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AinsteinAI / ainstein_radar

ROS support for Ainstein radar sensors.
BSD 3-Clause "New" or "Revised" License
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O-79 Driver Update #10

Closed daveochs closed 3 years ago

daveochs commented 3 years ago

This PR updates CAN and UDP message parsing to match v5.0.0 O-79 firmware.

It also adds functionality to publish an empty tracked target frame if only a header message is received. Furthermore, if a header message is received and a certain amount of time has passed since a raw target message was received, an empty raw target frame is published. These changes have the effect of clearing the rviz display of targets if the radar is running but no target are detected.

daveochs commented 3 years ago

Looks to me like unfortunately there were a lot of formatting changes in this commit, in addition to the actual driver changes. We should sync our auto formatting options to prevent this from happening in the future (I keep meaning to do this, but it's a low priority task and I've been the only one working on ROS stuff until now anyway).

Ya, I generally try to only add my actual changes at the command line, but must have gotten in a hurry at some point. Agreed that we should sync on formatting. Thanks for the review.