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Monash-Connected-Autonomous-Vehicle / smartmicro_ros2_radars

ROS2 support for smartmicro radars. Fork for the Nissan ENV200, with alterations to Dockerfile and config files.
Apache License 2.0
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ROS2 smartmicro radar driver

Build and test

Purpose / Use cases

There is a need for a node that will interface with a smartmicro radar driver and publish the data acquired by the sensor through the ROS2 pipeline. This package implements such a node.

Get the Smart Access release

./smart_extract.sh

How to launch this node

MCAV launch setup

(assuming user is added to the docker group. Otherwise, prefix docker commands with sudo)

chmod +x run.sh
./run.sh
source install/setup.bash
ros2 launch umrr_ros2_driver radar.launch.py

Prerequisites

Supported ROS distributions:

UMRR radars and Smart Access API version

A smartmicro UMRR96, UMRR11, DRVEGRD 171, DRVEGRD 152 or DRVEGRD 169 radar are required to run this node. This code is bundled with a version of Smart Access API. Please make sure the version used to publish the data is compatible with this version:

Sensor Firmwares

This ROS2 driver release is compatible with the following sensor firmwares:

Point cloud message wrapper library

To add targets to the point cloud in a safe and quick fashion a point_cloud_msg_wrapper library is used within this project's node. This project can be installed either through rosdep or manually by executing:

sudo apt install ros-foxy-point-cloud-msg-wrapper

Inputs / Outputs / Configuration

The inputs:

The inputs are coming as network packages generated in either of the following two ways:

These inputs are processed through the Smart Access C++ API and trigger a callback. Every time this callback is triggered a new point cloud message is created and published.

The outputs:

The driver publishes sensor_msgs::msg::PointCloud2 messages with the radar targets on the topic umrr/targets which can be remapped through the parameters.

Interface Configuration:

For setting up a sensor with ethernet or can, the interfaces of the should be set properly prior to configuring the node. The sensor is equipped with three physical layers (RS485, CAN and ethernet) however the driver uses only ethernet and can:

Node Configuration:

The node is configured through the parameters. Here is a short recap of the most important parts. For more details, see the radar.sensor.example.yaml and radar.adapter.example.yaml files.

For the setting up the sensors:

For setting up the adapters:

Mode of operations of the sensors

The smartmicro radars come equipped with numerous features and modes of operation. Using the ros2 services provided one may access these modes and send commands to the sensor. A list of available sensor operations is given in the user_interfaces.

A ros2 SetMode service should be called to implement these mode changes. There are three inputs to a ros2 service call:

For instance, changing the Index of Transmit Antenna (tx_antenna_idx) of a UMRR-11 sensor to AEB (2) mode would require the following call: ros2 service call /smart_radar/set_radar_mode umrr_ros2_msgs/srv/SetMode "{param: "tx_antenna_idx", value: 2, sensor_id: 100}"

Similarly, a ros2 SendCommand service could be used to send commands to the sensors. There are two inputs for sending a command:

The call for such a service would be as follows: ros2 service call /smart_radar/send_command umrr_ros2_msgs/srv/SendCommand "{command: "comp_eeprom_ctrl_default_param_sec", sensor_id: 100}"

Configuration of the sensors

In order to use multiple sensors (maximum of up to eight sensors) with the node the sensors should be configured separately. The IP addresses of the sensors could be assigned using:

Each sensor has to be assigned a unique IP address!

To use the ros2 SetIpservice we require two inputs:

The call for such a service would be as follows: ros2 service call /smart_radar/set_ip_address umrr_ros2_msgs/srv/SetIp "{value_ip: 3232238400, sensor_id: 100}"

Note: For successfull execution of this call it is important that the sensor is restarted, the ip address in the radar.template.yaml is updated and the driver is build again.

Sensor Service Responses

The sensor services respond with certain value codes. The following is a lookup table for the possible responses:

Value Description
0 No instruction Response
1 Instruction Response was processed successfully
2 General error
6 Invalid protection
7 Value out of minimal bounds
8 Value out of maximal bounds

Development

The dockerfile can be used to build and test the ros driver.

Prerequisites

Building and Testing

Accept the agreement and get the smartaccess release

./smart_extract.sh

Building docker container

docker build . -t umrr-ros:latest

Building the driver with the docker container

docker run --rm -v`pwd`:/code umrr-ros colcon build

Running the unit and integration tests via the docker compose

docker-compose up

Getting the test coverage via the docker container

docker run --rm -v`pwd`:/code umrr-ros colcon test-result --all --verbose

Stop and remove docker containers and networks

docker-compose down

ARMv8 Support

The Smart Access release which will be downloaded using the script also offers platform support for armv8. In order to build the driver on an armv8 machine, the CMakeLists.txt should be adopted. Instead of using the default lib-linux-x86_64_gcc_9 the user should plugin the lib-linux-armv8-gcc_9 for armv8.

Contribution

This project is a joint effort between smartmicro and Apex.AI. The initial version of the code was developed by Igor Bogoslavskyi of Apex.AI (@niosus) and was thereafter adapted and extended by smartmicro.

License

Licensed under the Apache 2.0 License.