This PR adds support for visualizing and recording data with multiple radar nodes. The following files have been added to support this (no previous ainstein_radar code has been modified):
multi_radar_model.launch : Loads the radar models
multiple_radars.urdf : Defines the radar models geometry and organization
multiple_radars.yaml : Settings for the radar models
o79_multiple_radars.launch : Example launch file for running two or more O-79 radar nodes and a camera node
multi_radar_offline.launch : Playback data using the multi radar model
o79_2_radars.rviz : RViz configuration file to support running o79_multiple_radars.launch
multi_radar_model.launch
The launch file handles passing in the necessary arguments to the multiple_radars.urdf file, launching the robot_state_publisher and publishing the static base_link transform.
Argument descriptions:
model_path : Specifies the path to the URDF file to use for robot_state_publisher.
params_path : Specifies the path for the parameters to be passed into the multiple_radars.urdf file.
multiple_radars.urdf
This file is used to setup the position and orientation of each radar in the ROS environment. A parameters file must be passed in to specify the quantity and position/orientation of each radar.
multiple_radars.yaml
This file provides input to the multiple_radars.urdf file. By default it is configured for two O-79 radars. The amount of radars can be increased by adjusting the radar_qty value and adding additional radar configs of the same structure as radar1 and radar2. Take a look at the file for more information and examples of how to setup this file.
o79_multiple_radars.launch
Launch file for running multiple O-79 radars and a camera.
By default this launch file sets up the CAN and UDP nodes for two O-79 radars and a camera. The camera, CAN or UDP nodes can be disabled with the arguments at the top of the launch file (see image below).
Additional radars can be added to the launch file by simply copying the format used for radar1 and radar2 in the file. Radar names must start at 1 and increment by 1 (radar1, radar2, radar3, etc...). The multiple_radars.yaml must also be updated to support any additional radars added.
This same launch file format can be used to display radar nodes other than O-79 as long as the frame_id is set appropriately for the node. The format must be "radar{#}_link" depending on the radar number (i.e. "radar1_link", "radar2_link", etc..).
After running the launch file, the data can be visualized in RViz by running the following command in a separate terminal window:
Summary
This PR adds support for visualizing and recording data with multiple radar nodes. The following files have been added to support this (no previous ainstein_radar code has been modified):
multi_radar_model.launch: Loads the radar modelsmultiple_radars.urdf: Defines the radar models geometry and organizationmultiple_radars.yaml: Settings for the radar modelso79_multiple_radars.launch: Example launch file for running two or more O-79 radar nodes and a camera nodemulti_radar_offline.launch: Playback data using the multi radar modelo79_2_radars.rviz: RViz configuration file to support runningo79_multiple_radars.launchmulti_radar_model.launch
The launch file handles passing in the necessary arguments to the
multiple_radars.urdffile, launching therobot_state_publisherand publishing the staticbase_linktransform.Argument descriptions:
model_path: Specifies the path to the URDF file to use forrobot_state_publisher.params_path: Specifies the path for the parameters to be passed into themultiple_radars.urdffile.multiple_radars.urdf
This file is used to setup the position and orientation of each radar in the ROS environment. A parameters file must be passed in to specify the quantity and position/orientation of each radar.
multiple_radars.yaml
This file provides input to the
multiple_radars.urdffile. By default it is configured for two O-79 radars. The amount of radars can be increased by adjusting theradar_qtyvalue and adding additional radar configs of the same structure asradar1andradar2. Take a look at the file for more information and examples of how to setup this file.o79_multiple_radars.launch
Launch file for running multiple O-79 radars and a camera.
By default this launch file sets up the CAN and UDP nodes for two O-79 radars and a camera. The camera, CAN or UDP nodes can be disabled with the arguments at the top of the launch file (see image below).
Additional radars can be added to the launch file by simply copying the format used for radar1 and radar2 in the file. Radar names must start at 1 and increment by 1 (radar1, radar2, radar3, etc...). The
multiple_radars.yamlmust also be updated to support any additional radars added.This same launch file format can be used to display radar nodes other than O-79 as long as the
frame_idis set appropriately for the node. The format must be "radar{#}_link" depending on the radar number (i.e. "radar1_link", "radar2_link", etc..).After running the launch file, the data can be visualized in RViz by running the following command in a separate terminal window:
The user can update or change this rviz configuration as needed. By default it is configured to show two radars and a camera.
multi_radar_offline.launch
This launch file is for playing back data recorded using the
multi_radar_modelusing the rqt_bag GUI.The configuration file used for RViz is passed in as an argument, the default value uses the
o79_2_radars.rvizconfiguration file.o79_2_radars.rviz
RViz configuration file for running
o79_multiple_radars.launch.To easily add additional O-79 radars to the configuration you can duplicate folders as desired and rename and change topics accordingly.