCK_MOVE_BACKWARD = 3 6 | 7 | Header header 8 | uint8 expected_direction 9 | int32 expected_distances 10 | 11 | int32 send_packet_id 12 | -------------------------------------------------------------------------------- /src/msgs/center_msgs/msg/VehicleTarget.msg: -------------------------------------------------------------------------------- 1 | uint8 TAG_ON_ANQIAO = 1 2 | uint8 TAG_ON_CHANGQIAO = 2 3 | 4 | Header header 5 | int32 send_packet_id 6 | string chid 7 | geometry_msgs/Point stop_point 8 | int32 stop_tag_id 9 | uint8 stop_tag_type 10 | float64 brake_distance 11 | float64 hadmap_stop_shift 12 | float64 tag_stop_shift 13 | -------------------------------------------------------------------------------- /src/msgs/hadmap_msgs/msg/Section.msg: -------------------------------------------------------------------------------- 1 | uint8 TYPE_NORMAL = 0 2 | uint8 TYPE_CROSS_BEFORE = 1 3 | uint8 TYPE_CROSS_AFTER = 2 4 | uint8 TYPE_CROSS_BEFORE_AND_AFTER = 3 5 | 6 | 7 | int32 id 8 | Lane[] lanes 9 | int32[] predecessors 10 | int32[] successors 11 | uint8 type # 12 | 13 | float64[] stop_distances 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /src/msgs/localization_msgs/msg/StopPoint.msg: -------------------------------------------------------------------------------- 1 | 2 | # main key 3 | int32 id 4 | 5 | # distance, [0, unlimit] 6 | float64 distance_shift 7 | 8 | 9 | float64 angle # rad 10 | float64 distance_vertical 11 | 12 | 13 | 14 | uint8 TYPE_CRANE = 0 15 | uint8 TYPE_YARD = 1 16 | uint8 TYPE_OTHER = 2 17 | 18 | # type 19 | uint8 type 20 | 21 | 22 | -------------------------------------------------------------------------------- /src/msgs/hadmap_msgs/msg/LocalMapLane.msg: -------------------------------------------------------------------------------- 1 | # lane id 2 | int32 id 3 | # residual length 4 | float32 residual_len 5 | 6 | float32 stopline_distance 7 | geometry_msgs/Point stopline 8 | 9 | # central planning points 10 | LocalMapPoint[] center 11 | # left boundary 12 | LocalMapPoint[] left 13 | # right boundary 14 | LocalMapPoint[] right 15 | 16 | 17 | -------------------------------------------------------------------------------- /src/msgs/pnc_msgs/msg/Gear.msg: -------------------------------------------------------------------------------- 1 | uint8 GEAR_P = 0 2 | uint8 GEAR_R = 1 3 | uint8 GEAR_N = 2 4 | uint8 GEAR_D = 3 5 | uint8 GEAR_1 = 4 6 | uint8 GEAR_2 = 5 7 | uint8 GEAR_3 = 6 8 | uint8 GEAR_4 = 7 9 | uint8 GEAR_5 = 8 10 | uint8 GEAR_6 = 9 11 | uint8 GEAR_7 = 10 12 | uint8 GEAR_8 = 11 13 | uint8 GEAR_9 = 12 14 | uint8 GEAR_10 = 13 15 | uint8 GEAR_11 = 14 16 | uint8 GEAR_12 = 15 17 | 18 | 19 | uint8 value 20 | -------------------------------------------------------------------------------- /src/conti_radar/tool/conti_radar_node.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by zxkj on 18-12-01. 3 | // 4 | 5 | 6 | #include "radar_can_conti.h" 7 | 8 | int main(int argc, char **argv) 9 | { 10 | ros::init(argc, argv, "conti_radar_node"); 11 | 12 | RadarCan *radar_can = new RadarCan_Conti; 13 | 14 | radar_can->setup(); 15 | radar_can->doListening(); 16 | 17 | delete radar_can; 18 | 19 | return 0; 20 | } 21 | -------------------------------------------------------------------------------- /src/conti_radar/config/default.yaml: -------------------------------------------------------------------------------- 1 | # 0 for left, 1 for middle, 2 for right 2 | 3 | #freqency to read from can card 4 | recv_info_freq: 100 5 | 6 | #not use yet 7 | max_missing_times: 100 8 | 9 | #freqency to check if we have received vehicle_msgs/radar_msgs/gnss_msgs... 10 | #actual timeout time: 1 / $(arg check_msg_freg) * 10 = 1s 11 | check_msg_freq: 10 12 | 13 | #//freqency to send vehicle_msgs: speed, yaw_rate 14 | send_req_vehicle_msg_freq: 50 -------------------------------------------------------------------------------- /src/radar_visualizer/tool/radar_visualizer_node.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by zxkj on 18-12-12. 3 | // 4 | 5 | #include "radar_visualizer.h" 6 | 7 | 8 | int main(int argc, char **argv) 9 | { 10 | ros::init(argc, argv, "radar_visualizer"); 11 | 12 | RadarVisualizer *radarvisualizer = new RadarVisualizer; 13 | 14 | radarvisualizer->init(); 15 | radarvisualizer->doListening(); 16 | 17 | 18 | delete(radarvisualizer); 19 | 20 | return 0; 21 | } 22 | 23 | -------------------------------------------------------------------------------- /src/msgs/center_msgs/msg/TosTarget.msg: -------------------------------------------------------------------------------- 1 | # truck status 2 | uint8 INNER_FORM_LOGIN = 0 3 | uint8 INNER_FORM_TRUCK_IDLE = 1 4 | uint8 INNER_FORM_TRUCK_EMPTY_TO_ORIGIN = 2 5 | uint8 INNER_FORM_TRUCK_EMPTY_AT_ORIGIN = 3 6 | uint8 INNER_FORM_TRUCK_LADEN_TO_DEST = 4 7 | uint8 INNER_FORM_TRUCK_LADEN_AT_DEST = 5 8 | 9 | 10 | Header header 11 | string chid 12 | string truck_pos 13 | string transfer_zone 14 | int32 container_type 15 | 16 | int32 send_packet_id 17 | -------------------------------------------------------------------------------- /src/msgs/hadmap_msgs/msg/Lane.msg: -------------------------------------------------------------------------------- 1 | 2 | 3 | int32 id 4 | 5 | Point pt_start 6 | Point pt_end 7 | 8 | int32[] predecessors 9 | int32[] successors 10 | 11 | Point[] pts_center 12 | Point[] pts_left 13 | Point[] pts_right 14 | 15 | float64[] len_integral 16 | 17 | 18 | float64 speed_limit 19 | 20 | 21 | ## not used 22 | 23 | uint8 line_left_type 24 | uint8 line_right_type 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | ## dynamic 34 | 35 | int32 resign_id 36 | float32 residual_len 37 | -------------------------------------------------------------------------------- /src/conti_radar/src/conti_radar/object_list_status_60a.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by zxkj on 18-12-01. 3 | // 4 | 5 | #include "object_list_status_60a.h" 6 | 7 | ObjectListStatus60A::ObjectListStatus60A() 8 | { 9 | num_of_obj = -1; 10 | } 11 | 12 | void ObjectListStatus60A::unPackBytes(const CAN_DataFrame& can_frame) 13 | { 14 | num_of_obj = (uint8_t)(can_frame.arryData[0]); 15 | } 16 | 17 | int ObjectListStatus60A::getNumOfObj() 18 | { 19 | return num_of_obj; 20 | } 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /src/msgs/center_msgs/msg/ExternalCenterCmd.msg: -------------------------------------------------------------------------------- 1 | uint8 EXTERNAL_LATERAL_NO_CMD = 0 2 | uint8 EXTERNAL_LATERAL_KEEP_IN_LANE = 1 3 | uint8 EXTERNAL_LATERAL_BYPASS_IN_LANE = 2 4 | uint8 EXTERNAL_LATERAL_CHANGE_TO_LEFT = 3 5 | uint8 EXTERNAL_LATERAL_CHANGE_TO_RIGHT = 4 6 | 7 | uint8 EXTERNAL_SPEED_NO_CMD = 0 8 | uint8 EXTERNAL_SPEED_FREE = 1 9 | uint8 EXTERNAL_SPEED_FOLLOW = 2 10 | uint8 EXTERNAL_SPEED_ESTOP = 3 11 | 12 | Header header 13 | int32 send_packet_id 14 | int8 lateral_cmd 15 | int8 speed_cmd 16 | -------------------------------------------------------------------------------- /src/conti_radar/src/conti_radar/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_library(conti_radar_lib 2 | object_extended_info_60d.cpp 3 | object_quality_info_60c.cpp 4 | object_general_info_60b.cpp 5 | object_list_status_60a.cpp 6 | radar_state_201.cpp 7 | ) 8 | 9 | install(TARGETS conti_radar_lib 10 | ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 11 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 12 | RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) -------------------------------------------------------------------------------- /src/msgs/conti_radar_msgs/msg/conti_Object.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | 3 | int8 Object_NofObjects 4 | 5 | int8 ID 6 | float64 Object_DistLong 7 | float64 Object_DistLat 8 | float64 Object_VrelLong 9 | float64 Object_VrelLat 10 | int32 Object_DynProp 11 | float64 Object_RCS 12 | int32 Obj_ProbOfExist 13 | 14 | float64 Object_OrientationAngel 15 | float64 Object_Length 16 | float64 Object_Width 17 | 18 | 19 | geometry_msgs/Point object_box_center 20 | geometry_msgs/Point object_box_size 21 | 22 | 23 | -------------------------------------------------------------------------------- /src/conti_radar/include/conti_radar/object_list_status_60a.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by zxkj on 18-12-01. 3 | // 4 | 5 | #ifndef CONTI_RADAR_OBJECT_LIST_STATUS_60A_H 6 | #define CONTI_RADAR_OBJECT_LIST_STATUS_60A_H 7 | 8 | #include 9 | #include "ICANCmd.h" 10 | 11 | class ObjectListStatus60A 12 | { 13 | private: 14 | int num_of_obj; 15 | public: 16 | ObjectListStatus60A(); 17 | void unPackBytes(const CAN_DataFrame& can_frame); 18 | int getNumOfObj(); 19 | }; 20 | 21 | #endif //CONTI_RADAR_OBJECT_LIST_STATUS_60A_H 22 | -------------------------------------------------------------------------------- /src/msgs/pnc_msgs/msg/VirtualWall.msg: -------------------------------------------------------------------------------- 1 | uint8 VIRTUAL_WALL_TYPE_UNKNOWN = 0 2 | uint8 VIRTUAL_WALL_TYPE_STOPLINE = 1 3 | uint8 VIRTUAL_WALL_TYPE_OBSTACLE = 2 4 | uint8 VIRTUAL_WALL_TYPE_OBSTACLE_VIRTUAL = 3 5 | uint8 VIRTUAL_WALL_TYPE_OCCUPANCY_GRID = 4 6 | uint8 VIRTUAL_WALL_TYPE_STOPLINE_TAG = 5 7 | uint8 VIRTUAL_WALL_TYPE_STOPLINE_PLC = 6 8 | 9 | uint8 virtual_wall_type 10 | uint32 virtual_wall_id 11 | float64 follow_second 12 | float64 follow_distance 13 | float64 follow_speed 14 | float64 follow_acceleration # Optional 15 | 16 | -------------------------------------------------------------------------------- /src/msgs/pnc_msgs/msg/PlanningCmd.msg: -------------------------------------------------------------------------------- 1 | uint8 MODE_AUTO = 0 2 | uint8 MODE_LATERAL_CLOSED_LOOP = 1 3 | uint8 MODE_SPEED_CLOSED_LOOP = 2 4 | uint8 MODE_OPEN_LOOP = 3 5 | 6 | uint8 STATE_KEEP_LANE = 0 7 | uint8 STATE_CHANGE_LANE_P1 = 1 8 | uint8 STATE_CHANGE_LANE_P2 = 2 9 | uint8 STATE_STOP = 3 10 | uint8 STATE_END = 4 11 | 12 | 13 | Header header 14 | 15 | uint8 mode 16 | pnc_msgs/WayPoint[] way_points 17 | pnc_msgs/VehicleCmd open_loop_cmd 18 | float64 speed 19 | uint8 state 20 | 21 | ########## STOP AT DEST ################################ 22 | bool stop_at_dest -------------------------------------------------------------------------------- /src/msgs/pnc_msgs/msg/VehicleOtherCmd.msg: -------------------------------------------------------------------------------- 1 | 2 | uint8 MODE_MANUAL = 100 3 | uint8 MODE_AUTO = 101 4 | 5 | Header header 6 | 7 | uint8 turn_light_mode 8 | uint8 turn_light #0:left 1:right 2:both 3:invalid 9 | 10 | uint8 light_mode 11 | uint8 light #front light 0:close 1:near light 2:far light 3:invalid 12 | 13 | uint8 wiper_mode 14 | uint8 wiper #0:wiper close 1:run wiper 2:reserve 3:invalid 15 | 16 | uint8 door_mode 17 | uint8 door #0:no control 1:normal open 2:emergency open 3:reserve 18 | 19 | uint8 trumpet_mode 20 | uint8 trumpet #0:no control 1:open 21 | 22 | uint8 auto_driver_cmd 23 | uint8 estop_cmd 24 | 25 | -------------------------------------------------------------------------------- /src/msgs/pnc_msgs/msg/VehicleCmd.msg: -------------------------------------------------------------------------------- 1 | uint8 MODE_MANUAL = 100 2 | uint8 MODE_AUTO = 101 3 | 4 | uint8 OFF = 150 # For horn, left_light and right_light 5 | uint8 ON = 151 # For horn, left_light and right_light 6 | 7 | Header header 8 | 9 | uint8 steering_mode 10 | float64 steering_angle # -1.0 ~ 1.0, positive number on the right side 11 | float64 steering_speed # 0.0 ~ 1.0 12 | 13 | uint8 throttle_mode 14 | float64 throttle # 0.0 ~ 1.0 15 | uint8 brake_mode 16 | float64 brake # 0.0 ~ 1.0 17 | 18 | float64 acceleration_request # m/s2 19 | uint8 acceleration_mode 20 | 21 | pnc_msgs/Gear gear 22 | uint8 gear_mode 23 | uint8 horn 24 | uint8 left_light 25 | uint8 right_light 26 | 27 | -------------------------------------------------------------------------------- /src/msgs/pnc_msgs/msg/DecisionCmd.msg: -------------------------------------------------------------------------------- 1 | uint8 LATERAL_MANEUVER_KEEP_IN_LANE = 0 2 | uint8 LATERAL_MANEUVER_BYPASS_IN_LANE = 1 3 | uint8 LATERAL_MANEUVER_CHANGE_TO_LEFT = 2 4 | uint8 LATERAL_MANEUVER_CHANGE_TO_RIGHT = 3 5 | 6 | uint8 SPEED_MANEUVER_FREE = 0 7 | uint8 SPEED_MANEUVER_FOLLOW = 1 8 | uint8 SPEED_MANEUVER_STOP = 2 9 | uint8 SPEED_MANEUVER_ESTOP = 3 10 | 11 | 12 | 13 | Header header 14 | 15 | uint8 lateral_maneuver 16 | uint8 speed_maneuver 17 | float64 speed_limit 18 | int32 target_lane_id 19 | 20 | 21 | ########## For SPEED_MANEUVER_FOLLOW ################### 22 | 23 | VirtualWall[] virtual_wall 24 | 25 | ########## For LATERAL_MANEUVER_CHANGE_TO_* ############ 26 | float64 gap_speed_front 27 | float64 gap_speed_back 28 | float64 gap_distance_front 29 | float64 gap_distance_back 30 | -------------------------------------------------------------------------------- /src/radar_visualizer/include/radar_visualizer.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by zxkj on 18-12-12. 3 | // 4 | 5 | #ifndef RADAR_VISUALIZER_RADAR_VISUALIZER_H 6 | #define RADAR_VISUALIZER_RADAR_VISUALIZER_H 7 | 8 | #include "ros/ros.h" 9 | #include "conti_radar_msgs/conti_Objects.h" 10 | #include "conti_radar_msgs/conti_Object.h" 11 | #include "visualization_msgs/Marker.h" 12 | 13 | class RadarVisualizer 14 | { 15 | private: 16 | ros::NodeHandle node_handle_; 17 | ros::Subscriber recv_objects_sub_; 18 | 19 | ros::Publisher send_visualizer_pub_; 20 | 21 | public: 22 | RadarVisualizer(); 23 | ~RadarVisualizer(); 24 | 25 | 26 | void init(); 27 | void doListening(); 28 | 29 | void objectsCallback(const conti_radar_msgs::conti_Objects::ConstPtr &objects); 30 | }; 31 | 32 | 33 | 34 | #endif //SENSOR_VISUALIZER_SENSOR_VISUALIZER_H 35 | -------------------------------------------------------------------------------- /src/msgs/pnc_msgs/msg/VehicleOtherInfo.msg: -------------------------------------------------------------------------------- 1 | uint8 MODE_MANUAL = 70 2 | uint8 MODE_AUTO = 71 3 | uint8 MODE_INTERVENED = 72 4 | 5 | Header header 6 | 7 | uint8 turn_light_status 8 | uint8 door_status 9 | uint8 wiper_status 10 | uint8 trumpet_status 11 | uint8 light_status 12 | uint8 dump_energy_status 13 | 14 | uint8 auto_driver_status #0:auto_driver 1:human intervention 2:udp lost 3:can lost 15 | uint16 vehicle_error_status #contain eight status, each status takes 2 bits vehicle_error/steering_error/gear_error/throttle_error/brake_error/ 16 | uint16 transfer_to_upper_cmd #contain eight cmds, each cmd takes 2 bits TBD 17 | 18 | uint8 counter #0~15 cycle counter 19 | 20 | #just for sinotruk_bus 21 | uint8 v2x_link_status 22 | uint8 v2x_light_left_time 23 | uint8 v2x_light_status 24 | float64 v2x_distance_to_stop 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /src/msgs/perception_msgs/msg/Object.msg: -------------------------------------------------------------------------------- 1 | int32 id 2 | int32 age 3 | int32 prediction_age 4 | 5 | geometry_msgs/Point reference_point 6 | geometry_msgs/Point bounding_box_center 7 | geometry_msgs/Point bounding_box_size 8 | geometry_msgs/Point object_box_center 9 | geometry_msgs/Point object_box_size 10 | 11 | float64 object_box_orientation 12 | float64 object_box_orientation_absolute 13 | 14 | geometry_msgs/Point absolute_velocity 15 | geometry_msgs/Point absolute_velocity_sigma 16 | geometry_msgs/Point relative_velocity 17 | 18 | geometry_msgs/Point absolute_acceleration 19 | geometry_msgs/Point relative_acceleration 20 | 21 | geometry_msgs/Point absolute_yaw_rate 22 | geometry_msgs/Point relative_yaw_rate 23 | 24 | int32 classification 25 | int32 classification_age 26 | int32 classification_certainty 27 | 28 | geometry_msgs/Point[] contour_points 29 | geometry_msgs/Point[] contour_points_absolute 30 | -------------------------------------------------------------------------------- /src/msgs/pnc_msgs/msg/VehicleInfo.msg: -------------------------------------------------------------------------------- 1 | uint8 MODE_MANUAL = 70 2 | uint8 MODE_AUTO = 71 3 | uint8 MODE_INTERVENED = 72 4 | 5 | Header header 6 | 7 | float64 vehicle_speed # m/s 8 | float64 odometer # m 9 | 10 | float64[] wheel_speed # m/s, start from FL, clockwise. 11 | float64[] wheel_odometer # m, start from FL, clockwise. 12 | 13 | float64 wheel_angle_left # degree 14 | float64 wheel_angle_right# degree 15 | 16 | float64 yaw_rate # rad/s 17 | float64 gx # m/s2 18 | float64 gy # m/s2 19 | 20 | uint8 steering_mode 21 | float64 steering_angle # degree 22 | 23 | uint8 throttle_mode 24 | float64 throttle # 0.0 ~ 1.0; -1.0 for unavailable. 25 | 26 | uint8 brake_mode 27 | float64 brake # 0.0 ~ 1.0; -1.0 for unavailable. 28 | 29 | uint8 acceleration_mode 30 | float64 acceleration # m/s2 31 | 32 | uint8 gear_mode 33 | pnc_msgs/Gear gear 34 | -------------------------------------------------------------------------------- /src/conti_radar/config/byd.yaml: -------------------------------------------------------------------------------- 1 | #longitude offset to vehicle center(center of rear axle) 2 | long_offset_mid: 3.6 #unit: m 3 | 4 | #lateral offset to vehicle center(center of rear axle) 5 | lat_offset_mid: 0.23 #unit: m 6 | 7 | #angle offset to vehicle center(center of rear axle) 8 | angular_deviation_mid: 0.0 #degree 9 | 10 | #longitude offset to vehicle center(center of rear axle) 11 | long_offset_left: 0.0 #unit: m 12 | 13 | #lateral offset to vehicle center(center of rear axle) 14 | lat_offset_left: 0.0 #unit: m 15 | 16 | #longtitude offset to vehicle center(center of rear axle) 17 | angular_deviation_left: 0.0 #degree 18 | 19 | #longitude offset to vehicle center(center of rear axle) 20 | long_offset_right: 3.3 #unit: m 21 | 22 | #lateral offset to vehicle center(center of rear axle) 23 | lat_offset_right: 2.5 #unit: m 24 | 25 | #longtitude offset to vehicle center(center of rear axle) 26 | angular_deviation_right: 0.0 #degree -------------------------------------------------------------------------------- /src/conti_radar/config/cciv.yaml: -------------------------------------------------------------------------------- 1 | #longitude offset to vehicle center(center of rear axle) 2 | long_offset_mid: 3.6 #unit: m 3 | 4 | #lateral offset to vehicle center(center of rear axle) 5 | lat_offset_mid: 0.23 #unit: m 6 | 7 | #angle offset to vehicle center(center of rear axle) 8 | angular_deviation_mid: 0.0 #degree 9 | 10 | #longitude offset to vehicle center(center of rear axle) 11 | long_offset_left: 0.0 #unit: m 12 | 13 | #lateral offset to vehicle center(center of rear axle) 14 | lat_offset_left: 0.0 #unit: m 15 | 16 | #longtitude offset to vehicle center(center of rear axle) 17 | angular_deviation_left: 0.0 #degree 18 | 19 | #longitude offset to vehicle center(center of rear axle) 20 | long_offset_right: 3.3 #unit: m 21 | 22 | #lateral offset to vehicle center(center of rear axle) 23 | lat_offset_right: 2.5 #unit: m 24 | 25 | #longtitude offset to vehicle center(center of rear axle) 26 | angular_deviation_right: 0.0 #degree -------------------------------------------------------------------------------- /src/conti_radar/config/cs55.yaml: -------------------------------------------------------------------------------- 1 | #longitude offset to vehicle center(center of rear axle) 2 | long_offset_mid: 3.6 #unit: m 3 | 4 | #lateral offset to vehicle center(center of rear axle) 5 | lat_offset_mid: 0.23 #unit: m 6 | 7 | #angle offset to vehicle center(center of rear axle) 8 | angular_deviation_mid: 0.0 #degree 9 | 10 | #longitude offset to vehicle center(center of rear axle) 11 | long_offset_left: 0.0 #unit: m 12 | 13 | #lateral offset to vehicle center(center of rear axle) 14 | lat_offset_left: 0.0 #unit: m 15 | 16 | #longtitude offset to vehicle center(center of rear axle) 17 | angular_deviation_left: 0.0 #degree 18 | 19 | #longitude offset to vehicle center(center of rear axle) 20 | long_offset_right: 3.3 #unit: m 21 | 22 | #lateral offset to vehicle center(center of rear axle) 23 | lat_offset_right: 2.5 #unit: m 24 | 25 | #longtitude offset to vehicle center(center of rear axle) 26 | angular_deviation_right: 0.0 #degree -------------------------------------------------------------------------------- /src/conti_radar/config/foton.yaml: -------------------------------------------------------------------------------- 1 | #longitude offset to vehicle center(center of rear axle) 2 | long_offset_mid: 3.6 #unit: m 3 | 4 | #lateral offset to vehicle center(center of rear axle) 5 | lat_offset_mid: 0.23 #unit: m 6 | 7 | #angle offset to vehicle center(center of rear axle) 8 | angular_deviation_mid: 0.0 #degree 9 | 10 | #longitude offset to vehicle center(center of rear axle) 11 | long_offset_left: 0.0 #unit: m 12 | 13 | #lateral offset to vehicle center(center of rear axle) 14 | lat_offset_left: 0.0 #unit: m 15 | 16 | #longtitude offset to vehicle center(center of rear axle) 17 | angular_deviation_left: 0.0 #degree 18 | 19 | #longitude offset to vehicle center(center of rear axle) 20 | long_offset_right: 3.3 #unit: m 21 | 22 | #lateral offset to vehicle center(center of rear axle) 23 | lat_offset_right: 2.5 #unit: m 24 | 25 | #longtitude offset to vehicle center(center of rear axle) 26 | angular_deviation_right: 0.0 #degree -------------------------------------------------------------------------------- /src/conti_radar/config/sinotruk_c7.yaml: -------------------------------------------------------------------------------- 1 | #longitude offset to vehicle center(center of rear axle) 2 | long_offset_mid: 3.6 #unit: m 3 | 4 | #lateral offset to vehicle center(center of rear axle) 5 | lat_offset_mid: 0.23 #unit: m 6 | 7 | #angle offset to vehicle center(center of rear axle) 8 | angular_deviation_mid: 0.0 #degree 9 | 10 | #longitude offset to vehicle center(center of rear axle) 11 | long_offset_left: 0.0 #unit: m 12 | 13 | #lateral offset to vehicle center(center of rear axle) 14 | lat_offset_left: 0.0 #unit: m 15 | 16 | #longtitude offset to vehicle center(center of rear axle) 17 | angular_deviation_left: 0.0 #degree 18 | 19 | #longitude offset to vehicle center(center of rear axle) 20 | long_offset_right: 3.3 #unit: m 21 | 22 | #lateral offset to vehicle center(center of rear axle) 23 | lat_offset_right: 2.5 #unit: m 24 | 25 | #longtitude offset to vehicle center(center of rear axle) 26 | angular_deviation_right: 0.0 #degree -------------------------------------------------------------------------------- /src/conti_radar/config/sinotruk_t5g.yaml: -------------------------------------------------------------------------------- 1 | #longitude offset to vehicle center(center of rear axle) 2 | long_offset_mid: 6.0 #unit: m 3 | 4 | #lateral offset to vehicle center(center of rear axle) 5 | lat_offset_mid: 0.0 #unit: m 6 | 7 | #angle offset to vehicle center(center of rear axle) 8 | angular_deviation_mid: 90.0 #degree 9 | 10 | #longitude offset to vehicle center(center of rear axle) 11 | long_offset_left: 6.0 #unit: m 12 | 13 | #lateral offset to vehicle center(center of rear axle) 14 | lat_offset_left: -1.12 #unit: m 15 | 16 | #longtitude offset to vehicle center(center of rear axle) 17 | angular_deviation_left: 165.0 #degree 18 | 19 | #longitude offset to vehicle center(center of rear axle) 20 | long_offset_right: 6.0 #unit: m 21 | 22 | #lateral offset to vehicle center(center of rear axle) 23 | lat_offset_right: 1.12 #unit: m 24 | 25 | #longtitude offset to vehicle center(center of rear axle) 26 | angular_deviation_right: 15.0 #degree -------------------------------------------------------------------------------- /src/conti_radar/include/conti_radar/object_general_info_60b.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by zxkj on 18-12-01. 3 | // 4 | 5 | #ifndef CONTI_RADAR_OBJECT_GENERAL_INFO_60B_H 6 | #define CONTI_RADAR_OBJECT_GENERAL_INFO_60B_H 7 | 8 | #include 9 | #include "ICANCmd.h" 10 | 11 | struct GeneralInfo 12 | { 13 | int object_id_; 14 | float object_dist_long_; 15 | float object_dist_lat_; 16 | float object_vre_long_; 17 | float object_vre_lat_; 18 | int object_dyn_prop_; 19 | float object_rcs_; 20 | }; 21 | 22 | class ObjectGeneralInfo60B 23 | { 24 | private: 25 | int object_id_; 26 | float object_dist_long_; 27 | float object_dist_lat_; 28 | float object_vre_long_; 29 | float object_vre_lat_; 30 | int object_dyn_prop_; 31 | float object_rcs_; 32 | 33 | public: 34 | ObjectGeneralInfo60B(); 35 | void unPackBytes(const CAN_DataFrame& can_frame); 36 | int getObjectID(); 37 | float getObjectDistLong(); 38 | float getObjectDistLat(); 39 | float getObjectVreLong(); 40 | float getObjectVreLat(); 41 | int getObjectDynProp(); 42 | float getObjectRcs(); 43 | GeneralInfo getGeneralInfo(); 44 | }; 45 | 46 | #endif //CONTI_RADAR_OBJECT_GENERAL_INFO_60B_H 47 | -------------------------------------------------------------------------------- /src/conti_radar/include/conti_radar/object_extended_info_60d.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by zxkj on 18-12-01. 3 | // 4 | 5 | #ifndef CONTI_RADAR_OBJECT_EXTENDED_INFO_60D_H 6 | #define CONTI_RADAR_OBJECT_EXTENDED_INFO_60D_H 7 | 8 | #include "ICANCmd.h" 9 | 10 | 11 | struct ExtendedInfo 12 | { 13 | int object_id_; 14 | float object_arel_long_; 15 | int object_class_; 16 | float object_arel_lat_; 17 | float object_orientation_angel_; 18 | float object_length_; 19 | float object_width_; 20 | }; 21 | class ObjectExtendedInfo60D 22 | { 23 | private: 24 | int object_id_; 25 | float object_arel_long_; 26 | int object_class_; 27 | float object_arel_lat_; 28 | float object_orientation_angel_; 29 | float object_length_; 30 | float object_width_; 31 | 32 | public: 33 | ObjectExtendedInfo60D(); 34 | void unPackBytes(const CAN_DataFrame& can_frame); 35 | 36 | int getObjectId(); 37 | float getObjectArelLong(); 38 | int getObjectClass(); 39 | float getObjectArelLat(); 40 | float getObjectOrientationAngel(); 41 | float getObjectLength(); 42 | float getObjectWidth(); 43 | 44 | ExtendedInfo getExtendedInfo(); 45 | }; 46 | 47 | 48 | #endif //CONTI_RADAR_OBJECT_EXTENDED_INFO_60D_H 49 | -------------------------------------------------------------------------------- /src/conti_radar/include/conti_radar/radar_state_201.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by zxkj on 18-12-01. 3 | // 4 | 5 | #ifndef CONTI_RADAR_RADAR_STATE_201_H 6 | #define CONTI_RADAR_RADAR_STATE_201_H 7 | 8 | #include "ICANCmd.h" 9 | 10 | struct RadarState 11 | { 12 | int NVMReadStatus; 13 | int NVMWriteStatus; 14 | int MaxDistanceCfg; 15 | int Persistent_Error; 16 | int Interference; 17 | int Temperature_Error; 18 | int Temporary_Error; 19 | int Voltage_Error; 20 | int SensorID; 21 | int SortIndex; 22 | int RadarPower; 23 | int OutputType; 24 | int SendQuality; 25 | int SendExtInfo; 26 | int MotionRxState; 27 | int RCS_Threshold; 28 | }; 29 | 30 | class RadarState201 31 | { 32 | private: 33 | int NVMReadStatus; 34 | int NVMWriteStatus; 35 | int MaxDistanceCfg; 36 | int Persistent_Error; 37 | int Interference; 38 | int Temperature_Error; 39 | int Temporary_Error; 40 | int Voltage_Error; 41 | int SensorID; 42 | int SortIndex; 43 | int RadarPower; 44 | int OutputType; 45 | int SendQuality; 46 | int SendExtInfo; 47 | int MotionRxState; 48 | int RCS_Threshold; 49 | 50 | public: 51 | RadarState201(); 52 | void unPackBytes(const CAN_DataFrame& can_frame); 53 | 54 | int getMaxDistanceCfg(); 55 | int getOutputType(); 56 | int getRadarPower(); 57 | int getSendQuality(); 58 | int getSendExtInfo(); 59 | int getErrorState(); 60 | int getSensorID(); 61 | int getSortIndex(); 62 | int getMotionRxState(); 63 | int getRCS_Threshold(); 64 | }; 65 | 66 | 67 | #endif //CONTI_RADAR_RADAR_STATE_201_H 68 | -------------------------------------------------------------------------------- /src/radar_visualizer/src/radar_visualizer.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by zxkj on 18-12-12. 3 | // 4 | 5 | #include "radar_visualizer.h" 6 | 7 | 8 | 9 | RadarVisualizer::RadarVisualizer() 10 | { 11 | 12 | } 13 | 14 | 15 | RadarVisualizer::~RadarVisualizer() 16 | { 17 | 18 | } 19 | 20 | 21 | void RadarVisualizer::init() 22 | { 23 | ROS_INFO("begin to run!"); 24 | } 25 | 26 | 27 | void RadarVisualizer::objectsCallback(const conti_radar_msgs::conti_Objects::ConstPtr &msgs) 28 | { 29 | visualization_msgs::Marker marker; 30 | int marker_id_ = 0; 31 | for(size_t i = 0; i < msgs->objects.size(); ++i) 32 | { 33 | conti_radar_msgs::conti_Object obj = msgs->objects[i]; 34 | geometry_msgs::Point sz; 35 | sz.x = obj.Object_DistLat;//sz.x = obj.object_box_center.x; 36 | sz.y = obj.Object_DistLong;//sz.y = obj.object_box_center.y; 37 | sz.z = 0; 38 | marker.points.push_back(sz); 39 | } 40 | //ROS_ERROR("$$$$$$$$$$"); 41 | marker.header.frame_id = "smartcar"; 42 | marker.header.stamp = ros::Time(0); 43 | marker.ns = "objects"; 44 | marker.action = visualization_msgs::Marker::ADD; 45 | marker.pose.orientation.w = 1.0; 46 | marker.id = marker_id_++; 47 | marker.lifetime = ros::Duration(0.1); 48 | marker.type = visualization_msgs::Marker::POINTS; 49 | marker.scale.x = 1.5; 50 | marker.scale.y = 1.5; 51 | marker.color.r = 1.0; 52 | marker.color.g = 0.0; 53 | marker.color.a = 1.0; 54 | 55 | send_visualizer_pub_.publish(marker); 56 | 57 | } 58 | 59 | 60 | void RadarVisualizer::doListening() 61 | { 62 | send_visualizer_pub_ = node_handle_.advertise( 63 | "visualization_makers",10); 64 | 65 | recv_objects_sub_ = node_handle_.subscribe( 66 | "/conti_radar_1/objects", 1, &RadarVisualizer::objectsCallback, this);//conti_radar_1/objects 67 | 68 | 69 | ros::spin(); 70 | 71 | } 72 | 73 | 74 | 75 | -------------------------------------------------------------------------------- /src/msgs/pnc_msgs/msg/GNSSInfo.msg: -------------------------------------------------------------------------------- 1 | int32 SOLUTION_STATUS_SOL_COMPUTED = 0 2 | int32 SOLUTION_STATUS_INSUFFICIENT_OBS = 1 3 | int32 SOLUTION_STATUS_NO_CONVERGENCE = 2 4 | int32 SOLUTION_STATUS_SINGULARITY = 3 5 | int32 SOLUTION_STATUS_COV_TRACE = 4 6 | int32 SOLUTION_STATUS_COLD_START = 5 7 | int32 SOLUTION_STATUS_V_H_LIMIT = 6 8 | int32 SOLUTION_STATUS_VARIANCE = 7 9 | int32 SOLUTION_STATUS_INTEGRITY_WARNING = 8 10 | int32 SOLUTION_STATUS_PENDING = 9 11 | int32 SOLUTION_STATUS_INVALID_FIX = 10 12 | int32 SOLUTION_STATUS_UNAUTHORIZED = 11 13 | 14 | int32 POSITION_TYPE_NONE = 0 15 | int32 POSITION_TYPE_FIXEDPOS = 1 16 | int32 POSITION_TYPE_FIXEDHEIGHT = 2 17 | int32 POSITION_TYPE_DOPPLER_VELOCITY = 8 18 | int32 POSITION_TYPE_SINGLE = 16 19 | int32 POSITION_TYPE_PSRDIFF = 17 20 | int32 POSITION_TYPE_WAAS = 18 21 | int32 POSITION_TYPE_PROPAGATED = 19 22 | int32 POSITION_TYPE_OMNISTAR = 20 23 | int32 POSITION_TYPE_L1_FLOAT = 32 24 | int32 POSITION_TYPE_IONOFREE_FLOAT = 33 25 | int32 POSITION_TYPE_NARROW_FLOAT = 34 26 | int32 POSITION_TYPE_L1_INT = 48 27 | int32 POSITION_TYPE_NARROW_INT = 50 28 | int32 POSITION_TYPE_OMNISTAR_HP = 64 29 | int32 POSITION_TYPE_OMNISTAR_XP = 65 30 | int32 POSITION_TYPE_PPP_CONVERGING = 68 31 | int32 POSITION_TYPE_PPP = 69 32 | int32 POSITION_TYPE_OPERATIONAL = 70 33 | int32 POSITION_TYPE_WARNING = 71 34 | int32 POSITION_TYPE_OUT_OF_BOUNDS = 72 35 | 36 | #position and velocity 37 | Header header 38 | int32 sendtime 39 | float64 longitude 40 | float64 latitude 41 | geometry_msgs/Vector3 position 42 | int32 UTMZoneNum 43 | uint8 UTMZoneChar 44 | geometry_msgs/Vector3 attitude 45 | geometry_msgs/Vector3 velocity 46 | geometry_msgs/Vector3 SD 47 | float64 second 48 | int32 SatUseNum 49 | int32 SatInViewNum 50 | float64 vel_latency 51 | int32 solution_status 52 | int32 position_type 53 | string status 54 | 55 | #dual antena angle 56 | geometry_msgs/Vector3 attitude_dual 57 | geometry_msgs/Vector3 SD_angle_dual 58 | float64 base_line_length_dual 59 | int32 solution_status_dual 60 | int32 type_dual 61 | int32 solution_source_dual 62 | 63 | 64 | 65 | -------------------------------------------------------------------------------- /src/conti_radar/include/conti_radar/object_quality_info_60c.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by zxkj on 18-12-01. 3 | // 4 | 5 | #ifndef CONTI_RADAR_OBJECT_QUALITY_INFO_60C_H 6 | #define CONTI_RADAR_OBJECT_QUALITY_INFO_60C_H 7 | 8 | #include "ICANCmd.h" 9 | 10 | struct QualityInfo 11 | { 12 | int object_id_; 13 | int object_dist_long_rms_; 14 | int object_vrel_long_rms_; 15 | int object_dist_lat_rms_; 16 | int object_vrel_lat_rms_; 17 | int object_arel_long_rms_; 18 | int object_arel_lat_rms_; 19 | int object_orientation_rms_; 20 | int object_meas_state_; 21 | int object_prob_of_exist_; 22 | }; 23 | 24 | 25 | class ObjectQualityInfo60C 26 | { 27 | private: 28 | int object_id_; 29 | int object_dist_long_rms_; 30 | int object_vrel_long_rms_; 31 | int object_dist_lat_rms_; 32 | int object_vrel_lat_rms_; 33 | int object_arel_long_rms_; 34 | int object_arel_lat_rms_; 35 | int object_orientation_rms_; 36 | int object_meas_state_; 37 | int object_prob_of_exist_; 38 | 39 | public: 40 | ObjectQualityInfo60C(); 41 | void unPackBytes(const CAN_DataFrame& can_frame); 42 | 43 | int getObjectId(); 44 | int getObjectDistLongRms(); 45 | int getObjectVrelLongRms(); 46 | int getObjectDistLatRms(); 47 | int getObjectVrelLatRms(); 48 | int getObjectArelLongRms(); 49 | int getObjectArelLatRms(); 50 | int getOrientationRms(); 51 | int getObjectMeasState(); 52 | int getObjectProbOfExist(); 53 | 54 | QualityInfo getQualityInfo(); 55 | }; 56 | 57 | /** 58 | * // single value for rms 59 | *-------------------------------------------------- 60 | *| parameter | values for | value for 61 | * | orientation [deg] | dist[m], vrel[m/s], arel[m/s²] 62 | *|------------------------------------------------------ 63 | *| 0x0 64 | *| 0x1 65 | *| 0x2 66 | *| 0x3 67 | *| 0x4 68 | *| 0x5 69 | *| 0x6 70 | *| 0x7 71 | *| 0x8 72 | *| 0x9 73 | *| 74 | *| 75 | * ***/ 76 | 77 | 78 | 79 | 80 | #endif //CONTI_RADAR_OBJECT_QUALITY_INFO_60C_H 81 | -------------------------------------------------------------------------------- /src/msgs/raw_sensor_msgs/msg/GnssImuInfo.msg: -------------------------------------------------------------------------------- 1 | int32 POSITION_TYPE_NONE = 0 2 | int32 POSITION_TYPE_FIXEDPOS = 1 3 | int32 POSITION_TYPE_FIXEDHEIGHT = 2 4 | int32 POSITION_TYPE_DOPPLER_VELOCITY = 8 5 | int32 POSITION_TYPE_SINGLE = 16 6 | int32 POSITION_TYPE_PSRDIFF = 17 7 | int32 POSITION_TYPE_SBAS = 18 8 | #int32 POSITION_TYPE_WAAS = 18 9 | int32 POSITION_TYPE_PROPAGATED = 19 10 | int32 POSITION_TYPE_OMNISTAR = 20 11 | int32 POSITION_TYPE_L1_FLOAT = 32 12 | int32 POSITION_TYPE_IONOFREE_FLOAT = 33 13 | int32 POSITION_TYPE_NARROW_FLOAT = 34 14 | int32 POSITION_TYPE_L1_INT = 48 15 | int32 POSITION_TYPE_WIDE_INT = 49 16 | int32 POSITION_TYPE_NARROW_INT = 50 17 | int32 POSITION_TYPE_OMNISTAR_HP = 64 18 | int32 POSITION_TYPE_OMNISTAR_XP = 65 19 | #int32 POSITION_TYPE_PPP_CONVERGING = 68 20 | #int32 POSITION_TYPE_PPP = 69 21 | #int32 POSITION_TYPE_OPERATIONAL = 70 22 | #int32 POSITION_TYPE_WARNING = 71 23 | #int32 POSITION_TYPE_OUT_OF_BOUNDS = 72 24 | 25 | Header header 26 | 27 | # position 28 | float64 latitude 29 | float64 longitude 30 | float64 altitude 31 | 32 | float64 utm_east 33 | float64 utm_north 34 | 35 | float32 latitude_std 36 | float32 longitude_std 37 | float32 altitude_std 38 | 39 | # velocity 40 | float64 north_velocity 41 | float64 east_velocity 42 | float64 up_velocity 43 | 44 | float32 north_velocity_std 45 | float32 east_velocity_std 46 | float32 up_velocity_std 47 | 48 | # attitude 49 | float64 roll 50 | float64 pitch 51 | float64 yaw 52 | 53 | float64 x 54 | float64 y 55 | float64 z 56 | float64 w 57 | 58 | float32 roll_std 59 | float32 pitch_std 60 | float32 yaw_std 61 | 62 | #angular velocity 63 | float64 roll_rate 64 | float64 pitch_rate 65 | float64 yaw_rate 66 | 67 | #acceleration 68 | float64 ax 69 | float64 ay 70 | float64 az 71 | 72 | #INS550D status 73 | #initialization status 74 | uint8 init_position 75 | uint8 init_velocity 76 | uint8 init_pitchroll 77 | uint8 init_yaw 78 | 79 | #gps status 80 | int32 gps_status 81 | int32 gps_satellitenum 82 | 83 | #wheel speed status 84 | int32 wheelspeed_status 85 | 86 | #device status 87 | float64 temperature 88 | -------------------------------------------------------------------------------- /src/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # toplevel CMakeLists.txt for a catkin workspace 2 | # catkin/cmake/toplevel.cmake 3 | 4 | cmake_minimum_required(VERSION 2.8.3) 5 | 6 | set(CATKIN_TOPLEVEL TRUE) 7 | 8 | # search for catkin within the workspace 9 | set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}") 10 | execute_process(COMMAND ${_cmd} 11 | RESULT_VARIABLE _res 12 | OUTPUT_VARIABLE _out 13 | ERROR_VARIABLE _err 14 | OUTPUT_STRIP_TRAILING_WHITESPACE 15 | ERROR_STRIP_TRAILING_WHITESPACE 16 | ) 17 | if(NOT _res EQUAL 0 AND NOT _res EQUAL 2) 18 | # searching fot catkin resulted in an error 19 | string(REPLACE ";" " " _cmd_str "${_cmd}") 20 | message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}") 21 | endif() 22 | 23 | # include catkin from workspace or via find_package() 24 | if(_res EQUAL 0) 25 | set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake") 26 | # include all.cmake without add_subdirectory to let it operate in same scope 27 | include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE) 28 | add_subdirectory("${_out}") 29 | 30 | else() 31 | # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument 32 | # or CMAKE_PREFIX_PATH from the environment 33 | if(NOT DEFINED CMAKE_PREFIX_PATH) 34 | if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "") 35 | string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH}) 36 | endif() 37 | endif() 38 | 39 | # list of catkin workspaces 40 | set(catkin_search_path "") 41 | foreach(path ${CMAKE_PREFIX_PATH}) 42 | if(EXISTS "${path}/.catkin") 43 | list(FIND catkin_search_path ${path} _index) 44 | if(_index EQUAL -1) 45 | list(APPEND catkin_search_path ${path}) 46 | endif() 47 | endif() 48 | endforeach() 49 | 50 | # search for catkin in all workspaces 51 | set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE) 52 | find_package(catkin QUIET 53 | NO_POLICY_SCOPE 54 | PATHS ${catkin_search_path} 55 | NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) 56 | unset(CATKIN_TOPLEVEL_FIND_PACKAGE) 57 | 58 | if(NOT catkin_FOUND) 59 | message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.") 60 | endif() 61 | endif() 62 | 63 | catkin_workspace() 64 | -------------------------------------------------------------------------------- /src/conti_radar/src/conti_radar/object_general_info_60b.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by zxkj on 18-12-01. 3 | // 4 | 5 | #include "object_general_info_60b.h" 6 | #include 7 | #include 8 | 9 | ObjectGeneralInfo60B::ObjectGeneralInfo60B() 10 | { 11 | object_id_ = -1; 12 | object_dist_long_ = -1; 13 | object_dist_lat_ = -1; 14 | object_vre_long_ = -1; 15 | object_vre_lat_ = -1; 16 | object_dyn_prop_ = -1; 17 | object_rcs_ = -1; 18 | } 19 | 20 | void ObjectGeneralInfo60B::unPackBytes(const CAN_DataFrame& can_frame) 21 | { 22 | object_id_ = (uint8_t)(can_frame.arryData[0]); 23 | object_dist_long_ = ((uint16_t)(can_frame.arryData[1]<<5) + (uint8_t)((can_frame.arryData[2] & 0xf8)>>3)) * 0.2 - 500; 24 | object_dist_lat_ = ((uint16_t)((can_frame.arryData[2] & 0x07) << 8) + (uint8_t)(can_frame.arryData[3])) * 0.2 - 204.6; 25 | object_vre_long_ = ((uint16_t)(can_frame.arryData[4]<<2) + (uint8_t)((can_frame.arryData[5] & 0xc0)>>6)) * 0.25 - 128; 26 | object_vre_lat_ = ((uint16_t)((can_frame.arryData[5] & 0x3f) << 3) + (uint8_t)((can_frame.arryData[6]&0xe0)>>5)) * 0.25 - 64; 27 | object_dyn_prop_ = (uint8_t)(can_frame.arryData[6] & 0x07); 28 | object_rcs_ = (uint8_t)(can_frame.arryData[7]) * 0.5 -64.0; 29 | } 30 | 31 | int ObjectGeneralInfo60B::getObjectID() 32 | { 33 | return object_id_; 34 | } 35 | float ObjectGeneralInfo60B::getObjectDistLong() 36 | { 37 | return object_dist_long_; 38 | } 39 | float ObjectGeneralInfo60B::getObjectDistLat() 40 | { 41 | return object_dist_lat_; 42 | } 43 | float ObjectGeneralInfo60B::getObjectVreLong() 44 | { 45 | return object_vre_long_; 46 | } 47 | float ObjectGeneralInfo60B::getObjectVreLat() 48 | { 49 | return object_vre_lat_; 50 | } 51 | int ObjectGeneralInfo60B::getObjectDynProp() 52 | { 53 | return object_dyn_prop_; 54 | } 55 | float ObjectGeneralInfo60B::getObjectRcs() 56 | { 57 | return object_rcs_; 58 | } 59 | GeneralInfo ObjectGeneralInfo60B::getGeneralInfo() 60 | { 61 | GeneralInfo general_info_; 62 | general_info_.object_id_ = object_id_; 63 | general_info_.object_dist_long_ = object_dist_long_; 64 | general_info_.object_dist_lat_ = object_dist_lat_; 65 | general_info_.object_vre_lat_ = object_vre_lat_; 66 | general_info_.object_vre_long_ = object_vre_long_; 67 | general_info_.object_dyn_prop_ = object_dyn_prop_; 68 | general_info_.object_rcs_ = object_rcs_; 69 | return general_info_; 70 | } 71 | -------------------------------------------------------------------------------- /src/msgs/hadmap_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | hadmap_msgs 4 | 0.0.2 5 | The hadmap_msgs package 6 | 7 | 8 | 9 | 10 | hebei 11 | 12 | 13 | 14 | 15 | 16 | BSD 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | catkin 43 | roscpp 44 | rospy 45 | std_msgs 46 | message_generation 47 | roscpp 48 | rospy 49 | std_msgs 50 | message_generation 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | -------------------------------------------------------------------------------- /src/radar_visualizer/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | radar_visualizer 4 | 0.0.0 5 | The sensor_visualizer package 6 | 7 | 8 | 9 | 10 | zxkj 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | catkin 43 | conti_radar_msgs 44 | roscpp 45 | rospy 46 | std_msgs 47 | conti_radar_msgs 48 | roscpp 49 | rospy 50 | std_msgs 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | -------------------------------------------------------------------------------- /src/conti_radar/launch/run_conti_radar.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | -------------------------------------------------------------------------------- /src/conti_radar/src/conti_radar/object_extended_info_60d.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by zxkj on 18-12-01. 3 | // 4 | 5 | #include "object_extended_info_60d.h" 6 | #include 7 | #include 8 | 9 | ObjectExtendedInfo60D::ObjectExtendedInfo60D() 10 | { 11 | object_id_ = -1; 12 | object_arel_long_ = -1; 13 | object_class_ = -1; 14 | object_arel_lat_ = -1; 15 | object_orientation_angel_ = -1; 16 | object_length_ = -1; 17 | object_width_ = -1; 18 | } 19 | 20 | void ObjectExtendedInfo60D::unPackBytes(const CAN_DataFrame &can_frame) 21 | { 22 | object_id_ = (uint8_t)(can_frame.arryData[0] & 0xff); 23 | object_arel_long_ = ((uint16_t)(can_frame.arryData[1] << 3) + (uint8_t)((can_frame.arryData[2]&0xe0)>>5)) * 0.01 -10; 24 | object_arel_lat_ = ((uint16_t)((can_frame.arryData[2]&0x1f)<<4) + (uint8_t)((can_frame.arryData[3]&0xf0)>>4)) * 0.01 - 2.5; 25 | object_class_ = (uint8_t)(can_frame.arryData[3] & 0x0f); 26 | object_orientation_angel_ = ((uint16_t)(can_frame.arryData[4]<<2) + (uint8_t)((can_frame.arryData[5]&0xc0)>>6))*0.4-180; 27 | object_length_ = ((uint8_t)(can_frame.arryData[6])) * 0.2; 28 | object_width_ = ((uint8_t)(can_frame.arryData[7])) * 0.2; 29 | } 30 | 31 | int ObjectExtendedInfo60D::getObjectId() 32 | { 33 | return object_id_; 34 | } 35 | 36 | float ObjectExtendedInfo60D::getObjectArelLong() 37 | { 38 | return object_arel_long_; 39 | } 40 | 41 | int ObjectExtendedInfo60D::getObjectClass() 42 | { 43 | return object_class_; 44 | } 45 | 46 | float ObjectExtendedInfo60D::getObjectArelLat() 47 | { 48 | return object_arel_lat_; 49 | } 50 | 51 | float ObjectExtendedInfo60D::getObjectOrientationAngel() 52 | { 53 | return object_orientation_angel_; 54 | } 55 | 56 | float ObjectExtendedInfo60D::getObjectLength() 57 | { 58 | return object_length_; 59 | } 60 | 61 | float ObjectExtendedInfo60D::getObjectWidth() 62 | { 63 | return object_width_; 64 | } 65 | 66 | ExtendedInfo ObjectExtendedInfo60D::getExtendedInfo() 67 | { 68 | ExtendedInfo extended_info; 69 | extended_info.object_id_ = object_id_; 70 | extended_info.object_arel_long_ = object_arel_long_; 71 | extended_info.object_arel_lat_ = object_arel_lat_; 72 | extended_info.object_class_ = object_class_; 73 | extended_info.object_orientation_angel_ = object_orientation_angel_; 74 | extended_info.object_length_ = object_length_; 75 | extended_info.object_width_ = object_width_; 76 | return extended_info; 77 | } 78 | 79 | 80 | -------------------------------------------------------------------------------- /src/msgs/pnc_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | pnc_msgs 4 | 0.0.2 5 | The pnc_msgs package 6 | 7 | 8 | 9 | 10 | hebei 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | catkin 43 | geometry_msgs 44 | message_generation 45 | roscpp 46 | rospy 47 | std_msgs 48 | geometry_msgs 49 | roscpp 50 | rospy 51 | std_msgs 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | -------------------------------------------------------------------------------- /src/msgs/simulator_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | simulator_msgs 4 | 0.0.2 5 | The simulator_msgs package 6 | 7 | 8 | 9 | 10 | hebei 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | catkin 43 | geometry_msgs 44 | message_generation 45 | roscpp 46 | rospy 47 | std_msgs 48 | geometry_msgs 49 | roscpp 50 | rospy 51 | std_msgs 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | -------------------------------------------------------------------------------- /src/conti_radar/src/conti_radar/radar_state_201.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by zxkj on 18-12-01. 3 | // 4 | #include "radar_state_201.h" 5 | #include //?? 6 | 7 | RadarState201::RadarState201() 8 | { 9 | MaxDistanceCfg = -1; 10 | OutputType = -1; 11 | RadarPower = -1; 12 | SendQuality = -1; 13 | SendExtInfo = -1; 14 | SensorID = -1; 15 | SortIndex = -1; 16 | MotionRxState = -1; 17 | RCS_Threshold = -1; 18 | Persistent_Error = -1; 19 | Interference = -1; 20 | Temperature_Error = -1; 21 | Temporary_Error = -1; 22 | Voltage_Error = -1; 23 | } 24 | 25 | void RadarState201::unPackBytes(const CAN_DataFrame& can_frame) 26 | { 27 | MaxDistanceCfg = ((uint16_t)(can_frame.arryData[1] << 2) + (uint8_t)((can_frame.arryData[2]&0xc0)>>6)) * 2;//why mutl 2 28 | OutputType = (uint8_t)((can_frame.arryData[5]&0x0c)>>2); 29 | RadarPower = (uint8_t)((can_frame.arryData[4]&0x80)>>7); 30 | SendQuality = (uint8_t)((can_frame.arryData[5]&0x10)>>4); 31 | SendExtInfo = (uint8_t)((can_frame.arryData[5]&0x20) >>5); 32 | 33 | Persistent_Error = (uint8_t)((can_frame.arryData[2]&0x20) >>5); 34 | Interference = (uint8_t)((can_frame.arryData[2]&0x10) >>4); 35 | Temperature_Error = (uint8_t)((can_frame.arryData[2]&0x08) >>3); 36 | Temporary_Error = (uint8_t)((can_frame.arryData[2]&0x04) >>2); 37 | Voltage_Error = (uint8_t)((can_frame.arryData[2]&0x02) >>1); 38 | SensorID = (uint8_t)((can_frame.arryData[4]&0x07) >>0); 39 | SortIndex = (uint8_t)((can_frame.arryData[4]&0x70) >>4); 40 | MotionRxState = (uint8_t)((can_frame.arryData[5]&0xC0) >>6); 41 | RCS_Threshold = (uint8_t)((can_frame.arryData[7]&0x1C) >>2); 42 | 43 | 44 | } 45 | 46 | int RadarState201::getMaxDistanceCfg() 47 | { 48 | return MaxDistanceCfg; 49 | } 50 | int RadarState201::getOutputType() 51 | { 52 | return OutputType; 53 | } 54 | int RadarState201::getRadarPower() 55 | { 56 | return RadarPower; 57 | } 58 | int RadarState201::getSendQuality() 59 | { 60 | return SendQuality; 61 | } 62 | int RadarState201::getSendExtInfo() 63 | { 64 | return SendExtInfo; 65 | } 66 | 67 | int RadarState201::getErrorState() 68 | { 69 | return ((Persistent_Error << 4) + (Interference << 3) + (Temperature_Error << 2) + (Temporary_Error << 1) + Voltage_Error); 70 | } 71 | int RadarState201::getSensorID() 72 | { 73 | return SensorID; 74 | } 75 | int RadarState201::getSortIndex() 76 | { 77 | return SortIndex; 78 | } 79 | int RadarState201::getMotionRxState() 80 | { 81 | return MotionRxState; 82 | } 83 | int RadarState201::getRCS_Threshold() 84 | { 85 | return RCS_Threshold; 86 | } 87 | -------------------------------------------------------------------------------- /src/conti_radar/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | conti_radar 4 | 0.0.0 5 | The conti_radar package 6 | 7 | 8 | 9 | 10 | zxkj 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | catkin 43 | roscpp 44 | rospy 45 | std_msgs 46 | sensor_msgs 47 | perception_msgs 48 | pnc_msgs 49 | raw_sensor_msgs 50 | roscpp 51 | rospy 52 | std_msgs 53 | sensor_msgs 54 | perception_msgs 55 | pnc_msgs 56 | raw_sensor_msgs 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | -------------------------------------------------------------------------------- /src/conti_radar/include/radar_can.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by zxkj on 18-12-01. 3 | // 4 | 5 | #ifndef RADAR_CAN_H 6 | #define RADAR_CAN_H 7 | 8 | #include "ICANCmd.h" 9 | #include "ros/ros.h" 10 | #include 11 | #include "pnc_msgs/VehicleInfo.h" 12 | #include "raw_sensor_msgs/GnssImuInfo.h" 13 | #include "pnc_msgs/Gear.h" 14 | #include 15 | 16 | struct CanParameters 17 | { 18 | int can_channel_index; 19 | int can_baudrate; 20 | bool can_is_extern; 21 | bool can_is_remote; 22 | int can_work_mode; //0:normal, 1:listening only 23 | int can_filter_mode; //0:no use, 1:double filter, 2:single filter 24 | uint32_t can_acc_code; 25 | uint32_t can_acc_mask; 26 | int can_status; 27 | }; 28 | 29 | class RadarCan 30 | { 31 | public: 32 | RadarCan(); 33 | ~RadarCan(); 34 | 35 | int doListening(); 36 | 37 | // void recvCmdCallBack(); 38 | void recvInfoCallback(const ros::TimerEvent&); 39 | void recvVehicleInfoCallback(const pnc_msgs::VehicleInfo::ConstPtr vehicleinfo); 40 | void recvGnssInfoCallback(const raw_sensor_msgs::GnssImuInfo::ConstPtr gnssimuinfo); 41 | void checkMsgCallback(const ros::TimerEvent&); 42 | void sendReqVehiclemsgCallback(const ros::TimerEvent&); 43 | // void quit(); 44 | //different radar has different protocol 45 | virtual void setup() = 0; 46 | virtual void transformCanToInfo(std::vector& can_frames, int len) = 0; 47 | virtual bool checkInfo() = 0; 48 | 49 | protected: 50 | //ros interface 51 | ros::Publisher mid_radar_info_pub_; 52 | ros::Publisher left_radar_info_pub_; 53 | ros::Publisher right_radar_info_pub_; 54 | ros::Subscriber vehicle_info_sub_; 55 | ros::Subscriber gnss_info_sub_; 56 | 57 | ros::NodeHandle node_handle_; 58 | ros::Timer recv_info_sub_; 59 | ros::Timer check_msg_; 60 | ros::Timer send_req_vehicle_msg_; 61 | 62 | //can interface 63 | int can_device_handle_; 64 | std::vector can_parameters_; 65 | 66 | //can operate function 67 | int canStart(CanParameters can_parameters); 68 | int canOpen(); 69 | int canClose(); 70 | int canWrite(CanParameters can_parameters, unsigned int id, unsigned char* buf, unsigned char len); 71 | 72 | int missing_vehicle_info_counter_; 73 | int missing_gnss_info_counter_; 74 | int missing_can_info_counter_; 75 | 76 | int time_sharing_counter_; 77 | 78 | int recv_info_freq_; 79 | int check_msg_freq_; 80 | int send_req_vehicle_msg_freq_; 81 | bool is_recv_info_quit_; 82 | 83 | int max_missing_times_; 84 | 85 | double vehicle_msg_speed_;//provide by speed 86 | double vehicle_msg_yaw_rate_;//provide by gnss_info 87 | int vehicle_msg_motion_status_; 88 | 89 | public: 90 | static bool is_quit_; 91 | }; 92 | 93 | #endif //CONTI_RADAR_RADAR_CAN_H 94 | -------------------------------------------------------------------------------- /src/conti_radar/include/radar_can_conti.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by zxkj on 18-12-01. 3 | // 4 | 5 | #ifndef RADAR_CAN_CONTI_H 6 | #define RADAR_CAN_CONTI_H 7 | 8 | #include "radar_can.h" 9 | #include 10 | 11 | #include 12 | #include 13 | #include 14 | #include 15 | #include 16 | 17 | #include 18 | #include 19 | 20 | const int OBJECT_LIST_STATUS_MID = 0x0000060A; 21 | const int OBJECT_GENERAL_INFO_MID = 0x0000060B; 22 | const int OBJECT_QUALITY_INFO_MID = 0x0000060C; 23 | const int OBJECT_EXTENDED_INFO_MID = 0x0000060D; 24 | 25 | const int OBJECT_LIST_STATUS_LEFT = 0x0000061A; 26 | const int OBJECT_GENERAL_INFO_LEFT = 0x0000061B; 27 | const int OBJECT_QUALITY_INFO_LEFT = 0x0000061C; 28 | const int OBJECT_EXTENDED_INFO_LEFT = 0x0000061D; 29 | 30 | const int OBJECT_LIST_STATUS_RIGHT = 0x0000062A; 31 | const int OBJECT_GENERAL_INFO_RIGHT = 0x0000062B; 32 | const int OBJECT_QUALITY_INFO_RIGHT = 0x0000062C; 33 | const int OBJECT_EXTENDED_INFO_RIGHT = 0x0000062D; 34 | 35 | const int RADAR_STATE_MID = 0x00000201; 36 | const int RADAR_STATE_LEFT = 0x00000211; 37 | const int RADAR_STATE_RIGHT = 0x00000221; 38 | 39 | 40 | class RadarCan_Conti:public RadarCan 41 | { 42 | public: 43 | RadarCan_Conti(); 44 | 45 | virtual bool checkInfo(); 46 | virtual void setup(); 47 | virtual void transformCanToInfo(std::vector& can_frames, int len); 48 | 49 | void midMessagePub(); 50 | void leftMessagePub(); 51 | void rightMessagePub(); 52 | 53 | 54 | private: 55 | 56 | ObjectListStatus60A object_list_status_; 57 | ObjectGeneralInfo60B object_general_info_; 58 | ObjectQualityInfo60C object_quality_info_; 59 | ObjectExtendedInfo60D object_extended_info_; 60 | RadarState201 radar_state_; 61 | 62 | std::vector general_info_arr_mid_; 63 | std::vector quality_info_arr_mid_; 64 | std::vector extended_info_arr_mid_; 65 | 66 | std::vector general_info_arr_left_; 67 | std::vector quality_info_arr_left_; 68 | std::vector extended_info_arr_left_; 69 | 70 | std::vector general_info_arr_right_; 71 | std::vector quality_info_arr_right_; 72 | std::vector extended_info_arr_right_; 73 | 74 | int object_mid_num_; 75 | int object_left_num_; 76 | int object_right_num_; 77 | 78 | //Used to transform the sensor coordinate system to the vehicle coordinate system. 79 | double long_offset_mid_; 80 | double lat_offset_mid_; 81 | double angular_deviation_mid_; 82 | 83 | double long_offset_left_; 84 | double lat_offset_left_; 85 | double angular_deviation_left_; 86 | 87 | double long_offset_right_; 88 | double lat_offset_right_; 89 | double angular_deviation_right_; 90 | 91 | }; 92 | 93 | #endif 94 | -------------------------------------------------------------------------------- /src/msgs/raw_sensor_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | raw_sensor_msgs 4 | 0.0.0 5 | The raw_sensor_msgs package 6 | 7 | 8 | 9 | 10 | wanghao 11 | 12 | 13 | 14 | 15 | 16 | BSD 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | roscpp 53 | rospy 54 | std_msgs 55 | message_generation 56 | roscpp 57 | rospy 58 | std_msgs 59 | message_generation 60 | roscpp 61 | rospy 62 | std_msgs 63 | message_generation 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | -------------------------------------------------------------------------------- /src/conti_radar/src/conti_radar/object_quality_info_60c.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by zxkj on 18-12-01. 3 | // 4 | 5 | #include "object_quality_info_60c.h" 6 | #include 7 | #include 8 | 9 | ObjectQualityInfo60C::ObjectQualityInfo60C() 10 | { 11 | object_id_ = -1; 12 | object_dist_long_rms_ = -1; 13 | object_vrel_long_rms_ = -1; 14 | object_dist_lat_rms_ = -1; 15 | object_vrel_lat_rms_ = -1; 16 | object_arel_long_rms_ = -1; 17 | object_arel_lat_rms_ = -1; 18 | object_orientation_rms_ = -1; 19 | object_meas_state_ = -1; 20 | object_prob_of_exist_ = -1; 21 | } 22 | 23 | void ObjectQualityInfo60C::unPackBytes(const CAN_DataFrame &can_frame) 24 | { 25 | object_id_ = (uint8_t)(can_frame.arryData[0]); 26 | object_dist_long_rms_ = (uint8_t)((can_frame.arryData[1] & 0xf8) >> 3); 27 | object_dist_lat_rms_ = (uint8_t)((can_frame.arryData[1] & 0x07)<<2 + (can_frame.arryData[2] & 0xc0) >>6); 28 | object_vrel_long_rms_ = (uint8_t)((can_frame.arryData[2] & 0x3e) >> 1); 29 | object_vrel_lat_rms_ = (uint8_t)((can_frame.arryData[2] & 0x01)<< 4 + (can_frame.arryData[3] &0xf0) >> 4); 30 | object_arel_long_rms_ = (uint8_t)((can_frame.arryData[3]&0x0f) + (can_frame.arryData[4]&0x80)>>7); 31 | object_arel_lat_rms_ = (uint8_t)((can_frame.arryData[4]&0x7c)>>2); 32 | object_orientation_rms_ = (uint8_t)((can_frame.arryData[4]&0x03)<<3 + (can_frame.arryData[5]&0xe0)>>5); 33 | object_prob_of_exist_ = (uint8_t)((can_frame.arryData[6]&0xe0)>>5); 34 | object_meas_state_ = (uint8_t)((can_frame.arryData[6]&0x1c)>>2); 35 | } 36 | 37 | int ObjectQualityInfo60C::getObjectId() { 38 | return object_id_; 39 | } 40 | 41 | int ObjectQualityInfo60C::getObjectDistLongRms() { 42 | return object_dist_long_rms_; 43 | } 44 | 45 | int ObjectQualityInfo60C::getObjectDistLatRms() { 46 | return object_dist_lat_rms_; 47 | } 48 | 49 | int ObjectQualityInfo60C::getObjectVrelLongRms() { 50 | return object_vrel_long_rms_; 51 | } 52 | 53 | int ObjectQualityInfo60C::getObjectVrelLatRms() { 54 | return object_vrel_lat_rms_; 55 | } 56 | 57 | int ObjectQualityInfo60C::getObjectArelLongRms() { 58 | return object_arel_lat_rms_; 59 | } 60 | 61 | int ObjectQualityInfo60C::getObjectArelLatRms() { 62 | return object_arel_lat_rms_; 63 | } 64 | 65 | int ObjectQualityInfo60C::getOrientationRms() { 66 | return object_orientation_rms_; 67 | } 68 | int ObjectQualityInfo60C::getObjectProbOfExist() { 69 | return object_prob_of_exist_; 70 | } 71 | int ObjectQualityInfo60C::getObjectMeasState() { 72 | return object_meas_state_; 73 | } 74 | 75 | QualityInfo ObjectQualityInfo60C::getQualityInfo() 76 | { 77 | QualityInfo quality_info; 78 | quality_info.object_id_ = object_id_; 79 | quality_info.object_dist_long_rms_ = object_dist_long_rms_; 80 | quality_info.object_dist_lat_rms_ = object_dist_lat_rms_; 81 | quality_info.object_vrel_long_rms_ = object_vrel_long_rms_; 82 | quality_info.object_vrel_lat_rms_ = object_vrel_lat_rms_; 83 | quality_info.object_arel_long_rms_ = object_arel_long_rms_; 84 | quality_info.object_arel_lat_rms_ = object_arel_lat_rms_; 85 | quality_info.object_orientation_rms_ = object_orientation_rms_; 86 | quality_info.object_prob_of_exist_ = object_prob_of_exist_; 87 | quality_info.object_meas_state_ = object_meas_state_; 88 | return quality_info; 89 | } 90 | 91 | -------------------------------------------------------------------------------- /src/msgs/center_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | center_msgs 4 | 0.0.0 5 | The center_msgs package 6 | 7 | 8 | 9 | 10 | xuejiang 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | roscpp 53 | rospy 54 | std_msgs 55 | geometry_msgs 56 | message_generation 57 | roscpp 58 | rospy 59 | std_msgs 60 | geometry_msgs 61 | roscpp 62 | rospy 63 | std_msgs 64 | geometry_msgs 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | -------------------------------------------------------------------------------- /src/msgs/perception_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | perception_msgs 4 | 0.0.0 5 | The perception_msgs package 6 | 7 | 8 | 9 | 10 | neocosmical 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | geometry_msgs 53 | message_generation 54 | roscpp 55 | rospy 56 | std_msgs 57 | geometry_msgs 58 | roscpp 59 | rospy 60 | std_msgs 61 | geometry_msgs 62 | roscpp 63 | rospy 64 | std_msgs 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | -------------------------------------------------------------------------------- /src/msgs/conti_radar_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | conti_radar_msgs 4 | 0.0.0 5 | The conti_radar_msgs package 6 | 7 | 8 | 9 | 10 | neocosmical 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | geometry_msgs 53 | message_generation 54 | roscpp 55 | rospy 56 | std_msgs 57 | geometry_msgs 58 | roscpp 59 | rospy 60 | std_msgs 61 | geometry_msgs 62 | roscpp 63 | rospy 64 | std_msgs 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | -------------------------------------------------------------------------------- /src/msgs/localization_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | localization_msgs 4 | 0.0.0 5 | The localization_msgs package 6 | 7 | 8 | 9 | 10 | hebei 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | roscpp 53 | rospy 54 | std_msgs 55 | message_generation 56 | geometry_msgs 57 | roscpp 58 | rospy 59 | std_msgs 60 | message_generation 61 | geometry_msgs 62 | roscpp 63 | rospy 64 | std_msgs 65 | message_generation 66 | geometry_msgs 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | -------------------------------------------------------------------------------- /src/conti_radar/include/conti_radar/ICANCmd.h: -------------------------------------------------------------------------------- 1 | #ifndef _ICANCmd_H_ 2 | #define _ICANCmd_H_ 3 | 4 | #define TRUE true 5 | #define FALSE false 6 | typedef bool BOOL; 7 | typedef char CHAR; 8 | typedef unsigned char UCHAR; 9 | typedef unsigned char BYTE; 10 | typedef unsigned char *PBYTE; 11 | typedef unsigned short WORD; 12 | typedef unsigned short USHORT; 13 | typedef int INT; 14 | typedef unsigned int UINT; 15 | typedef unsigned int DWORD; 16 | typedef unsigned int *LPDWORD; 17 | typedef unsigned long ULONG; 18 | typedef unsigned long long ULONG64; 19 | typedef void *PVOID; 20 | typedef void *LPVOID; 21 | #define __stdcall 22 | #define PACKED __attribute__( ( packed, aligned(1) ) ) 23 | 24 | //接口卡类型定义 25 | #define ACUSB_131B 1 26 | #define ACUSB_132B 2 27 | #define ACPCI_251 3 28 | #define ACPCI_252 4 29 | #define ACPCI_254 5 30 | 31 | #define ACNET_600 6 32 | #define ACNET_622 7 33 | #define LCPCIE_251 8 34 | #define LCPCIE_252 9 35 | #define LCMINIPCIE_251 10 36 | #define LCMINIPCIE_252 11 37 | 38 | //函数调用返回状态值 39 | #define CAN_RESULT_OK 1 40 | #define CAN_RESULT_ERROR 0 41 | 42 | //CAN错误码 43 | enum CAN_ErrorCode 44 | { 45 | CAN_E_NOERROR = 0x0000, // 没有发现错误 46 | CAN_E_OVERFLOW = 0x0001, // CAN控制器内部FIFO溢出 47 | CAN_E_ERRORALARM = 0x0002, // CAN控制器错误报警 48 | CAN_E_PASSIVE = 0x0004, // CAN控制器消极错误 49 | CAN_E_LOSE = 0x0008, // CAN控制器仲裁丢失 50 | CAN_E_BUSERROR = 0x0010, // CAN控制器总线错误 51 | 52 | CAN_E_RCV_BUF = 0x0020, // dll CAN接收BUF出错 53 | CAN_E_ERR_BUF = 0x0040, // dll CAN错误信息BUF出错 54 | 55 | CAN_E_DEVICEOPENED = 0x0100, // 设备已经打开 56 | CAN_E_DEVICEOPEN = 0x0200, // 打开设备错误 57 | CAN_E_DEVICENOTOPEN = 0x0400, // 设备没有打开 58 | CAN_E_BUFFEROVERFLOW = 0x0800, // 缓冲区溢出 59 | CAN_E_DEVICENOTEXIST = 0x1000, // 此设备不存在 60 | CAN_E_LOADKERNELDLL = 0x2000, // 装载动态库失败 61 | CAN_E_CMDFAILED = 0x4000, // 执行命令失败错误码 62 | CAN_E_BUFFERCREATE = 0x8000, // 内存不足 63 | }; 64 | 65 | //CAN数据帧类型 66 | typedef struct tagCAN_DataFrame{ 67 | UINT uTimeFlag; // 时间标识,对接收帧有效 68 | BYTE nSendType; // 发送帧类型,0-正常发送;1-单次发送;2-自发自收;3-单次自发自收 69 | BYTE bRemoteFlag; // 是否是远程帧 70 | BYTE bExternFlag; // 是否是扩展帧 71 | BYTE nDataLen; // 数据长度 72 | UINT uID; // 报文DI 73 | BYTE arryData[8]; // 报文数据 74 | }PACKED CAN_DataFrame,*PCAN_DataFrame; 75 | 76 | //CAN初始化配置 77 | typedef struct tagCAN_InitConfig{ 78 | UCHAR bMode; // 工作模式(0表示正常模式,1表示只听模式) 79 | BYTE nBtrType; // 位定时参数模式(1表示SJA1000,0表示LPC21XX) 80 | BYTE dwBtr[4]; // CAN位定时参数 81 | DWORD dwAccCode; // 验收码 82 | DWORD dwAccMask; // 屏蔽码 83 | BYTE nFilter; // 滤波方式(0表示未设置滤波功能,1表示双滤波,2表示单滤波) 84 | BYTE dwReserved; // 预留字段 85 | }PACKED CAN_InitConfig,*PCAN_InitConfig; 86 | 87 | //CAN设备信息 88 | typedef struct tagCAN_DeviceInformation{ 89 | USHORT uHardWareVersion; // 硬件版本 90 | USHORT uFirmWareVersion; // 固件版本 91 | USHORT uDriverVersion; // 驱动版本 92 | USHORT uInterfaceVersion; // 接口库版本 93 | USHORT uInterruptNumber; // 中断号 94 | BYTE bChannelNumber; // 有几路CAN 95 | CHAR szSerialNumber[20]; // 设备序列号 96 | CHAR szHardWareType[40]; // 硬件类型 97 | CHAR szDescription[20]; // 设备描述 98 | } PACKED CAN_DeviceInformation,*PCAN_DeviceInformation; 99 | 100 | //CAN错误信息 101 | typedef struct tagCAN_ErrorInformation{ 102 | UINT uErrorCode; // 错误类型 103 | BYTE PassiveErrData[3]; // 消极错误数据 104 | BYTE ArLostErrData; // 仲裁错误数据 105 | } PACKED CAN_ErrorInformation,*PCAN_ErrorInformation; 106 | /**/ 107 | // 打开设备 108 | extern "C" DWORD CAN_DeviceOpen(DWORD dwType, DWORD dwIndex,CHAR *pDescription); 109 | // 关闭设备 110 | extern "C" DWORD CAN_DeviceClose(DWORD dwDeviceHandle); 111 | 112 | // 启动CAN 113 | extern "C" DWORD CAN_ChannelStart(DWORD dwDeviceHandle, DWORD dwChannel, PCAN_InitConfig pInitConfig); 114 | // 停止CAN 115 | extern "C" DWORD CAN_ChannelStop(DWORD dwDeviceHandle, DWORD dwChannel); 116 | 117 | // 获取设备信息 118 | extern "C" DWORD CAN_GetDeviceInfo(DWORD dwDeviceHandle, PCAN_DeviceInformation pInfo); 119 | // 获取CAN错误信息 120 | extern "C" DWORD CAN_GetErrorInfo(DWORD dwDeviceHandle, DWORD dwChannel,PCAN_ErrorInformation pErr); 121 | 122 | // 读EEPROM 123 | extern "C" DWORD CAN_ReadEEPROM(DWORD dwDeviceHandle, WORD dwAddr, PBYTE pBuff, WORD nLen); 124 | // 写EEPROM 125 | extern "C" DWORD CAN_WriteEEPROM(DWORD dwDeviceHandle, WORD dwAddr, PBYTE pBuff, WORD nLen); 126 | 127 | // 发送数据 128 | extern "C" ULONG CAN_ChannelSend(DWORD dwDeviceHandle, DWORD dwChannel, PCAN_DataFrame pSend, ULONG nCount); 129 | // 从接收缓冲区中读数据 130 | extern "C" ULONG CAN_ChannelReceive(DWORD dwDeviceHandle, DWORD dwChannel, PCAN_DataFrame pReceive, ULONG nCount, INT nWaitTime=-1); 131 | // 获取接收缓冲区帧数 132 | extern "C" ULONG CAN_GetReceiveCount(DWORD dwDeviceHandle, DWORD dwChannel); 133 | // 清空接收缓冲区 134 | extern "C" DWORD CAN_ClearReceiveBuffer(DWORD dwDeviceHandle, DWORD dwChannel); 135 | 136 | //读寄存器 137 | extern "C" DWORD CAN_ReadRegister(DWORD dwDeviceHandle, DWORD dwChannel,DWORD dwAddr, PBYTE pBuff, WORD nLen); 138 | //写寄存器 139 | extern "C" DWORD CAN_WriteRegister(DWORD dwDeviceHandle, DWORD dwChannel,DWORD dwAddr, PBYTE pBuff, WORD nLen); 140 | 141 | // 获取参数 142 | extern "C" DWORD CAN_GetParam(DWORD dwDeviceHandle, DWORD dwChannel, DWORD dwParamType, PVOID pData); 143 | // 设置参数 144 | extern "C" DWORD CAN_SetParam(DWORD dwDeviceHandle, DWORD dwChannel, DWORD dwParamType, PVOID pData); 145 | 146 | 147 | #endif //_ICANCmd_H_ 148 | -------------------------------------------------------------------------------- /src/msgs/raw_sensor_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(raw_sensor_msgs) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | # add_compile_options(-std=c++11) 6 | 7 | ## Find catkin macros and libraries 8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 9 | ## is used, also find other catkin packages 10 | find_package(catkin REQUIRED COMPONENTS 11 | roscpp 12 | rospy 13 | std_msgs 14 | message_generation 15 | ) 16 | 17 | ## System dependencies are found with CMake's conventions 18 | # find_package(Boost REQUIRED COMPONENTS system) 19 | 20 | 21 | ## Uncomment this if the package has a setup.py. This macro ensures 22 | ## modules and global scripts declared therein get installed 23 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 24 | # catkin_python_setup() 25 | 26 | ################################################ 27 | ## Declare ROS messages, services and actions ## 28 | ################################################ 29 | 30 | ## To declare and build messages, services or actions from within this 31 | ## package, follow these steps: 32 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 33 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 34 | ## * In the file package.xml: 35 | ## * add a build_depend tag for "message_generation" 36 | ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET 37 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 38 | ## but can be declared for certainty nonetheless: 39 | ## * add a run_depend tag for "message_runtime" 40 | ## * In this file (CMakeLists.txt): 41 | ## * add "message_generation" and every package in MSG_DEP_SET to 42 | ## find_package(catkin REQUIRED COMPONENTS ...) 43 | ## * add "message_runtime" and every package in MSG_DEP_SET to 44 | ## catkin_package(CATKIN_DEPENDS ...) 45 | ## * uncomment the add_*_files sections below as needed 46 | ## and list every .msg/.srv/.action file to be processed 47 | ## * uncomment the generate_messages entry below 48 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 49 | 50 | ## Generate messages in the 'msg' folder 51 | add_message_files( 52 | FILES 53 | GnssImuInfo.msg 54 | ) 55 | 56 | ## Generate services in the 'srv' folder 57 | # add_service_files( 58 | # FILES 59 | # Service1.srv 60 | # Service2.srv 61 | # ) 62 | 63 | ## Generate actions in the 'action' folder 64 | # add_action_files( 65 | # FILES 66 | # Action1.action 67 | # Action2.action 68 | # ) 69 | 70 | ## Generate added messages and services with any dependencies listed here 71 | generate_messages( 72 | DEPENDENCIES 73 | std_msgs 74 | ) 75 | 76 | ################################################ 77 | ## Declare ROS dynamic reconfigure parameters ## 78 | ################################################ 79 | 80 | ## To declare and build dynamic reconfigure parameters within this 81 | ## package, follow these steps: 82 | ## * In the file package.xml: 83 | ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" 84 | ## * In this file (CMakeLists.txt): 85 | ## * add "dynamic_reconfigure" to 86 | ## find_package(catkin REQUIRED COMPONENTS ...) 87 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 88 | ## and list every .cfg file to be processed 89 | 90 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 91 | # generate_dynamic_reconfigure_options( 92 | # cfg/DynReconf1.cfg 93 | # cfg/DynReconf2.cfg 94 | # ) 95 | 96 | ################################### 97 | ## catkin specific configuration ## 98 | ################################### 99 | ## The catkin_package macro generates cmake config files for your package 100 | ## Declare things to be passed to dependent projects 101 | ## INCLUDE_DIRS: uncomment this if your package contains header files 102 | ## LIBRARIES: libraries you create in this project that dependent projects also need 103 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 104 | ## DEPENDS: system dependencies of this project that dependent projects also need 105 | catkin_package( 106 | # INCLUDE_DIRS include 107 | # LIBRARIES localization_msgs 108 | # CATKIN_DEPENDS roscpp rospy std_msgs 109 | # DEPENDS system_lib 110 | ) 111 | 112 | ########### 113 | ## Build ## 114 | ########### 115 | 116 | ## Specify additional locations of header files 117 | ## Your package locations should be listed before other locations 118 | include_directories( 119 | # include 120 | ${catkin_INCLUDE_DIRS} 121 | ) 122 | 123 | ## Declare a C++ library 124 | # add_library(${PROJECT_NAME} 125 | # src/${PROJECT_NAME}/localization_msgs.cpp 126 | # ) 127 | 128 | ## Add cmake target dependencies of the library 129 | ## as an example, code may need to be generated before libraries 130 | ## either from message generation or dynamic reconfigure 131 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 132 | 133 | ## Declare a C++ executable 134 | ## With catkin_make all packages are built within a single CMake context 135 | ## The recommended prefix ensures that target names across packages don't collide 136 | # add_executable(${PROJECT_NAME}_node src/localization_msgs_node.cpp) 137 | 138 | ## Rename C++ executable without prefix 139 | ## The above recommended prefix causes long target names, the following renames the 140 | ## target back to the shorter version for ease of user use 141 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 142 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 143 | 144 | ## Add cmake target dependencies of the executable 145 | ## same as for the library above 146 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 147 | 148 | ## Specify libraries to link a library or executable target against 149 | # target_link_libraries(${PROJECT_NAME}_node 150 | # ${catkin_LIBRARIES} 151 | # ) 152 | 153 | ############# 154 | ## Install ## 155 | ############# 156 | 157 | # all install targets should use catkin DESTINATION variables 158 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 159 | 160 | ## Mark executable scripts (Python etc.) for installation 161 | ## in contrast to setup.py, you can choose the destination 162 | # install(PROGRAMS 163 | # scripts/my_python_script 164 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 165 | # ) 166 | 167 | ## Mark executables and/or libraries for installation 168 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 169 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 170 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 171 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 172 | # ) 173 | 174 | ## Mark cpp header files for installation 175 | # install(DIRECTORY include/${PROJECT_NAME}/ 176 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 177 | # FILES_MATCHING PATTERN "*.h" 178 | # PATTERN ".svn" EXCLUDE 179 | # ) 180 | 181 | ## Mark other files for installation (e.g. launch and bag files, etc.) 182 | # install(FILES 183 | # # myfile1 184 | # # myfile2 185 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 186 | # ) 187 | 188 | ############# 189 | ## Testing ## 190 | ############# 191 | 192 | ## Add gtest based cpp test target and link libraries 193 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_localization_msgs.cpp) 194 | # if(TARGET ${PROJECT_NAME}-test) 195 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 196 | # endif() 197 | 198 | ## Add folders to be run by python nosetests 199 | # catkin_add_nosetests(test) 200 | -------------------------------------------------------------------------------- /src/msgs/simulator_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(simulator_msgs) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | add_compile_options(-std=c++11) 6 | 7 | ## Find catkin macros and libraries 8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 9 | ## is used, also find other catkin packages 10 | find_package(catkin REQUIRED COMPONENTS 11 | geometry_msgs 12 | message_generation 13 | roscpp 14 | rospy 15 | std_msgs 16 | ) 17 | 18 | ## System dependencies are found with CMake's conventions 19 | # find_package(Boost REQUIRED COMPONENTS system) 20 | 21 | 22 | ## Uncomment this if the package has a setup.py. This macro ensures 23 | ## modules and global scripts declared therein get installed 24 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 25 | # catkin_python_setup() 26 | 27 | ################################################ 28 | ## Declare ROS messages, services and actions ## 29 | ################################################ 30 | 31 | ## To declare and build messages, services or actions from within this 32 | ## package, follow these steps: 33 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 34 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 35 | ## * In the file package.xml: 36 | ## * add a build_depend tag for "message_generation" 37 | ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET 38 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 39 | ## but can be declared for certainty nonetheless: 40 | ## * add a run_depend tag for "message_runtime" 41 | ## * In this file (CMakeLists.txt): 42 | ## * add "message_generation" and every package in MSG_DEP_SET to 43 | ## find_package(catkin REQUIRED COMPONENTS ...) 44 | ## * add "message_runtime" and every package in MSG_DEP_SET to 45 | ## catkin_package(CATKIN_DEPENDS ...) 46 | ## * uncomment the add_*_files sections below as needed 47 | ## and list every .msg/.srv/.action file to be processed 48 | ## * uncomment the generate_messages entry below 49 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 50 | 51 | ## Generate messages in the 'msg' folder 52 | add_message_files( 53 | FILES 54 | Rate.msg 55 | SetState.msg 56 | ) 57 | 58 | ## Generate services in the 'srv' folder 59 | # add_service_files( 60 | # FILES 61 | # Service1.srv 62 | # Service2.srv 63 | # ) 64 | 65 | ## Generate actions in the 'action' folder 66 | # add_action_files( 67 | # FILES 68 | # Action1.action 69 | # Action2.action 70 | # ) 71 | 72 | ## Generate added messages and services with any dependencies listed here 73 | generate_messages( 74 | DEPENDENCIES 75 | geometry_msgs 76 | std_msgs 77 | ) 78 | 79 | ################################################ 80 | ## Declare ROS dynamic reconfigure parameters ## 81 | ################################################ 82 | 83 | ## To declare and build dynamic reconfigure parameters within this 84 | ## package, follow these steps: 85 | ## * In the file package.xml: 86 | ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" 87 | ## * In this file (CMakeLists.txt): 88 | ## * add "dynamic_reconfigure" to 89 | ## find_package(catkin REQUIRED COMPONENTS ...) 90 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 91 | ## and list every .cfg file to be processed 92 | 93 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 94 | # generate_dynamic_reconfigure_options( 95 | # cfg/DynReconf1.cfg 96 | # cfg/DynReconf2.cfg 97 | # ) 98 | 99 | ################################### 100 | ## catkin specific configuration ## 101 | ################################### 102 | ## The catkin_package macro generates cmake config files for your package 103 | ## Declare things to be passed to dependent projects 104 | ## INCLUDE_DIRS: uncomment this if you package contains header files 105 | ## LIBRARIES: libraries you create in this project that dependent projects also need 106 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 107 | ## DEPENDS: system dependencies of this project that dependent projects also need 108 | catkin_package( 109 | # INCLUDE_DIRS include 110 | # LIBRARIES pnc_msgs 111 | # CATKIN_DEPENDS general geometry_msgs message_generation roscpp rospy std_msgs 112 | # DEPENDS system_lib 113 | ) 114 | 115 | ########### 116 | ## Build ## 117 | ########### 118 | 119 | ## Specify additional locations of header files 120 | ## Your package locations should be listed before other locations 121 | include_directories( 122 | # include 123 | ${catkin_INCLUDE_DIRS} 124 | ) 125 | 126 | ## Declare a C++ library 127 | # add_library(${PROJECT_NAME} 128 | # src/${PROJECT_NAME}/pnc_msgs.cpp 129 | # ) 130 | 131 | ## Add cmake target dependencies of the library 132 | ## as an example, code may need to be generated before libraries 133 | ## either from message generation or dynamic reconfigure 134 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 135 | 136 | ## Declare a C++ executable 137 | ## With catkin_make all packages are built within a single CMake context 138 | ## The recommended prefix ensures that target names across packages don't collide 139 | # add_executable(${PROJECT_NAME}_node src/pnc_msgs_node.cpp) 140 | 141 | ## Rename C++ executable without prefix 142 | ## The above recommended prefix causes long target names, the following renames the 143 | ## target back to the shorter version for ease of user use 144 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 145 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 146 | 147 | ## Add cmake target dependencies of the executable 148 | ## same as for the library above 149 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 150 | 151 | ## Specify libraries to link a library or executable target against 152 | # target_link_libraries(${PROJECT_NAME}_node 153 | # ${catkin_LIBRARIES} 154 | # ) 155 | 156 | ############# 157 | ## Install ## 158 | ############# 159 | 160 | # all install targets should use catkin DESTINATION variables 161 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 162 | 163 | ## Mark executable scripts (Python etc.) for installation 164 | ## in contrast to setup.py, you can choose the destination 165 | # install(PROGRAMS 166 | # scripts/my_python_script 167 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 168 | # ) 169 | 170 | ## Mark executables and/or libraries for installation 171 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 172 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 173 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 174 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 175 | # ) 176 | 177 | ## Mark cpp header files for installation 178 | # install(DIRECTORY include/${PROJECT_NAME}/ 179 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 180 | # FILES_MATCHING PATTERN "*.h" 181 | # PATTERN ".svn" EXCLUDE 182 | # ) 183 | 184 | ## Mark other files for installation (e.g. launch and bag files, etc.) 185 | # install(FILES 186 | # # myfile1 187 | # # myfile2 188 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 189 | # ) 190 | 191 | ############# 192 | ## Testing ## 193 | ############# 194 | 195 | ## Add gtest based cpp test target and link libraries 196 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_pnc_msgs.cpp) 197 | # if(TARGET ${PROJECT_NAME}-test) 198 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 199 | # endif() 200 | 201 | ## Add folders to be run by python nosetests 202 | # catkin_add_nosetests(test) 203 | -------------------------------------------------------------------------------- /src/msgs/perception_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(perception_msgs) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | # add_compile_options(-std=c++11) 6 | 7 | ## Find catkin macros and libraries 8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 9 | ## is used, also find other catkin packages 10 | find_package(catkin REQUIRED COMPONENTS 11 | geometry_msgs 12 | message_generation 13 | roscpp 14 | rospy 15 | std_msgs 16 | ) 17 | 18 | ## System dependencies are found with CMake's conventions 19 | # find_package(Boost REQUIRED COMPONENTS system) 20 | 21 | 22 | ## Uncomment this if the package has a setup.py. This macro ensures 23 | ## modules and global scripts declared therein get installed 24 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 25 | # catkin_python_setup() 26 | 27 | ################################################ 28 | ## Declare ROS messages, services and actions ## 29 | ################################################ 30 | 31 | ## To declare and build messages, services or actions from within this 32 | ## package, follow these steps: 33 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 34 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 35 | ## * In the file package.xml: 36 | ## * add a build_depend tag for "message_generation" 37 | ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET 38 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 39 | ## but can be declared for certainty nonetheless: 40 | ## * add a run_depend tag for "message_runtime" 41 | ## * In this file (CMakeLists.txt): 42 | ## * add "message_generation" and every package in MSG_DEP_SET to 43 | ## find_package(catkin REQUIRED COMPONENTS ...) 44 | ## * add "message_runtime" and every package in MSG_DEP_SET to 45 | ## catkin_package(CATKIN_DEPENDS ...) 46 | ## * uncomment the add_*_files sections below as needed 47 | ## and list every .msg/.srv/.action file to be processed 48 | ## * uncomment the generate_messages entry below 49 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 50 | 51 | ## Generate messages in the 'msg' folder 52 | add_message_files( 53 | FILES 54 | Object.msg 55 | Objects.msg 56 | ) 57 | 58 | ## Generate services in the 'srv' folder 59 | # add_service_files( 60 | # FILES 61 | # Service1.srv 62 | # Service2.srv 63 | # ) 64 | 65 | ## Generate actions in the 'action' folder 66 | # add_action_files( 67 | # FILES 68 | # Action1.action 69 | # Action2.action 70 | # ) 71 | 72 | ## Generate added messages and services with any dependencies listed here 73 | generate_messages( 74 | DEPENDENCIES 75 | geometry_msgs 76 | std_msgs 77 | ) 78 | 79 | ################################################ 80 | ## Declare ROS dynamic reconfigure parameters ## 81 | ################################################ 82 | 83 | ## To declare and build dynamic reconfigure parameters within this 84 | ## package, follow these steps: 85 | ## * In the file package.xml: 86 | ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" 87 | ## * In this file (CMakeLists.txt): 88 | ## * add "dynamic_reconfigure" to 89 | ## find_package(catkin REQUIRED COMPONENTS ...) 90 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 91 | ## and list every .cfg file to be processed 92 | 93 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 94 | # generate_dynamic_reconfigure_options( 95 | # cfg/DynReconf1.cfg 96 | # cfg/DynReconf2.cfg 97 | # ) 98 | 99 | ################################### 100 | ## catkin specific configuration ## 101 | ################################### 102 | ## The catkin_package macro generates cmake config files for your package 103 | ## Declare things to be passed to dependent projects 104 | ## INCLUDE_DIRS: uncomment this if your package contains header files 105 | ## LIBRARIES: libraries you create in this project that dependent projects also need 106 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 107 | ## DEPENDS: system dependencies of this project that dependent projects also need 108 | catkin_package( 109 | # INCLUDE_DIRS include 110 | # LIBRARIES perception_msgs 111 | # CATKIN_DEPENDS geometry_msgs message_generation roscpp rospy std_msgs 112 | # DEPENDS system_lib 113 | ) 114 | 115 | ########### 116 | ## Build ## 117 | ########### 118 | 119 | ## Specify additional locations of header files 120 | ## Your package locations should be listed before other locations 121 | include_directories( 122 | # include 123 | ${catkin_INCLUDE_DIRS} 124 | ) 125 | 126 | ## Declare a C++ library 127 | # add_library(${PROJECT_NAME} 128 | # src/${PROJECT_NAME}/perception_msgs.cpp 129 | # ) 130 | 131 | ## Add cmake target dependencies of the library 132 | ## as an example, code may need to be generated before libraries 133 | ## either from message generation or dynamic reconfigure 134 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 135 | 136 | ## Declare a C++ executable 137 | ## With catkin_make all packages are built within a single CMake context 138 | ## The recommended prefix ensures that target names across packages don't collide 139 | # add_executable(${PROJECT_NAME}_node src/perception_msgs_node.cpp) 140 | 141 | ## Rename C++ executable without prefix 142 | ## The above recommended prefix causes long target names, the following renames the 143 | ## target back to the shorter version for ease of user use 144 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 145 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 146 | 147 | ## Add cmake target dependencies of the executable 148 | ## same as for the library above 149 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 150 | 151 | ## Specify libraries to link a library or executable target against 152 | # target_link_libraries(${PROJECT_NAME}_node 153 | # ${catkin_LIBRARIES} 154 | # ) 155 | 156 | ############# 157 | ## Install ## 158 | ############# 159 | 160 | # all install targets should use catkin DESTINATION variables 161 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 162 | 163 | ## Mark executable scripts (Python etc.) for installation 164 | ## in contrast to setup.py, you can choose the destination 165 | # install(PROGRAMS 166 | # scripts/my_python_script 167 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 168 | # ) 169 | 170 | ## Mark executables and/or libraries for installation 171 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 172 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 173 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 174 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 175 | # ) 176 | 177 | ## Mark cpp header files for installation 178 | # install(DIRECTORY include/${PROJECT_NAME}/ 179 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 180 | # FILES_MATCHING PATTERN "*.h" 181 | # PATTERN ".svn" EXCLUDE 182 | # ) 183 | 184 | ## Mark other files for installation (e.g. launch and bag files, etc.) 185 | # install(FILES 186 | # # myfile1 187 | # # myfile2 188 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 189 | # ) 190 | 191 | ############# 192 | ## Testing ## 193 | ############# 194 | 195 | ## Add gtest based cpp test target and link libraries 196 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_perception_msgs.cpp) 197 | # if(TARGET ${PROJECT_NAME}-test) 198 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 199 | # endif() 200 | 201 | ## Add folders to be run by python nosetests 202 | # catkin_add_nosetests(test) 203 | -------------------------------------------------------------------------------- /src/msgs/localization_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(localization_msgs) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | # add_compile_options(-std=c++11) 6 | 7 | ## Find catkin macros and libraries 8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 9 | ## is used, also find other catkin packages 10 | find_package(catkin REQUIRED COMPONENTS 11 | roscpp 12 | rospy 13 | std_msgs 14 | message_generation 15 | geometry_msgs 16 | ) 17 | 18 | ## System dependencies are found with CMake's conventions 19 | # find_package(Boost REQUIRED COMPONENTS system) 20 | 21 | 22 | ## Uncomment this if the package has a setup.py. This macro ensures 23 | ## modules and global scripts declared therein get installed 24 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 25 | # catkin_python_setup() 26 | 27 | ################################################ 28 | ## Declare ROS messages, services and actions ## 29 | ################################################ 30 | 31 | ## To declare and build messages, services or actions from within this 32 | ## package, follow these steps: 33 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 34 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 35 | ## * In the file package.xml: 36 | ## * add a build_depend tag for "message_generation" 37 | ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET 38 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 39 | ## but can be declared for certainty nonetheless: 40 | ## * add a run_depend tag for "message_runtime" 41 | ## * In this file (CMakeLists.txt): 42 | ## * add "message_generation" and every package in MSG_DEP_SET to 43 | ## find_package(catkin REQUIRED COMPONENTS ...) 44 | ## * add "message_runtime" and every package in MSG_DEP_SET to 45 | ## catkin_package(CATKIN_DEPENDS ...) 46 | ## * uncomment the add_*_files sections below as needed 47 | ## and list every .msg/.srv/.action file to be processed 48 | ## * uncomment the generate_messages entry below 49 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 50 | 51 | ## Generate messages in the 'msg' folder 52 | add_message_files( 53 | FILES 54 | StopPoint.msg 55 | StopPoints.msg 56 | LidarLoc.msg 57 | ) 58 | 59 | ## Generate services in the 'srv' folder 60 | # add_service_files( 61 | # FILES 62 | # Service1.srv 63 | # Service2.srv 64 | # ) 65 | 66 | ## Generate actions in the 'action' folder 67 | # add_action_files( 68 | # FILES 69 | # Action1.action 70 | # Action2.action 71 | # ) 72 | 73 | ## Generate added messages and services with any dependencies listed here 74 | generate_messages( 75 | DEPENDENCIES 76 | std_msgs 77 | geometry_msgs 78 | ) 79 | 80 | ################################################ 81 | ## Declare ROS dynamic reconfigure parameters ## 82 | ################################################ 83 | 84 | ## To declare and build dynamic reconfigure parameters within this 85 | ## package, follow these steps: 86 | ## * In the file package.xml: 87 | ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" 88 | ## * In this file (CMakeLists.txt): 89 | ## * add "dynamic_reconfigure" to 90 | ## find_package(catkin REQUIRED COMPONENTS ...) 91 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 92 | ## and list every .cfg file to be processed 93 | 94 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 95 | # generate_dynamic_reconfigure_options( 96 | # cfg/DynReconf1.cfg 97 | # cfg/DynReconf2.cfg 98 | # ) 99 | 100 | ################################### 101 | ## catkin specific configuration ## 102 | ################################### 103 | ## The catkin_package macro generates cmake config files for your package 104 | ## Declare things to be passed to dependent projects 105 | ## INCLUDE_DIRS: uncomment this if your package contains header files 106 | ## LIBRARIES: libraries you create in this project that dependent projects also need 107 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 108 | ## DEPENDS: system dependencies of this project that dependent projects also need 109 | catkin_package( 110 | # INCLUDE_DIRS include 111 | # LIBRARIES localization_msgs 112 | # CATKIN_DEPENDS roscpp rospy std_msgs 113 | # DEPENDS system_lib 114 | ) 115 | 116 | ########### 117 | ## Build ## 118 | ########### 119 | 120 | ## Specify additional locations of header files 121 | ## Your package locations should be listed before other locations 122 | include_directories( 123 | # include 124 | ${catkin_INCLUDE_DIRS} 125 | ) 126 | 127 | ## Declare a C++ library 128 | # add_library(${PROJECT_NAME} 129 | # src/${PROJECT_NAME}/localization_msgs.cpp 130 | # ) 131 | 132 | ## Add cmake target dependencies of the library 133 | ## as an example, code may need to be generated before libraries 134 | ## either from message generation or dynamic reconfigure 135 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 136 | 137 | ## Declare a C++ executable 138 | ## With catkin_make all packages are built within a single CMake context 139 | ## The recommended prefix ensures that target names across packages don't collide 140 | # add_executable(${PROJECT_NAME}_node src/localization_msgs_node.cpp) 141 | 142 | ## Rename C++ executable without prefix 143 | ## The above recommended prefix causes long target names, the following renames the 144 | ## target back to the shorter version for ease of user use 145 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 146 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 147 | 148 | ## Add cmake target dependencies of the executable 149 | ## same as for the library above 150 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 151 | 152 | ## Specify libraries to link a library or executable target against 153 | # target_link_libraries(${PROJECT_NAME}_node 154 | # ${catkin_LIBRARIES} 155 | # ) 156 | 157 | ############# 158 | ## Install ## 159 | ############# 160 | 161 | # all install targets should use catkin DESTINATION variables 162 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 163 | 164 | ## Mark executable scripts (Python etc.) for installation 165 | ## in contrast to setup.py, you can choose the destination 166 | # install(PROGRAMS 167 | # scripts/my_python_script 168 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 169 | # ) 170 | 171 | ## Mark executables and/or libraries for installation 172 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 173 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 174 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 175 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 176 | # ) 177 | 178 | ## Mark cpp header files for installation 179 | # install(DIRECTORY include/${PROJECT_NAME}/ 180 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 181 | # FILES_MATCHING PATTERN "*.h" 182 | # PATTERN ".svn" EXCLUDE 183 | # ) 184 | 185 | ## Mark other files for installation (e.g. launch and bag files, etc.) 186 | # install(FILES 187 | # # myfile1 188 | # # myfile2 189 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 190 | # ) 191 | 192 | ############# 193 | ## Testing ## 194 | ############# 195 | 196 | ## Add gtest based cpp test target and link libraries 197 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_localization_msgs.cpp) 198 | # if(TARGET ${PROJECT_NAME}-test) 199 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 200 | # endif() 201 | 202 | ## Add folders to be run by python nosetests 203 | # catkin_add_nosetests(test) 204 | -------------------------------------------------------------------------------- /src/radar_visualizer/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(radar_visualizer) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | # add_compile_options(-std=c++11) 6 | 7 | ## Find catkin macros and libraries 8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 9 | ## is used, also find other catkin packages 10 | find_package(catkin REQUIRED COMPONENTS 11 | roscpp 12 | rospy 13 | std_msgs 14 | conti_radar_msgs 15 | ) 16 | 17 | ## System dependencies are found with CMake's conventions 18 | # find_package(Boost REQUIRED COMPONENTS system) 19 | 20 | 21 | ## Uncomment this if the package has a setup.py. This macro ensures 22 | ## modules and global scripts declared therein get installed 23 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 24 | # catkin_python_setup() 25 | 26 | ################################################ 27 | ## Declare ROS messages, services and actions ## 28 | ################################################ 29 | 30 | ## To declare and build messages, services or actions from within this 31 | ## package, follow these steps: 32 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 33 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 34 | ## * In the file package.xml: 35 | ## * add a build_depend tag for "message_generation" 36 | ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET 37 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 38 | ## but can be declared for certainty nonetheless: 39 | ## * add a run_depend tag for "message_runtime" 40 | ## * In this file (CMakeLists.txt): 41 | ## * add "message_generation" and every package in MSG_DEP_SET to 42 | ## find_package(catkin REQUIRED COMPONENTS ...) 43 | ## * add "message_runtime" and every package in MSG_DEP_SET to 44 | ## catkin_package(CATKIN_DEPENDS ...) 45 | ## * uncomment the add_*_files sections below as needed 46 | ## and list every .msg/.srv/.action file to be processed 47 | ## * uncomment the generate_messages entry below 48 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 49 | 50 | ## Generate messages in the 'msg' folder 51 | # add_message_files( 52 | # FILES 53 | # Message1.msg 54 | # Message2.msg 55 | # ) 56 | 57 | ## Generate services in the 'srv' folder 58 | # add_service_files( 59 | # FILES 60 | # Service1.srv 61 | # Service2.srv 62 | # ) 63 | 64 | ## Generate actions in the 'action' folder 65 | # add_action_files( 66 | # FILES 67 | # Action1.action 68 | # Action2.action 69 | # ) 70 | 71 | ## Generate added messages and services with any dependencies listed here 72 | # generate_messages( 73 | # DEPENDENCIES 74 | # perception_msgs# std_msgs 75 | # ) 76 | 77 | ################################################ 78 | ## Declare ROS dynamic reconfigure parameters ## 79 | ################################################ 80 | 81 | ## To declare and build dynamic reconfigure parameters within this 82 | ## package, follow these steps: 83 | ## * In the file package.xml: 84 | ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" 85 | ## * In this file (CMakeLists.txt): 86 | ## * add "dynamic_reconfigure" to 87 | ## find_package(catkin REQUIRED COMPONENTS ...) 88 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 89 | ## and list every .cfg file to be processed 90 | 91 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 92 | # generate_dynamic_reconfigure_options( 93 | # cfg/DynReconf1.cfg 94 | # cfg/DynReconf2.cfg 95 | # ) 96 | 97 | ################################### 98 | ## catkin specific configuration ## 99 | ################################### 100 | ## The catkin_package macro generates cmake config files for your package 101 | ## Declare things to be passed to dependent projects 102 | ## INCLUDE_DIRS: uncomment this if you package contains header files 103 | ## LIBRARIES: libraries you create in this project that dependent projects also need 104 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 105 | ## DEPENDS: system dependencies of this project that dependent projects also need 106 | catkin_package( 107 | # INCLUDE_DIRS include 108 | LIBRARIES sensor_visualizer 109 | # CATKIN_DEPENDS perception_msgs roscpp rospy std_msgs 110 | # DEPENDS system_lib 111 | ) 112 | 113 | ########### 114 | ## Build ## 115 | ########### 116 | 117 | ## Specify additional locations of header files 118 | ## Your package locations should be listed before other locations 119 | include_directories( 120 | # include 121 | ${catkin_INCLUDE_DIRS} 122 | src/ 123 | include/ 124 | ) 125 | 126 | ## Declare a C++ library 127 | add_library(${PROJECT_NAME} 128 | src/radar_visualizer.cpp 129 | ) 130 | 131 | ## Add cmake target dependencies of the library 132 | ## as an example, code may need to be generated before libraries 133 | ## either from message generation or dynamic reconfigure 134 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 135 | 136 | ## Declare a C++ executable 137 | ## With catkin_make all packages are built within a single CMake context 138 | ## The recommended prefix ensures that target names across packages don't collide 139 | add_executable(${PROJECT_NAME}_node tool/radar_visualizer_node.cpp) 140 | 141 | ## Rename C++ executable without prefix 142 | ## The above recommended prefix causes long target names, the following renames the 143 | ## target back to the shorter version for ease of user use 144 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 145 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 146 | 147 | ## Add cmake target dependencies of the executable 148 | ## same as for the library above 149 | add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 150 | 151 | ## Specify libraries to link a library or executable target against 152 | target_link_libraries(${PROJECT_NAME}_node 153 | ${catkin_LIBRARIES} 154 | radar_visualizer 155 | ) 156 | 157 | ############# 158 | ## Install ## 159 | ############# 160 | 161 | # all install targets should use catkin DESTINATION variables 162 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 163 | 164 | ## Mark executable scripts (Python etc.) for installation 165 | ## in contrast to setup.py, you can choose the destination 166 | # install(PROGRAMS 167 | # scripts/my_python_script 168 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 169 | # ) 170 | 171 | ## Mark executables and/or libraries for installation 172 | install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 173 | ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 174 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 175 | RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 176 | ) 177 | 178 | ## Mark cpp header files for installation 179 | # install(DIRECTORY include/${PROJECT_NAME}/ 180 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 181 | # FILES_MATCHING PATTERN "*.h" 182 | # PATTERN ".svn" EXCLUDE 183 | # ) 184 | 185 | ## Mark other files for installation (e.g. launch and bag files, etc.) 186 | # install(FILES 187 | # # myfile1 188 | # # myfile2 189 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 190 | # ) 191 | 192 | ############# 193 | ## Testing ## 194 | ############# 195 | 196 | ## Add gtest based cpp test target and link libraries 197 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_sensor_visualizer.cpp) 198 | # if(TARGET ${PROJECT_NAME}-test) 199 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 200 | # endif() 201 | 202 | ## Add folders to be run by python nosetests 203 | # catkin_add_nosetests(test) 204 | -------------------------------------------------------------------------------- /src/msgs/conti_radar_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(conti_radar_msgs) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | # add_compile_options(-std=c++11) 6 | 7 | ## Find catkin macros and libraries 8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 9 | ## is used, also find other catkin packages 10 | find_package(catkin REQUIRED COMPONENTS 11 | geometry_msgs 12 | message_generation 13 | roscpp 14 | rospy 15 | std_msgs 16 | ) 17 | 18 | ## System dependencies are found with CMake's conventions 19 | # find_package(Boost REQUIRED COMPONENTS system) 20 | 21 | 22 | ## Uncomment this if the package has a setup.py. This macro ensures 23 | ## modules and global scripts declared therein get installed 24 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 25 | # catkin_python_setup() 26 | 27 | ################################################ 28 | ## Declare ROS messages, services and actions ## 29 | ################################################ 30 | 31 | ## To declare and build messages, services or actions from within this 32 | ## package, follow these steps: 33 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 34 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 35 | ## * In the file package.xml: 36 | ## * add a build_depend tag for "message_generation" 37 | ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET 38 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 39 | ## but can be declared for certainty nonetheless: 40 | ## * add a run_depend tag for "message_runtime" 41 | ## * In this file (CMakeLists.txt): 42 | ## * add "message_generation" and every package in MSG_DEP_SET to 43 | ## find_package(catkin REQUIRED COMPONENTS ...) 44 | ## * add "message_runtime" and every package in MSG_DEP_SET to 45 | ## catkin_package(CATKIN_DEPENDS ...) 46 | ## * uncomment the add_*_files sections below as needed 47 | ## and list every .msg/.srv/.action file to be processed 48 | ## * uncomment the generate_messages entry below 49 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 50 | 51 | ## Generate messages in the 'msg' folder 52 | add_message_files( 53 | FILES 54 | conti_Object.msg 55 | conti_Objects.msg 56 | ) 57 | 58 | ## Generate services in the 'srv' folder 59 | # add_service_files( 60 | # FILES 61 | # Service1.srv 62 | # Service2.srv 63 | # ) 64 | 65 | ## Generate actions in the 'action' folder 66 | # add_action_files( 67 | # FILES 68 | # Action1.action 69 | # Action2.action 70 | # ) 71 | 72 | ## Generate added messages and services with any dependencies listed here 73 | generate_messages( 74 | DEPENDENCIES 75 | geometry_msgs 76 | std_msgs 77 | ) 78 | 79 | ################################################ 80 | ## Declare ROS dynamic reconfigure parameters ## 81 | ################################################ 82 | 83 | ## To declare and build dynamic reconfigure parameters within this 84 | ## package, follow these steps: 85 | ## * In the file package.xml: 86 | ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" 87 | ## * In this file (CMakeLists.txt): 88 | ## * add "dynamic_reconfigure" to 89 | ## find_package(catkin REQUIRED COMPONENTS ...) 90 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 91 | ## and list every .cfg file to be processed 92 | 93 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 94 | # generate_dynamic_reconfigure_options( 95 | # cfg/DynReconf1.cfg 96 | # cfg/DynReconf2.cfg 97 | # ) 98 | 99 | ################################### 100 | ## catkin specific configuration ## 101 | ################################### 102 | ## The catkin_package macro generates cmake config files for your package 103 | ## Declare things to be passed to dependent projects 104 | ## INCLUDE_DIRS: uncomment this if your package contains header files 105 | ## LIBRARIES: libraries you create in this project that dependent projects also need 106 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 107 | ## DEPENDS: system dependencies of this project that dependent projects also need 108 | catkin_package( 109 | # INCLUDE_DIRS include 110 | # LIBRARIES perception_msgs 111 | # CATKIN_DEPENDS geometry_msgs message_generation roscpp rospy std_msgs 112 | # DEPENDS system_lib 113 | ) 114 | 115 | ########### 116 | ## Build ## 117 | ########### 118 | 119 | ## Specify additional locations of header files 120 | ## Your package locations should be listed before other locations 121 | include_directories( 122 | # include 123 | ${catkin_INCLUDE_DIRS} 124 | ) 125 | 126 | ## Declare a C++ library 127 | # add_library(${PROJECT_NAME} 128 | # src/${PROJECT_NAME}/perception_msgs.cpp 129 | # ) 130 | 131 | ## Add cmake target dependencies of the library 132 | ## as an example, code may need to be generated before libraries 133 | ## either from message generation or dynamic reconfigure 134 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 135 | 136 | ## Declare a C++ executable 137 | ## With catkin_make all packages are built within a single CMake context 138 | ## The recommended prefix ensures that target names across packages don't collide 139 | # add_executable(${PROJECT_NAME}_node src/perception_msgs_node.cpp) 140 | 141 | ## Rename C++ executable without prefix 142 | ## The above recommended prefix causes long target names, the following renames the 143 | ## target back to the shorter version for ease of user use 144 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 145 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 146 | 147 | ## Add cmake target dependencies of the executable 148 | ## same as for the library above 149 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 150 | 151 | ## Specify libraries to link a library or executable target against 152 | # target_link_libraries(${PROJECT_NAME}_node 153 | # ${catkin_LIBRARIES} 154 | # ) 155 | 156 | ############# 157 | ## Install ## 158 | ############# 159 | 160 | # all install targets should use catkin DESTINATION variables 161 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 162 | 163 | ## Mark executable scripts (Python etc.) for installation 164 | ## in contrast to setup.py, you can choose the destination 165 | # install(PROGRAMS 166 | # scripts/my_python_script 167 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 168 | # ) 169 | 170 | ## Mark executables and/or libraries for installation 171 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 172 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 173 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 174 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 175 | # ) 176 | 177 | ## Mark cpp header files for installation 178 | # install(DIRECTORY include/${PROJECT_NAME}/ 179 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 180 | # FILES_MATCHING PATTERN "*.h" 181 | # PATTERN ".svn" EXCLUDE 182 | # ) 183 | 184 | ## Mark other files for installation (e.g. launch and bag files, etc.) 185 | # install(FILES 186 | # # myfile1 187 | # # myfile2 188 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 189 | # ) 190 | 191 | ############# 192 | ## Testing ## 193 | ############# 194 | 195 | ## Add gtest based cpp test target and link libraries 196 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_perception_msgs.cpp) 197 | # if(TARGET ${PROJECT_NAME}-test) 198 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 199 | # endif() 200 | 201 | ## Add folders to be run by python nosetests 202 | # catkin_add_nosetests(test) 203 | -------------------------------------------------------------------------------- /src/msgs/center_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(center_msgs) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | add_compile_options(-std=c++11) 6 | 7 | ## Find catkin macros and libraries 8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 9 | ## is used, also find other catkin packages 10 | find_package(catkin REQUIRED COMPONENTS 11 | geometry_msgs 12 | message_generation 13 | roscpp 14 | rospy 15 | std_msgs 16 | ) 17 | 18 | ## System dependencies are found with CMake's conventions 19 | # find_package(Boost REQUIRED COMPONENTS system) 20 | 21 | 22 | ## Uncomment this if the package has a setup.py. This macro ensures 23 | ## modules and global scripts declared therein get installed 24 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 25 | # catkin_python_setup() 26 | 27 | ################################################ 28 | ## Declare ROS messages, services and actions ## 29 | ################################################ 30 | 31 | ## To declare and build messages, services or actions from within this 32 | ## package, follow these steps: 33 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 34 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 35 | ## * In the file package.xml: 36 | ## * add a build_depend tag for "message_generation" 37 | ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET 38 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 39 | ## but can be declared for certainty nonetheless: 40 | ## * add a run_depend tag for "message_runtime" 41 | ## * In this file (CMakeLists.txt): 42 | ## * add "message_generation" and every package in MSG_DEP_SET to 43 | ## find_package(catkin REQUIRED COMPONENTS ...) 44 | ## * add "message_runtime" and every package in MSG_DEP_SET to 45 | ## catkin_package(CATKIN_DEPENDS ...) 46 | ## * uncomment the add_*_files sections below as needed 47 | ## and list every .msg/.srv/.action file to be processed 48 | ## * uncomment the generate_messages entry below 49 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 50 | 51 | ## Generate messages in the 'msg' folder 52 | add_message_files( 53 | FILES 54 | Ack.msg 55 | GlobalPath.msg 56 | TruckPose.msg 57 | TosTarget.msg 58 | TruckArrived.msg 59 | VehicleTarget.msg 60 | CalibrateSwitch.msg 61 | DestPoint.msg 62 | VehicleStopAccurate.msg 63 | ExternalCenterCmd.msg 64 | PlcStopCmd.msg 65 | ) 66 | 67 | ## Generate services in the 'srv' folder 68 | # add_service_files( 69 | # FILES 70 | # Service1.srv 71 | # Service2.srv 72 | # ) 73 | 74 | ## Generate actions in the 'action' folder 75 | # add_action_files( 76 | # FILES 77 | # Action1.action 78 | # Action2.action 79 | # ) 80 | 81 | ## Generate added messages and services with any dependencies listed here 82 | generate_messages( 83 | DEPENDENCIES 84 | geometry_msgs 85 | std_msgs 86 | ) 87 | 88 | ################################################ 89 | ## Declare ROS dynamic reconfigure parameters ## 90 | ################################################ 91 | 92 | ## To declare and build dynamic reconfigure parameters within this 93 | ## package, follow these steps: 94 | ## * In the file package.xml: 95 | ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" 96 | ## * In this file (CMakeLists.txt): 97 | ## * add "dynamic_reconfigure" to 98 | ## find_package(catkin REQUIRED COMPONENTS ...) 99 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 100 | ## and list every .cfg file to be processed 101 | 102 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 103 | # generate_dynamic_reconfigure_options( 104 | # cfg/DynReconf1.cfg 105 | # cfg/DynReconf2.cfg 106 | # ) 107 | 108 | ################################### 109 | ## catkin specific configuration ## 110 | ################################### 111 | ## The catkin_package macro generates cmake config files for your package 112 | ## Declare things to be passed to dependent projects 113 | ## INCLUDE_DIRS: uncomment this if your package contains header files 114 | ## LIBRARIES: libraries you create in this project that dependent projects also need 115 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 116 | ## DEPENDS: system dependencies of this project that dependent projects also need 117 | catkin_package( 118 | # INCLUDE_DIRS include 119 | # LIBRARIES center_msgs 120 | # CATKIN_DEPENDS other_catkin_pkg 121 | # DEPENDS system_lib 122 | ) 123 | 124 | ########### 125 | ## Build ## 126 | ########### 127 | 128 | ## Specify additional locations of header files 129 | ## Your package locations should be listed before other locations 130 | include_directories( 131 | # include 132 | ${catkin_INCLUDE_DIRS} 133 | ) 134 | 135 | ## Declare a C++ library 136 | # add_library(${PROJECT_NAME} 137 | # src/${PROJECT_NAME}/center_msgs.cpp 138 | # ) 139 | 140 | ## Add cmake target dependencies of the library 141 | ## as an example, code may need to be generated before libraries 142 | ## either from message generation or dynamic reconfigure 143 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 144 | 145 | ## Declare a C++ executable 146 | ## With catkin_make all packages are built within a single CMake context 147 | ## The recommended prefix ensures that target names across packages don't collide 148 | # add_executable(${PROJECT_NAME}_node src/center_msgs_node.cpp) 149 | 150 | ## Rename C++ executable without prefix 151 | ## The above recommended prefix causes long target names, the following renames the 152 | ## target back to the shorter version for ease of user use 153 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 154 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 155 | 156 | ## Add cmake target dependencies of the executable 157 | ## same as for the library above 158 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 159 | 160 | ## Specify libraries to link a library or executable target against 161 | # target_link_libraries(${PROJECT_NAME}_node 162 | # ${catkin_LIBRARIES} 163 | # ) 164 | 165 | ############# 166 | ## Install ## 167 | ############# 168 | 169 | # all install targets should use catkin DESTINATION variables 170 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 171 | 172 | ## Mark executable scripts (Python etc.) for installation 173 | ## in contrast to setup.py, you can choose the destination 174 | # install(PROGRAMS 175 | # scripts/my_python_script 176 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 177 | # ) 178 | 179 | ## Mark executables and/or libraries for installation 180 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 181 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 182 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 183 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 184 | # ) 185 | 186 | ## Mark cpp header files for installation 187 | # install(DIRECTORY include/${PROJECT_NAME}/ 188 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 189 | # FILES_MATCHING PATTERN "*.h" 190 | # PATTERN ".svn" EXCLUDE 191 | # ) 192 | 193 | ## Mark other files for installation (e.g. launch and bag files, etc.) 194 | # install(FILES 195 | # # myfile1 196 | # # myfile2 197 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 198 | # ) 199 | 200 | ############# 201 | ## Testing ## 202 | ############# 203 | 204 | ## Add gtest based cpp test target and link libraries 205 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_center_msgs.cpp) 206 | # if(TARGET ${PROJECT_NAME}-test) 207 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 208 | # endif() 209 | 210 | ## Add folders to be run by python nosetests 211 | # catkin_add_nosetests(test) 212 | -------------------------------------------------------------------------------- /src/msgs/pnc_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(pnc_msgs) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | add_compile_options(-std=c++11) 6 | 7 | ## Find catkin macros and libraries 8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 9 | ## is used, also find other catkin packages 10 | find_package(catkin REQUIRED COMPONENTS 11 | geometry_msgs 12 | message_generation 13 | roscpp 14 | rospy 15 | std_msgs 16 | ) 17 | 18 | ## System dependencies are found with CMake's conventions 19 | # find_package(Boost REQUIRED COMPONENTS system) 20 | 21 | 22 | ## Uncomment this if the package has a setup.py. This macro ensures 23 | ## modules and global scripts declared therein get installed 24 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 25 | # catkin_python_setup() 26 | 27 | ################################################ 28 | ## Declare ROS messages, services and actions ## 29 | ################################################ 30 | 31 | ## To declare and build messages, services or actions from within this 32 | ## package, follow these steps: 33 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 34 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 35 | ## * In the file package.xml: 36 | ## * add a build_depend tag for "message_generation" 37 | ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET 38 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 39 | ## but can be declared for certainty nonetheless: 40 | ## * add a run_depend tag for "message_runtime" 41 | ## * In this file (CMakeLists.txt): 42 | ## * add "message_generation" and every package in MSG_DEP_SET to 43 | ## find_package(catkin REQUIRED COMPONENTS ...) 44 | ## * add "message_runtime" and every package in MSG_DEP_SET to 45 | ## catkin_package(CATKIN_DEPENDS ...) 46 | ## * uncomment the add_*_files sections below as needed 47 | ## and list every .msg/.srv/.action file to be processed 48 | ## * uncomment the generate_messages entry below 49 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 50 | 51 | ## Generate messages in the 'msg' folder 52 | add_message_files( 53 | FILES 54 | Gear.msg 55 | WayPoint.msg 56 | VirtualWall.msg 57 | VehicleCmd.msg 58 | VehicleInfo.msg 59 | PlanningCmd.msg 60 | DecisionCmd.msg 61 | VehicleState.msg 62 | TruckState.msg 63 | GNSSInfo.msg 64 | ForceVehicleCmd.msg 65 | VehicleOtherCmd.msg 66 | VehicleOtherInfo.msg 67 | ) 68 | 69 | ## Generate services in the 'srv' folder 70 | # add_service_files( 71 | # FILES 72 | # Service1.srv 73 | # Service2.srv 74 | # ) 75 | 76 | ## Generate actions in the 'action' folder 77 | # add_action_files( 78 | # FILES 79 | # Action1.action 80 | # Action2.action 81 | # ) 82 | 83 | ## Generate added messages and services with any dependencies listed here 84 | generate_messages( 85 | DEPENDENCIES 86 | geometry_msgs 87 | std_msgs 88 | ) 89 | 90 | ################################################ 91 | ## Declare ROS dynamic reconfigure parameters ## 92 | ################################################ 93 | 94 | ## To declare and build dynamic reconfigure parameters within this 95 | ## package, follow these steps: 96 | ## * In the file package.xml: 97 | ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" 98 | ## * In this file (CMakeLists.txt): 99 | ## * add "dynamic_reconfigure" to 100 | ## find_package(catkin REQUIRED COMPONENTS ...) 101 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 102 | ## and list every .cfg file to be processed 103 | 104 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 105 | # generate_dynamic_reconfigure_options( 106 | # cfg/DynReconf1.cfg 107 | # cfg/DynReconf2.cfg 108 | # ) 109 | 110 | ################################### 111 | ## catkin specific configuration ## 112 | ################################### 113 | ## The catkin_package macro generates cmake config files for your package 114 | ## Declare things to be passed to dependent projects 115 | ## INCLUDE_DIRS: uncomment this if you package contains header files 116 | ## LIBRARIES: libraries you create in this project that dependent projects also need 117 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 118 | ## DEPENDS: system dependencies of this project that dependent projects also need 119 | catkin_package( 120 | # INCLUDE_DIRS include 121 | # LIBRARIES pnc_msgs 122 | # CATKIN_DEPENDS general geometry_msgs message_generation roscpp rospy std_msgs 123 | # DEPENDS system_lib 124 | ) 125 | 126 | ########### 127 | ## Build ## 128 | ########### 129 | 130 | ## Specify additional locations of header files 131 | ## Your package locations should be listed before other locations 132 | include_directories( 133 | # include 134 | ${catkin_INCLUDE_DIRS} 135 | ) 136 | 137 | ## Declare a C++ library 138 | # add_library(${PROJECT_NAME} 139 | # src/${PROJECT_NAME}/pnc_msgs.cpp 140 | # ) 141 | 142 | ## Add cmake target dependencies of the library 143 | ## as an example, code may need to be generated before libraries 144 | ## either from message generation or dynamic reconfigure 145 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 146 | 147 | ## Declare a C++ executable 148 | ## With catkin_make all packages are built within a single CMake context 149 | ## The recommended prefix ensures that target names across packages don't collide 150 | # add_executable(${PROJECT_NAME}_node src/pnc_msgs_node.cpp) 151 | 152 | ## Rename C++ executable without prefix 153 | ## The above recommended prefix causes long target names, the following renames the 154 | ## target back to the shorter version for ease of user use 155 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 156 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 157 | 158 | ## Add cmake target dependencies of the executable 159 | ## same as for the library above 160 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 161 | 162 | ## Specify libraries to link a library or executable target against 163 | # target_link_libraries(${PROJECT_NAME}_node 164 | # ${catkin_LIBRARIES} 165 | # ) 166 | 167 | ############# 168 | ## Install ## 169 | ############# 170 | 171 | # all install targets should use catkin DESTINATION variables 172 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 173 | 174 | ## Mark executable scripts (Python etc.) for installation 175 | ## in contrast to setup.py, you can choose the destination 176 | # install(PROGRAMS 177 | # scripts/my_python_script 178 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 179 | # ) 180 | 181 | ## Mark executables and/or libraries for installation 182 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 183 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 184 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 185 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 186 | # ) 187 | 188 | ## Mark cpp header files for installation 189 | # install(DIRECTORY include/${PROJECT_NAME}/ 190 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 191 | # FILES_MATCHING PATTERN "*.h" 192 | # PATTERN ".svn" EXCLUDE 193 | # ) 194 | 195 | ## Mark other files for installation (e.g. launch and bag files, etc.) 196 | # install(FILES 197 | # # myfile1 198 | # # myfile2 199 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 200 | # ) 201 | 202 | ############# 203 | ## Testing ## 204 | ############# 205 | 206 | ## Add gtest based cpp test target and link libraries 207 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_pnc_msgs.cpp) 208 | # if(TARGET ${PROJECT_NAME}-test) 209 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 210 | # endif() 211 | 212 | ## Add folders to be run by python nosetests 213 | # catkin_add_nosetests(test) 214 | -------------------------------------------------------------------------------- /src/msgs/hadmap_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(hadmap_msgs) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | # add_compile_options(-std=c++11) 6 | 7 | ## Find catkin macros and libraries 8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 9 | ## is used, also find other catkin packages 10 | find_package(catkin REQUIRED COMPONENTS 11 | geometry_msgs 12 | message_generation 13 | roscpp 14 | rospy 15 | std_msgs 16 | ) 17 | 18 | ## System dependencies are found with CMake's conventions 19 | # find_package(Boost REQUIRED COMPONENTS system) 20 | 21 | 22 | ## Uncomment this if the package has a setup.py. This macro ensures 23 | ## modules and global scripts declared therein get installed 24 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 25 | # catkin_python_setup() 26 | 27 | ################################################ 28 | ## Declare ROS messages, services and actions ## 29 | ################################################ 30 | 31 | ## To declare and build messages, services or actions from within this 32 | ## package, follow these steps: 33 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 34 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 35 | ## * In the file package.xml: 36 | ## * add a build_depend tag for "message_generation" 37 | ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET 38 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 39 | ## but can be declared for certainty nonetheless: 40 | ## * add a run_depend tag for "message_runtime" 41 | ## * In this file (CMakeLists.txt): 42 | ## * add "message_generation" and every package in MSG_DEP_SET to 43 | ## find_package(catkin REQUIRED COMPONENTS ...) 44 | ## * add "message_runtime" and every package in MSG_DEP_SET to 45 | ## catkin_package(CATKIN_DEPENDS ...) 46 | ## * uncomment the add_*_files sections below as needed 47 | ## and list every .msg/.srv/.action file to be processed 48 | ## * uncomment the generate_messages entry below 49 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 50 | 51 | ## Generate messages in the 'msg' folder 52 | # add_message_files( 53 | # FILES 54 | # Message1.msg 55 | # Message2.msg 56 | # ) 57 | 58 | add_message_files( 59 | FILES 60 | LocalMapSection.msg 61 | LocalMapLane.msg 62 | LocalMapPoint.msg 63 | MapLane.msg 64 | MapObject.msg 65 | MapPolyCoeff.msg 66 | MapReferLine.msg 67 | MapSection.msg 68 | MapSplineCoeff.msg 69 | Map.msg 70 | Section.msg 71 | Lane.msg 72 | Point.msg 73 | ) 74 | 75 | add_service_files( 76 | FILES 77 | LocalMap.srv 78 | # Service2.srv 79 | ) 80 | 81 | ## Generate services in the 'srv' folder 82 | # add_service_files( 83 | # FILES 84 | # Service1.srv 85 | # Service2.srv 86 | # ) 87 | 88 | ## Generate actions in the 'action' folder 89 | # add_action_files( 90 | # FILES 91 | # Action1.action 92 | # Action2.action 93 | # ) 94 | 95 | ## Generate added messages and services with any dependencies listed here 96 | # generate_messages( 97 | # DEPENDENCIES 98 | # std_msgs 99 | # ) 100 | 101 | generate_messages( 102 | DEPENDENCIES 103 | geometry_msgs 104 | std_msgs 105 | ) 106 | #generate_messages( 107 | # DEPENDENCIES 108 | # geometry_msgs 109 | # std_msgs 110 | #) 111 | 112 | ################################################ 113 | ## Declare ROS dynamic reconfigure parameters ## 114 | ################################################ 115 | 116 | ## To declare and build dynamic reconfigure parameters within this 117 | ## package, follow these steps: 118 | ## * In the file package.xml: 119 | ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" 120 | ## * In this file (CMakeLists.txt): 121 | ## * add "dynamic_reconfigure" to 122 | ## find_package(catkin REQUIRED COMPONENTS ...) 123 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 124 | ## and list every .cfg file to be processed 125 | 126 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 127 | # generate_dynamic_reconfigure_options( 128 | # cfg/DynReconf1.cfg 129 | # cfg/DynReconf2.cfg 130 | # ) 131 | 132 | ################################### 133 | ## catkin specific configuration ## 134 | ################################### 135 | ## The catkin_package macro generates cmake config files for your package 136 | ## Declare things to be passed to dependent projects 137 | ## INCLUDE_DIRS: uncomment this if you package contains header files 138 | ## LIBRARIES: libraries you create in this project that dependent projects also need 139 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 140 | ## DEPENDS: system dependencies of this project that dependent projects also need 141 | catkin_package( 142 | # INCLUDE_DIRS include 143 | # LIBRARIES hadmap 144 | # CATKIN_DEPENDS roscpp rospy std_msgs 145 | # DEPENDS system_lib 146 | ) 147 | 148 | ########### 149 | ## Build ## 150 | ########### 151 | 152 | ## Specify additional locations of header files 153 | ## Your package locations should be listed before other locations 154 | include_directories( 155 | # include 156 | ${catkin_INCLUDE_DIRS} 157 | ) 158 | 159 | ## Declare a C++ library 160 | # add_library(${PROJECT_NAME} 161 | # src/${PROJECT_NAME}/hadmap.cpp 162 | # ) 163 | 164 | ## Add cmake target dependencies of the library 165 | ## as an example, code may need to be generated before libraries 166 | ## either from message generation or dynamic reconfigure 167 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 168 | 169 | ## Declare a C++ executable 170 | ## With catkin_make all packages are built within a single CMake context 171 | ## The recommended prefix ensures that target names across packages don't collide 172 | # add_executable(${PROJECT_NAME}_node src/hadmap_node.cpp) 173 | 174 | ## Rename C++ executable without prefix 175 | ## The above recommended prefix causes long target names, the following renames the 176 | ## target back to the shorter version for ease of user use 177 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 178 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 179 | 180 | ## Add cmake target dependencies of the executable 181 | ## same as for the library above 182 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 183 | 184 | ## Specify libraries to link a library or executable target against 185 | # target_link_libraries(${PROJECT_NAME}_node 186 | # ${catkin_LIBRARIES} 187 | # ) 188 | 189 | ############# 190 | ## Install ## 191 | ############# 192 | 193 | # all install targets should use catkin DESTINATION variables 194 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 195 | 196 | ## Mark executable scripts (Python etc.) for installation 197 | ## in contrast to setup.py, you can choose the destination 198 | # install(PROGRAMS 199 | # scripts/my_python_script 200 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 201 | # ) 202 | 203 | ## Mark executables and/or libraries for installation 204 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 205 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 206 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 207 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 208 | # ) 209 | 210 | ## Mark cpp header files for installation 211 | # install(DIRECTORY include/${PROJECT_NAME}/ 212 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 213 | # FILES_MATCHING PATTERN "*.h" 214 | # PATTERN ".svn" EXCLUDE 215 | # ) 216 | 217 | ## Mark other files for installation (e.g. launch and bag files, etc.) 218 | # install(FILES 219 | # # myfile1 220 | # # myfile2 221 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 222 | # ) 223 | 224 | ############# 225 | ## Testing ## 226 | ############# 227 | 228 | ## Add gtest based cpp test target and link libraries 229 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_hadmap.cpp) 230 | # if(TARGET ${PROJECT_NAME}-test) 231 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 232 | # endif() 233 | 234 | ## Add folders to be run by python nosetests 235 | # catkin_add_nosetests(test) 236 | -------------------------------------------------------------------------------- /src/conti_radar/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(conti_radar) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | add_compile_options(-std=c++11) 6 | 7 | ## Find catkin macros and libraries 8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 9 | ## is used, also find other catkin packages 10 | find_package(catkin REQUIRED COMPONENTS 11 | roscpp 12 | rospy 13 | std_msgs 14 | sensor_msgs 15 | perception_msgs 16 | pnc_msgs 17 | raw_sensor_msgs 18 | conti_radar_msgs 19 | ) 20 | 21 | ## System dependencies are found with CMake's conventions 22 | # find_package(Boost REQUIRED COMPONENTS system) 23 | 24 | 25 | ## Uncomment this if the package has a setup.py. This macro ensures 26 | ## modules and global scripts declared therein get installed 27 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 28 | # catkin_python_setup() 29 | 30 | ################################################ 31 | ## Declare ROS messages, services and actions ## 32 | ################################################ 33 | 34 | ## To declare and build messages, services or actions from within this 35 | ## package, follow these steps: 36 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 37 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 38 | ## * In the file package.xml: 39 | ## * add a build_depend tag for "message_generation" 40 | ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET 41 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 42 | ## but can be declared for certainty nonetheless: 43 | ## * add a run_depend tag for "message_runtime" 44 | ## * In this file (CMakeLists.txt): 45 | ## * add "message_generation" and every package in MSG_DEP_SET to 46 | ## find_package(catkin REQUIRED COMPONENTS ...) 47 | ## * add "message_runtime" and every package in MSG_DEP_SET to 48 | ## catkin_package(CATKIN_DEPENDS ...) 49 | ## * uncomment the add_*_files sections below as needed 50 | ## and list every .msg/.srv/.action file to be processed 51 | ## * uncomment the generate_messages entry below 52 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 53 | 54 | ## Generate messages in the 'msg' folder 55 | # add_message_files( 56 | # FILES 57 | # Message1.msg 58 | # Message2.msg 59 | # ) 60 | 61 | ## Generate services in the 'srv' folder 62 | # add_service_files( 63 | # FILES 64 | # Service1.srv 65 | # Service2.srv 66 | # ) 67 | 68 | ## Generate actions in the 'action' folder 69 | # add_action_files( 70 | # FILES 71 | # Action1.action 72 | # Action2.action 73 | # ) 74 | 75 | ## Generate added messages and services with any dependencies listed here 76 | # generate_messages( 77 | # DEPENDENCIES 78 | # std_msgs 79 | # ) 80 | 81 | ################################################ 82 | ## Declare ROS dynamic reconfigure parameters ## 83 | ################################################ 84 | 85 | ## To declare and build dynamic reconfigure parameters within this 86 | ## package, follow these steps: 87 | ## * In the file package.xml: 88 | ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" 89 | ## * In this file (CMakeLists.txt): 90 | ## * add "dynamic_reconfigure" to 91 | ## find_package(catkin REQUIRED COMPONENTS ...) 92 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 93 | ## and list every .cfg file to be processed 94 | 95 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 96 | # generate_dynamic_reconfigure_options( 97 | # cfg/DynReconf1.cfg 98 | # cfg/DynReconf2.cfg 99 | # ) 100 | 101 | ################################### 102 | ## catkin specific configuration ## 103 | ################################### 104 | ## The catkin_package macro generates cmake config files for your package 105 | ## Declare things to be passed to dependent projects 106 | ## INCLUDE_DIRS: uncomment this if you package contains header files 107 | ## LIBRARIES: libraries you create in this project that dependent projects also need 108 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 109 | ## DEPENDS: system dependencies of this project that dependent projects also need 110 | catkin_package( 111 | INCLUDE_DIRS include 112 | LIBRARIES 113 | CATKIN_DEPENDS #roscpp rospy std_msgs 114 | # DEPENDS system_lib 115 | ) 116 | 117 | ########### 118 | ## Build ## 119 | ########### 120 | 121 | ## Specify additional locations of header files 122 | ## Your package locations should be listed before other locations 123 | include_directories( 124 | # include 125 | include/conti_radar 126 | include 127 | ${catkin_INCLUDE_DIRS} 128 | ) 129 | 130 | ## Declare a C++ library 131 | add_library(${PROJECT_NAME} 132 | src/radar_can.cpp 133 | src/radar_can_conti.cpp 134 | ) 135 | 136 | 137 | find_library(CanCmd_LIBRARIES 138 | CanCmd 139 | PATHS ./lib/can) 140 | 141 | message(STATUS ${CanCmd_LIBRARIES}) 142 | 143 | target_link_libraries(${PROJECT_NAME} conti_radar_lib ${CanCmd_LIBRARIES}) 144 | 145 | add_subdirectory(src/conti_radar) 146 | 147 | add_executable(conti_radar_node tool/conti_radar_node.cpp) 148 | target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${PROJECT_NAME} conti_radar_lib ${CanCmd_LIBRARIES}) 149 | 150 | install(FILES ${CanCmd_LIBRARIES} 151 | DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) 152 | 153 | install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 154 | ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 155 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 156 | RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) 157 | ## Add cmake target dependencies of the library 158 | ## as an example, code may need to be generated before libraries 159 | ## either from message generation or dynamic reconfigure 160 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 161 | 162 | ## Declare a C++ executable 163 | ## With catkin_make all packages are built within a single CMake context 164 | ## The recommended prefix ensures that target names across packages don't collide 165 | # add_executable(${PROJECT_NAME}_node src/conti_radar_node.cpp) 166 | 167 | ## Rename C++ executable without prefix 168 | ## The above recommended prefix causes long target names, the following renames the 169 | ## target back to the shorter version for ease of user use 170 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 171 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 172 | 173 | ## Add cmake target dependencies of the executable 174 | ## same as for the library above 175 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 176 | 177 | ## Specify libraries to link a library or executable target against 178 | # target_link_libraries(${PROJECT_NAME}_node 179 | # ${catkin_LIBRARIES} 180 | # ) 181 | 182 | ############# 183 | ## Install ## 184 | ############# 185 | 186 | # all install targets should use catkin DESTINATION variables 187 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 188 | 189 | ## Mark executable scripts (Python etc.) for installation 190 | ## in contrast to setup.py, you can choose the destination 191 | # install(PROGRAMS 192 | # scripts/my_python_script 193 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 194 | # ) 195 | 196 | ## Mark executables and/or libraries for installation 197 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 198 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 199 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 200 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 201 | # ) 202 | 203 | ## Mark cpp header files for installation 204 | # install(DIRECTORY include/${PROJECT_NAME}/ 205 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 206 | # FILES_MATCHING PATTERN "*.h" 207 | # PATTERN ".svn" EXCLUDE 208 | # ) 209 | 210 | ## Mark other files for installation (e.g. launch and bag files, etc.) 211 | install( 212 | DIRECTORY launch/ 213 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch 214 | FILES_MATCHING PATTERN "*.launch" 215 | ) 216 | 217 | install( 218 | DIRECTORY config/ 219 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config 220 | FILES_MATCHING PATTERN "*.yaml" 221 | ) 222 | 223 | ############# 224 | ## Testing ## 225 | ############# 226 | 227 | ## Add gtest based cpp test target and link libraries 228 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_conti_radar.cpp) 229 | # if(TARGET ${PROJECT_NAME}-test) 230 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 231 | # endif() 232 | 233 | ## Add folders to be run by python nosetests 234 | # catkin_add_nosetests(test) 235 | -------------------------------------------------------------------------------- /src/conti_radar/src/radar_can.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by zxkj on 18-12-01. 3 | // 4 | #include "radar_can.h" 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | 11 | bool RadarCan::is_quit_ = false; 12 | 13 | RadarCan::RadarCan() 14 | { 15 | is_recv_info_quit_ = false; 16 | missing_can_info_counter_ = 0; 17 | 18 | canOpen(); 19 | } 20 | 21 | RadarCan::~RadarCan() 22 | { 23 | mid_radar_info_pub_.shutdown(); 24 | left_radar_info_pub_.shutdown(); 25 | right_radar_info_pub_.shutdown(); 26 | canClose(); 27 | 28 | ros::shutdown(); 29 | } 30 | 31 | void RadarCan::recvInfoCallback(const ros::TimerEvent&) 32 | { 33 | CAN_DataFrame buf[100]; // data buffer 34 | std::vector recs; // CAN data frame struct, is related to recv_info_freq_ 35 | CAN_ErrorInformation err_info; 36 | 37 | for(size_t i = 0; i < can_parameters_.size(); ++i) 38 | { 39 | int rec_len = 0; 40 | if ((rec_len = CAN_ChannelReceive(can_device_handle_, can_parameters_[i].can_channel_index, buf, 41 | 100, -1)) > 0) 42 | { 43 | missing_can_info_counter_ = 0; 44 | CAN_ClearReceiveBuffer(can_device_handle_, 0); 45 | for(int i = 0; i < rec_len; i++) 46 | { 47 | recs.emplace_back(buf[i]); 48 | } 49 | ROS_INFO("I recv %d CAN frames from radar",rec_len); 50 | transformCanToInfo(recs,rec_len); 51 | } 52 | } 53 | } 54 | 55 | 56 | void RadarCan::recvVehicleInfoCallback(const pnc_msgs::VehicleInfo::ConstPtr vehicleinfo) 57 | { 58 | vehicle_msg_speed_ = vehicleinfo->vehicle_speed; 59 | switch (vehicleinfo->gear.value) 60 | { 61 | case pnc_msgs::Gear::GEAR_P : 62 | case pnc_msgs::Gear::GEAR_N : vehicle_msg_motion_status_ = 0; break; 63 | case pnc_msgs::Gear::GEAR_D : vehicle_msg_motion_status_ = 1; break; 64 | case pnc_msgs::Gear::GEAR_R : vehicle_msg_motion_status_ = 2; break; 65 | default:vehicle_msg_motion_status_ = 0; break; 66 | } 67 | 68 | missing_vehicle_info_counter_ = 0; 69 | } 70 | 71 | 72 | void RadarCan::recvGnssInfoCallback(const raw_sensor_msgs::GnssImuInfo::ConstPtr gnssimuinfo) 73 | { 74 | vehicle_msg_yaw_rate_ = gnssimuinfo->yaw_rate; 75 | missing_gnss_info_counter_ = 0; 76 | } 77 | 78 | //void RadarCan::quit() 79 | //{ 80 | // mid_radar_info_pub_.shutdown(); 81 | // left_radar_info_pub_.shutdown(); 82 | // right_radar_info_pub_.shutdown(); 83 | // canClose(); 84 | // 85 | // ros::shutdown(); 86 | //} 87 | 88 | 89 | void RadarCan::checkMsgCallback(const ros::TimerEvent&) 90 | { 91 | ++missing_can_info_counter_; 92 | ++missing_gnss_info_counter_; 93 | ++missing_vehicle_info_counter_; 94 | 95 | if (missing_can_info_counter_ > 10) 96 | ROS_ERROR("can't receive radar msgs!"); 97 | 98 | if (missing_vehicle_info_counter_ > 10) 99 | ROS_ERROR("can't recevie vehicle_info msgs!"); 100 | 101 | if (missing_gnss_info_counter_ > 10) 102 | ROS_ERROR("can't receive gnss_imu_info msgs!"); 103 | 104 | // signal(SIGINT,&RadarCan::quit); 105 | } 106 | 107 | void RadarCan::sendReqVehiclemsgCallback(const ros::TimerEvent&) 108 | { 109 | CAN_DataFrame send[2]; 110 | 111 | if(time_sharing_counter_ % 3 == 0) 112 | { 113 | send[0].uID = 0x300; 114 | send[1].uID = 0x301; 115 | } 116 | else if (time_sharing_counter_ % 3 == 1) 117 | { 118 | send[0].uID = 0x310; 119 | send[1].uID = 0x311; 120 | } 121 | else if (time_sharing_counter_ % 3 == 2) 122 | { 123 | send[0].uID = 0x320; 124 | send[1].uID = 0x321; 125 | } 126 | 127 | send[0].bRemoteFlag = 0; // 0-数据帧；1-远程帧 128 | send[0].bExternFlag = 0; // 0-标准帧；1-扩展帧 129 | send[0].nDataLen = 2; 130 | send[0].nSendType = 0; // 0-正常发送;1-单次发送;2-自发自收;3-单次自发自收 131 | send[0].arryData[0] = (uint8_t)(((((uint16_t)(vehicle_msg_speed_ / 3.6 / 0.02)) >> 8) & 0x1F) + (vehicle_msg_motion_status_ << 6)); 132 | send[0].arryData[1] = (uint8_t)(((uint16_t)(vehicle_msg_speed_ / 3.6 / 0.02)) & 0x00FF); 133 | while(CAN_ChannelSend(can_device_handle_, 0, &send[0] , 1) == 0); 134 | 135 | send[1].bRemoteFlag = 0; // 0-数据帧；1-远程帧 136 | send[1].bExternFlag = 0; // 0-标准帧；1-扩展帧 137 | send[1].nDataLen = 2; 138 | send[1].nSendType = 0; // 0-正常发送;1-单次发送;2-自发自收;3-单次自发自收 139 | send[1].arryData[0] = (uint8_t)((((uint16_t)(vehicle_msg_yaw_rate_ / 0.01 + 32768)) & 0xFF00) >> 8); 140 | send[1].arryData[1] = (uint8_t)(((uint16_t)(vehicle_msg_yaw_rate_ / 0.01 + 32768)) & 0x00FF); 141 | while(CAN_ChannelSend(can_device_handle_, 0, &send[1] , 1) == 0); 142 | 143 | 144 | ++time_sharing_counter_; 145 | } 146 | 147 | 148 | 149 | 150 | int RadarCan::doListening() 151 | { 152 | if(can_device_handle_ > 0) 153 | { 154 | for(size_t i = 0; i < can_parameters_.size(); ++i) 155 | { 156 | can_parameters_[i].can_status = canStart(can_parameters_[i]); 157 | } 158 | 159 | ROS_INFO("begin to listen!"); 160 | 161 | vehicle_info_sub_ = node_handle_.subscribe( 162 | "pnc_msgs/vehicle_info", 1, &RadarCan::recvVehicleInfoCallback, this); 163 | gnss_info_sub_ = node_handle_.subscribe( 164 | "/trunk_info/gnss_ins", 1, &RadarCan::recvGnssInfoCallback, this); 165 | 166 | 167 | left_radar_info_pub_ = node_handle_.advertise( 168 | "/conti_radar_0/objects", 1);//conti_radar_left 169 | mid_radar_info_pub_ = node_handle_.advertise( 170 | "/conti_radar_1/objects", 1);//conti_radar_mid 171 | right_radar_info_pub_ = node_handle_.advertise( 172 | "/conti_radar_2/objects", 1);//conti_radar_right 173 | 174 | recv_info_sub_ = node_handle_.createTimer( 175 | ros::Duration(1.0 / recv_info_freq_), &RadarCan::recvInfoCallback, this, false, true); 176 | check_msg_ = node_handle_.createTimer( 177 | ros::Duration(1.0 / check_msg_freq_), &RadarCan::checkMsgCallback, this, false, true); 178 | send_req_vehicle_msg_ = node_handle_.createTimer( 179 | ros::Duration(1.0 / send_req_vehicle_msg_freq_), &RadarCan::sendReqVehiclemsgCallback, this, false, true); 180 | ros::spin(); 181 | 182 | ROS_INFO("stop to listen!"); 183 | } 184 | } 185 | 186 | 187 | 188 | int RadarCan::canOpen() 189 | { 190 | if ((can_device_handle_ = CAN_DeviceOpen(LCMINIPCIE_252, 0, 0)) == 0) //LCMINIPCIE_252 ACUSB_132B 191 | { 192 | ROS_ERROR("open device error."); 193 | return -1; 194 | } 195 | ROS_INFO("open device ok."); 196 | return 0; 197 | } 198 | 199 | int RadarCan::canStart(CanParameters can_parameters) 200 | { 201 | CAN_InitConfig can_init_config; 202 | 203 | can_init_config.dwAccCode = can_parameters.can_acc_code; 204 | can_init_config.dwAccMask = can_parameters.can_acc_mask; 205 | can_init_config.nFilter = can_parameters.can_filter_mode; //滤波方式 206 | can_init_config.bMode = can_parameters.can_work_mode; //工作模式 207 | can_init_config.nBtrType = 1; //定位时参数模式（1表示SJA1000, O表示LPC21XX) 208 | 209 | switch (can_parameters.can_baudrate) 210 | { 211 | case 250: 212 | { 213 | can_init_config.dwBtr[0] = 0x01; //BTR0 0014-1M 0016-800K 001C-500K 001C-250K 031C-12K 214 | can_init_config.dwBtr[1] = 0x1c; //BTR1 041C-100K 215 | 216 | break; 217 | } 218 | case 500: 219 | { 220 | can_init_config.dwBtr[0] = 0x00; 221 | can_init_config.dwBtr[1] = 0x1c; 222 | 223 | break; 224 | } 225 | default: 226 | break; 227 | } 228 | can_init_config.dwBtr[2] = 0; 229 | can_init_config.dwBtr[3] = 0; 230 | 231 | if(CAN_RESULT_OK != CAN_ChannelStart(can_device_handle_, can_parameters.can_channel_index, &can_init_config)) 232 | { 233 | ROS_ERROR("start CAN %d error!", can_parameters.can_channel_index); 234 | return -1; 235 | } 236 | 237 | ROS_INFO("start CAN %d success!", can_parameters.can_channel_index ); 238 | return 0; 239 | } 240 | 241 | int RadarCan::canClose() 242 | { 243 | for(size_t i = 0; i < can_parameters_.size(); ++i) 244 | { 245 | if(can_parameters_[i].can_status == 0) 246 | { 247 | CAN_ChannelStop(can_device_handle_, can_parameters_[i].can_channel_index); 248 | ROS_INFO("close can %d ok!", can_parameters_[i].can_channel_index); 249 | } 250 | } 251 | if(can_device_handle_ > 0) 252 | { 253 | CAN_DeviceClose(can_device_handle_); 254 | ROS_INFO("close device ok!"); 255 | } 256 | } 257 | -------------------------------------------------------------------------------- /src/conti_radar/src/radar_can_conti.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by zxkj on 18-12-01. 3 | // 4 | #include "radar_can_conti.h" 5 | #include 6 | 7 | 8 | RadarCan_Conti::RadarCan_Conti() 9 | { 10 | //channel0,500K,no extern,no remote,normal mode,double filter,acccode,accmode,can status 11 | CanParameters can_init_parameter_; 12 | can_init_parameter_.can_channel_index = 0; //0:channel0, 1:channel1 13 | can_init_parameter_.can_baudrate = 500; //set baudrate 500K 14 | can_init_parameter_.can_is_extern = 0; //0:standard frame, 1:extern frame 15 | can_init_parameter_.can_is_remote = 0; //0:data frame, 1:remote frame 16 | can_init_parameter_.can_work_mode = 0; //0:normal, 1:listening only 17 | can_init_parameter_.can_filter_mode = 0; //0:no use, 1:double filter, 2:single filter 18 | can_init_parameter_.can_acc_code = 0x000080C7; //not use 19 | can_init_parameter_.can_acc_mask = 0xFFFF7F00; //not use 20 | can_init_parameter_.can_status = -1; // 21 | 22 | can_parameters_.push_back(can_init_parameter_);//can0 23 | } 24 | 25 | bool RadarCan_Conti::checkInfo() 26 | { 27 | bool flag = true; 28 | return flag; 29 | } 30 | 31 | void RadarCan_Conti::setup() 32 | { 33 | node_handle_.param("/conti_radar/recv_info_freq", recv_info_freq_, 1000); 34 | node_handle_.param("/conti_radar/max_missing_times", max_missing_times_, 100); 35 | 36 | node_handle_.param("/conti_radar/long_offset_mid", long_offset_mid_, 0.0);//3.6 37 | node_handle_.param("/conti_radar/lat_offset_mid", lat_offset_mid_, 0.0);//0.23 38 | node_handle_.param("/conti_radar/angular_deviation_id", angular_deviation_mid_, 0.0); 39 | 40 | node_handle_.param("/conti_radar/long_offset_left", long_offset_left_, 6.0); 41 | node_handle_.param("/conti_radar/lat_offset_left", lat_offset_left_, -1.12); 42 | node_handle_.param("/conti_radar/angular_deviation_left", angular_deviation_left_, 165.0); 43 | 44 | node_handle_.param("/conti_radar/long_offset_right", long_offset_right_, 6.0); 45 | node_handle_.param("/conti_radar/lat_offset_right", lat_offset_right_, 1.12); 46 | node_handle_.param("/conti_radar/angular_deviation_right", angular_deviation_right_, 15.0); 47 | 48 | node_handle_.param("/conti_radar/check_msg_freq", check_msg_freq_, 10); 49 | node_handle_.param("/conti_radar/send_req_vehicle_msg_freq", send_req_vehicle_msg_freq_, 50); 50 | 51 | 52 | angular_deviation_mid_ = angular_deviation_mid_ / 180 * M_PI; 53 | angular_deviation_left_ = angular_deviation_left_ / 180 * M_PI; 54 | angular_deviation_right_ = angular_deviation_right_ / 180 * M_PI; 55 | 56 | object_mid_num_ = -1; 57 | object_left_num_ = -1; 58 | object_right_num_ = -1; 59 | 60 | general_info_arr_mid_.clear(); 61 | quality_info_arr_mid_.clear(); 62 | extended_info_arr_mid_.clear(); 63 | 64 | general_info_arr_left_.clear(); 65 | quality_info_arr_left_.clear(); 66 | extended_info_arr_left_.clear(); 67 | 68 | general_info_arr_right_.clear(); 69 | quality_info_arr_right_.clear(); 70 | extended_info_arr_right_.clear(); 71 | } 72 | 73 | 74 | void RadarCan_Conti::leftMessagePub() 75 | { 76 | // if(object_left_num_ == -1)//if not reassign the object_num_ in OBJECT_LIST_STATUS branch 77 | // { 78 | // general_info_arr_left_.clear(); 79 | // quality_info_arr_left_.clear(); 80 | // extended_info_arr_left_.clear(); 81 | 82 | // // ROS_ERROR("error num of left object"); 83 | // } 84 | // else if(object_left_num_ >= 0) 85 | // { 86 | // if(object_left_num_ == general_info_arr_left_.size() && 87 | // object_left_num_ == quality_info_arr_left_.size() && 88 | // object_left_num_ == extended_info_arr_left_.size()) //in a period recv all the CAN frame 89 | // { 90 | // conti_radar_msgs::Object object_; 91 | // conti_radar_msgs::Objects objects_msgs_; 92 | 93 | // for(size_t i = 0; i < general_info_arr_left_.size(); ++i) 94 | // { 95 | // object_.id = general_info_arr_left_[i].object_id_; 96 | 97 | // double object_box_center_x = general_info_arr_left_[i].object_dist_long_; 98 | // double object_box_center_y = general_info_arr_left_[i].object_dist_lat_; 99 | 100 | // object_.object_box_center.x = object_box_center_x * cos(angular_deviation_left_) - object_box_center_y * sin(angular_deviation_left_) + long_offset_left_; 101 | // object_.object_box_center.y = object_box_center_x * sin(angular_deviation_left_) + object_box_center_y * cos(angular_deviation_left_) + lat_offset_left_; 102 | // // double temp = object_.object_box_center.y;//for lux object 103 | // // object_.object_box_center.y = -object_.object_box_center.x;//for lux object 104 | // // object_.object_box_center.x = temp; 105 | 106 | // object_.relative_velocity.x = general_info_arr_left_[i].object_vre_long_ * cos(angular_deviation_left_) - general_info_arr_left_[i].object_vre_lat_ * sin(angular_deviation_left_); 107 | // object_.relative_velocity.y = general_info_arr_left_[i].object_vre_long_ * sin(angular_deviation_left_) + general_info_arr_left_[i].object_vre_lat_ * cos(angular_deviation_left_); 108 | // // temp = object_.relative_velocity.y;//for lux object 109 | // // object_.relative_velocity.y = -object_.relative_velocity.x;//for lux object 110 | // // object_.relative_velocity.x = temp; 111 | 112 | // for(size_t j = 0; j < quality_info_arr_left_.size(); ++j) 113 | // { 114 | // if(object_.id == quality_info_arr_left_[j].object_id_) 115 | // { 116 | // //if need any other quality info message can manage here 117 | // } 118 | // } 119 | // for(size_t k = 0; k < extended_info_arr_left_.size(); ++k) 120 | // { 121 | // if(object_.id == extended_info_arr_left_[k].object_id_) 122 | // { 123 | // object_.object_box_size.x = extended_info_arr_left_[k].object_length_; 124 | // object_.object_box_size.y = extended_info_arr_left_[k].object_width_; 125 | // object_.classification = extended_info_arr_left_[k].object_class_; 126 | // //object_.object_box_orientation = -extended_info_arr_left_[k].object_orientation_angel_ - 75.0;//rotate box orientation; 127 | 128 | // object_.relative_acceleration.x = extended_info_arr_left_[k].object_arel_long_ * cos(angular_deviation_left_) - extended_info_arr_left_[k].object_arel_lat_ * sin(angular_deviation_left_); 129 | // object_.relative_acceleration.y = extended_info_arr_left_[k].object_arel_long_ * sin(angular_deviation_left_) + extended_info_arr_left_[k].object_arel_lat_ * cos(angular_deviation_left_); 130 | // // temp = object_.relative_acceleration.y;//for lux object 131 | // // object_.relative_acceleration.y = -object_.relative_acceleration.x;//for lux object 132 | // // object_.relative_acceleration.x = temp; 133 | // } 134 | // } 135 | // objects_msgs_.objects.push_back(object_); 136 | // } 137 | 138 | // objects_msgs_.header.frame_id = "conti_radar_left";//conti_radar_left 139 | // objects_msgs_.header.stamp = ros::Time::now(); 140 | // left_radar_info_pub_.publish(objects_msgs_); 141 | 142 | // general_info_arr_left_.clear(); 143 | // quality_info_arr_left_.clear(); 144 | // extended_info_arr_left_.clear(); 145 | 146 | // object_left_num_ = -1; 147 | // } 148 | // } 149 | } 150 | 151 | 152 | void RadarCan_Conti::midMessagePub() 153 | { 154 | // ROS_INFO("general: %d",general_info_arr_mid_.size()); 155 | // ROS_INFO("quality: %d",quality_info_arr_mid_.size()); 156 | // ROS_INFO("extended: %d",extended_info_arr_mid_.size()); 157 | 158 | if(object_mid_num_ == -1)//if not reassign the object_num_ in OBJECT_LIST_STATUS branch 159 | { 160 | general_info_arr_mid_.clear(); 161 | quality_info_arr_mid_.clear(); 162 | extended_info_arr_mid_.clear(); 163 | // ROS_ERROR("error num of mid object"); 164 | } 165 | else if(object_mid_num_ >= 0) 166 | { 167 | if(object_mid_num_ == general_info_arr_mid_.size() && 168 | object_mid_num_ == quality_info_arr_mid_.size() && 169 | object_mid_num_ == extended_info_arr_mid_.size()) //in a period recv all the CAN frame 170 | { 171 | conti_radar_msgs::conti_Object object_; 172 | conti_radar_msgs::conti_Objects objects_msgs_; 173 | 174 | for(size_t i = 0; i < general_info_arr_mid_.size(); ++i) 175 | { 176 | object_.ID = general_info_arr_mid_[i].object_id_ + 200; 177 | object_.Object_DistLong = general_info_arr_mid_[i].object_dist_long_; 178 | object_.Object_DistLat = general_info_arr_mid_[i].object_dist_lat_; 179 | object_.Object_VrelLong = general_info_arr_mid_[i].object_vre_long_; 180 | object_.Object_VrelLat = general_info_arr_mid_[i].object_vre_lat_; 181 | object_.Object_DynProp = general_info_arr_mid_[i].object_dyn_prop_; 182 | object_.Object_RCS = general_info_arr_mid_[i].object_rcs_; 183 | 184 | for(size_t j = 0; j < quality_info_arr_mid_.size(); ++j) 185 | { 186 | if(object_.ID == quality_info_arr_mid_[j].object_id_ + 200) 187 | { 188 | object_.Obj_ProbOfExist = quality_info_arr_mid_[j].object_prob_of_exist_; 189 | } 190 | } 191 | for(size_t k = 0; k < extended_info_arr_mid_.size(); ++k) 192 | { 193 | if(object_.ID == extended_info_arr_mid_[k].object_id_ + 200) 194 | { 195 | object_.Object_OrientationAngel = extended_info_arr_mid_[k].object_orientation_angel_; 196 | object_.Object_Length = extended_info_arr_mid_[k].object_length_; 197 | object_.Object_Width = extended_info_arr_mid_[k].object_width_; 198 | } 199 | } 200 | objects_msgs_.objects.push_back(object_); 201 | } 202 | objects_msgs_.header.frame_id = "conti_radar_mid";//conti_radar_mid 203 | objects_msgs_.header.stamp = ros::Time::now(); 204 | mid_radar_info_pub_.publish(objects_msgs_); 205 | 206 | general_info_arr_mid_.clear(); 207 | quality_info_arr_mid_.clear(); 208 | extended_info_arr_mid_.clear(); 209 | 210 | object_mid_num_ = -1; 211 | } 212 | } 213 | } 214 | 215 | 216 | void RadarCan_Conti::rightMessagePub() 217 | { 218 | // if(object_right_num_ == -1)//if not reassign the object_num_ in OBJECT_LIST_STATUS branch 219 | // { 220 | 221 | // general_info_arr_right_.clear(); 222 | // quality_info_arr_right_.clear(); 223 | // extended_info_arr_right_.clear(); 224 | 225 | // // ROS_ERROR("error num of right object"); 226 | // } 227 | // else if(object_right_num_ >= 0) 228 | // { 229 | // if(object_right_num_ == general_info_arr_right_.size() && 230 | // object_right_num_ == quality_info_arr_right_.size() && 231 | // object_right_num_ == extended_info_arr_right_.size()) //in a period recv all the CAN frame 232 | // { 233 | // conti_radar_msgs::Object object_; 234 | // conti_radar_msgs::Objects objects_msgs_; 235 | 236 | // for(size_t i = 0; i < general_info_arr_right_.size(); ++i) 237 | // { 238 | // object_.id = general_info_arr_right_[i].object_id_ + 400; 239 | 240 | // double object_box_center_x = general_info_arr_right_[i].object_dist_long_; 241 | // double object_box_center_y = general_info_arr_right_[i].object_dist_lat_; 242 | 243 | // object_.object_box_center.x = object_box_center_x * cos(angular_deviation_right_) + object_box_center_y * sin(angular_deviation_right_) + long_offset_right_; 244 | // object_.object_box_center.y = -(object_box_center_x * sin(angular_deviation_right_) - object_box_center_y * cos(angular_deviation_right_)) + lat_offset_right_; 245 | // // double temp = object_.object_box_center.y;//for lux object 246 | // // object_.object_box_center.y = -object_.object_box_center.x;//for lux object 247 | // // object_.object_box_center.x = temp; 248 | 249 | // object_.relative_velocity.x = general_info_arr_right_[i].object_vre_long_ * cos(angular_deviation_right_) + general_info_arr_right_[i].object_vre_lat_ * sin(angular_deviation_right_); 250 | // object_.relative_velocity.y = -(general_info_arr_right_[i].object_vre_long_ * sin(angular_deviation_right_) - general_info_arr_right_[i].object_vre_lat_ * cos(angular_deviation_right_)); 251 | // // temp = object_.relative_velocity.y;//for lux object 252 | // // object_.relative_velocity.y = -object_.relative_velocity.x;//for lux object 253 | // // object_.relative_velocity.x = temp; 254 | 255 | // for(size_t j = 0; j < quality_info_arr_right_.size(); ++j) 256 | // { 257 | // if(object_.id == quality_info_arr_right_[j].object_id_ + 400) 258 | // { 259 | // //if need any other quality info message can manage here 260 | // } 261 | // } 262 | // for(size_t k = 0; k < extended_info_arr_right_.size(); ++k) 263 | // { 264 | // if(object_.id == extended_info_arr_right_[k].object_id_ + 400) 265 | // { 266 | // object_.object_box_size.x = extended_info_arr_right_[k].object_length_; 267 | // object_.object_box_size.y = extended_info_arr_right_[k].object_width_; 268 | // object_.classification = extended_info_arr_right_[k].object_class_; 269 | // //object_.object_box_orientation = extended_info_arr_right_[k].object_orientation_angel_ + 75;//rotate box orientation; 270 | // object_.relative_acceleration.x = extended_info_arr_right_[k].object_arel_long_ * cos(angular_deviation_right_) + extended_info_arr_right_[k].object_arel_lat_ * sin(angular_deviation_right_); 271 | // object_.relative_acceleration.y = -(extended_info_arr_right_[k].object_arel_long_ * sin(angular_deviation_right_) - extended_info_arr_right_[k].object_arel_lat_ * cos(angular_deviation_right_)); 272 | // // temp = object_.relative_acceleration.y;//for lux object 273 | // // object_.relative_acceleration.y = -object_.relative_acceleration.x;//for lux object 274 | // // object_.relative_acceleration.x = temp; 275 | // } 276 | // } 277 | // objects_msgs_.objects.push_back(object_); 278 | // } 279 | 280 | // objects_msgs_.header.frame_id = "conti_radar_right";//conti_radar_right 281 | // objects_msgs_.header.stamp = ros::Time::now(); 282 | // right_radar_info_pub_.publish(objects_msgs_); 283 | 284 | // general_info_arr_right_.clear(); 285 | // quality_info_arr_right_.clear(); 286 | // extended_info_arr_right_.clear(); 287 | 288 | // object_right_num_ = -1; 289 | // } 290 | // } 291 | } 292 | 293 | 294 | void RadarCan_Conti::transformCanToInfo(std::vector& can_frames, int len) 295 | { 296 | for(int i = 0; i < len; i++) 297 | { 298 | int current_id = can_frames[i].uID; 299 | switch (current_id) 300 | { 301 | // case RADAR_STATE_MID: 302 | // { 303 | // radar_state_.unPackBytes(can_frames[i]); 304 | // ROS_ERROR("getMaxDistanceCfg:%d",radar_state_.getMaxDistanceCfg()); 305 | // ROS_ERROR("getErrorState:%d",radar_state_.getErrorState()); 306 | // ROS_ERROR("getSensorID:%d",radar_state_.getSensorID()); 307 | // ROS_ERROR("getSortIndex:%d",radar_state_.getSortIndex()); 308 | // ROS_ERROR("getRadarPower:%d",radar_state_.getRadarPower()); 309 | // ROS_ERROR("getOutputType:%d",radar_state_.getOutputType()); 310 | // ROS_ERROR("getSendQuality:%d",radar_state_.getSendQuality()); 311 | // ROS_ERROR("getSendExtInfo:%d",radar_state_.getSendExtInfo()); 312 | // ROS_ERROR("getMotionRxState:%d",radar_state_.getMotionRxState()); 313 | // ROS_ERROR("getRCS_Threshold:%d",radar_state_.getRCS_Threshold()); 314 | // } 315 | case OBJECT_LIST_STATUS_MID://)0x60A 316 | { 317 | object_list_status_.unPackBytes(can_frames[i]); 318 | object_mid_num_= object_list_status_.getNumOfObj(); 319 | general_info_arr_mid_.clear(); 320 | quality_info_arr_mid_.clear(); 321 | extended_info_arr_mid_.clear(); 322 | 323 | ROS_INFO("I CAN detect %d objects in mid radar",object_mid_num_); 324 | 325 | } 326 | break; 327 | case OBJECT_GENERAL_INFO_MID: 328 | { 329 | object_general_info_.unPackBytes(can_frames[i]); 330 | GeneralInfo general_info_; 331 | general_info_ = object_general_info_.getGeneralInfo(); 332 | general_info_arr_mid_.emplace_back(general_info_); 333 | } 334 | break; 335 | case OBJECT_QUALITY_INFO_MID: 336 | { 337 | object_quality_info_.unPackBytes(can_frames[i]); 338 | QualityInfo quality_info_; 339 | quality_info_ = object_quality_info_.getQualityInfo(); 340 | quality_info_arr_mid_.emplace_back(quality_info_); 341 | } 342 | break; 343 | case OBJECT_EXTENDED_INFO_MID: 344 | { 345 | object_extended_info_.unPackBytes(can_frames[i]); 346 | ExtendedInfo extended_info_; 347 | extended_info_ = object_extended_info_.getExtendedInfo(); 348 | extended_info_arr_mid_.emplace_back(extended_info_); 349 | } 350 | break; 351 | case OBJECT_LIST_STATUS_LEFT: 352 | { 353 | object_list_status_.unPackBytes(can_frames[i]); 354 | object_left_num_= object_list_status_.getNumOfObj(); 355 | general_info_arr_left_.clear(); 356 | quality_info_arr_left_.clear(); 357 | extended_info_arr_left_.clear(); 358 | 359 | ROS_INFO("I CAN detect %d objects in left radar",object_left_num_); 360 | } 361 | break; 362 | case OBJECT_GENERAL_INFO_LEFT: 363 | { 364 | object_general_info_.unPackBytes(can_frames[i]); 365 | GeneralInfo general_info_; 366 | general_info_ = object_general_info_.getGeneralInfo(); 367 | general_info_arr_left_.emplace_back(general_info_); 368 | } 369 | break; 370 | case OBJECT_QUALITY_INFO_LEFT: 371 | { 372 | object_quality_info_.unPackBytes(can_frames[i]); 373 | QualityInfo quality_info_; 374 | quality_info_ = object_quality_info_.getQualityInfo(); 375 | quality_info_arr_left_.emplace_back(quality_info_); 376 | } 377 | break; 378 | case OBJECT_EXTENDED_INFO_LEFT: 379 | { 380 | object_extended_info_.unPackBytes(can_frames[i]); 381 | ExtendedInfo extended_info_; 382 | extended_info_ = object_extended_info_.getExtendedInfo(); 383 | extended_info_arr_left_.emplace_back(extended_info_); 384 | } 385 | break; 386 | case OBJECT_LIST_STATUS_RIGHT: 387 | { 388 | object_list_status_.unPackBytes(can_frames[i]); 389 | object_right_num_= object_list_status_.getNumOfObj(); 390 | general_info_arr_right_.clear(); 391 | quality_info_arr_right_.clear(); 392 | extended_info_arr_right_.clear(); 393 | 394 | ROS_INFO("I CAN detect %d objects in right radar",object_right_num_); 395 | } 396 | break; 397 | case OBJECT_GENERAL_INFO_RIGHT: 398 | { 399 | object_general_info_.unPackBytes(can_frames[i]); 400 | GeneralInfo general_info_; 401 | general_info_ = object_general_info_.getGeneralInfo(); 402 | general_info_arr_right_.emplace_back(general_info_); 403 | } 404 | break; 405 | case OBJECT_QUALITY_INFO_RIGHT: 406 | { 407 | object_quality_info_.unPackBytes(can_frames[i]); 408 | QualityInfo quality_info_; 409 | quality_info_ = object_quality_info_.getQualityInfo(); 410 | quality_info_arr_right_.emplace_back(quality_info_); 411 | } 412 | break; 413 | case OBJECT_EXTENDED_INFO_RIGHT: 414 | { 415 | object_extended_info_.unPackBytes(can_frames[i]); 416 | ExtendedInfo extended_info_; 417 | extended_info_ = object_extended_info_.getExtendedInfo(); 418 | extended_info_arr_right_.emplace_back(extended_info_); 419 | } 420 | break; 421 | default: 422 | continue; 423 | } 424 | midMessagePub(); // 在里面判断这一组是否凑齐。凑齐了就发送。 425 | leftMessagePub(); 426 | rightMessagePub(); 427 | } 428 | 429 | } 430 | 431 | 432 | 433 | 434 | --------------------------------------------------------------------------------